New details have emerged following the death of Malcolm-Jamal Warner, who drowned on July 20 while vacationing in Costa Rica.

According to ABC News, Warner had been swimming with his 8-year-old daughter when the two began to struggle in the water. Surfers nearby spotted them and rushed to help. One surfer used his board to bring the child safely to shore while a volunteer lifeguard pulled Warner from the waves.

Paramedics performed CPR on Warner for 45 minutes but were unable to revive him. Both surfers survived, according to police.

Costa Rica’s National Police later said Warner died from asphyxia due to drowning.. On Tuesday, the Forensic Pathology Department confirmed the cause of death as asphyxiation by submersion and ruled it accidental.

Warner died near Cocles, a beach in Limon, Costa Rica, after getting caught by a rip current. He was 54.

Following the news, friends and former colleagues began honoring Warner’s memory. Raven-Symoné shared a video message reflecting on his influence.

“Words cannot describe the pain and sadness and surprise that I feel with the recent loss of MJW,” Raven said in a clip. “He was a big brother, he was a beacon, he was one of the most multifaceted, talented men. So gentle.”

Just two months before his passing, Warner shared how he hoped to be remembered during an episode of Hot & Bothered with Melyssa Ford.

“I will be able to leave this earth knowing and people knowing that I was a good person,” Warner said. “[My dad] said to me often, ‘You know people love you, and people [are] always talking about your career and your success and all of that, but what really makes me the most proud is that you are a good person.’”

Warner rose to fame as Theo Huxtable on The Cosby Show. He also starred in Reed Between the Lines and The Resident, and built a successful career in music, poetry, and podcasting.

He is survived by his wife and daughter, whom he shielded from the public.