There are three lessons that strike me that have not yet been mentioned.
The first is that the two of them, by following their typical "bicker brothers" routine, each talked the other into doing a dive that neither one wanted to do. Sea conditions were very poor, and most of the divers chose not to dive. Before diving, each of them said, at separate times, that they did not want to do the dive. In each case, the other badgered him into agreeing to go. They thoroughly violated the golden rule of technical diving, that any diver can call a dive at any time without question. I tell the story of the Rouses in my technical diving classes for that reason. Never put pressure on anyone to do a dive they don't want to do.
As for the second lesson... In The Last Dive, author and Rouse friend Bernie Chowdhury described his own near fatal case of DCS. He had left his decompression bottles on an ascent line on a wreck, and because of narcosis, he was unable to find them before his back gas ran out. He had no choice but to surface without any decompression stops. That is similar to what happened to the Rouses. As a result, I pretty much only leave decompression bottles to pick up later if I am in a cave, where failing to get to them usually requires a bigger problem than DCS. I have had buddies suggest leaving tanks in certain locations while searching a wreck rather than carry them, and I have so far nixed that idea every time.
The third lesson is related to the second. The impression I got from reading Chowdhury's description in The Last Dive is that the Rouses were very much struck by his survival of his DCS incident. I can't recall how Chowdhury described it, but I got the sense that as soon as they knew they had a problem, their first thought might have been that if Bernie can go straight up and live, so can we. Thus an absolute last resort option moved to a first choice option. I am not sure how to word the lesson from that, but it definitely is a part of my thinking.