I never had any problems jumping from that tower with acrobatic skills of 60~ and higher, I usually end up with 40%~ health left after jumping. Nice way to improve the skill as well. If you need a tp there, you could try using the mark/recall spell, which is gotten from (atleast where I found it first) a witch in the mountains east (I think) from the Arcane Sanctuary. It's located south of the Steel Mine as far as I can remember. (where you do the quest Into The Deep or something like that)