If I read correctly, the first SEAL hot knocked off the boarding ladder by a wave, and a SEAL in one of the boats jumped in to help the first. Story says it's protocol. Still one hell of a thing to do, jumping into rough seas to help someone, knowing damn well you might not come back.
No greater love hath man than he lay down his life for his brother.
I hope their suffering, if any, was brief, and whatever God(s) they chose grabbed them up.