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I think his biggest obstacle in self rescue was that he failed to ditch his weights when he couldn't stay buoyant the first time he surfaced.He swam up and breached the surface to make a distress call, but was dragged down by his cumbersome scuba equipment.
Mikulski repeated the process a second time and was able to ditch his gear, except for his weight belt. He surfaced a third time, sunk back down, tried to lose the weight belt and blacked out.