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2 Can you walk to the thermal plant? If so, take the portal.
3 If you have materials to build a tube with a hatch, (4 Ti and 1 quartz) do so and enter, then leave. You should be able to swim.
Admiral ninja'ed
I have no building materials on me cause this was an exploration mission iset up! not knowing i would encounter this bug!
If you have a Prawn Suit that has the same issue you'll have to spawn a new one with the command "spawn exosuit" (without the quotation marks) and transfer the items and upgrades from the old one. Once you've done this make sure you're not in a vehicle and type "warpforward 1" (again without the quotation marks) in the console, this will force the character to swim again.
If you've never used the console before you can look over at the Subnautica wiki how to enable and use it: https://subnautica.fandom.com/wiki/Console_Commands
I have corrected several "stuck" situations with console commands in my current playthrough, and I HAVE received new Achievements in subsequent sessions.
The new answer to the original post is to use the "unstuck" button in the menu.