An accomplished sailor once told me, when things start going wrong on board a sailboat ( this was in reference not to practicing good seamanship ), your problems can multiply at twice the speed of light.
With that rudder coming out of the water, and other forces acting on that cat, not sure anyone could have done anything unless they had local knowledge and knew what to expect.
I know that harbor and their are dive , tour, and zodiacs operating out of there. Some very long time and dear sailing friends operate the Capt. Zodiac
Adventures to Capt. Cooks for snorkeling.
My interest is peaked since I have not seen this video before.
What an unfortunate situation, being at the helm
of your vessel, and not being able to steer or power your way out of it.....very short time to react.