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http://www.gamefaqs.com/pc/783736-borderlands-the-pre-sequel/faqs/70318
To get back you go back through the engine room, back into the tube, through the engine compartment and, if you left the game like I did, you then fight poop deck again.
Once you are in the room with the blood on the wall where poop deck dies you drop down the elevator shaft and you can continue the quest.
Cool tidbit - going back had its rewards!
Got the red chest (again) and the white chest (again) with purple items after going through the engine room.
Score!