Was Pi (Piscine Patel) on the boat with the animals or the survivors?

So i have finished reading "The Life of PI" by Yann Martel and the ending is confusing me a lot. I understand that the Japanese people took the story of animals because it was more entertaining, but I am not sure if he was on the boat with the animals (hyena, tiger and oragutan) or humans (sailor, mom and chef). Thanks