You can't either.
There's a lot of difference in a drill and a real-world OOA emergency. I've trained at Bragg in the shoot house, probably fired 50,000 rounds in scenarios during my career. You can practice shot drills 10,000 times. When you're on the street in combat, your heart is racing, your breath is rapid, your head is throbbing. Humans generally can't control their bio reactions like that no matter how much you train.
We've had shooters who have been thru so many scenarios in the shoot house that they get carpel tunnel in their gun hand from so many shoot drills. Yet when they get in combat, they biochemically react like everyone else does. You can't remove the panic, you control the panic. I think your gas consumption will increase when your brain knows it's a real-deal regardless of how much you've trained before hand.
And I don't consider a safety stop a mandatory. I skip them all the time (yeah I know, bash me). Bad habit I know, but I can skip the safety stop from 100' and have no noticeable after effects. In a real-deal, my goal would be to get back to the surface alive, not mess around at 15 feet on a safety stop for five minutes. The goal of any real-deal scenario is to "arrive alive". If that means breaking a few of PADI's rules, then I don't care.
I don't doubt you can do it with a 6 cu ft pony. That's certainly reasonable for drill training. I chose the 19 cu ft because for the trade-off in weight/size, 6 cu ft just wasn't that much smaller than 19 cu ft for the extra amount of gas the 19 cu ft offers me.
Now as soon as they make a pony in 19 cu ft dimensions that will hold 40 cu ft of gas, then I'm running to the store to give them my money.