It was shown on "Survive Alaska" I think.....
Stop long enough to calm down and control breathing.
Use your legs to kick and provide lift and propulsion.
Use your arms to guide/push up and pull a little onto the ice.
I have ZERO practical experience with this other than falling into a frozen pool in the shallow end. That was more than enough for me.
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I do the things that I must, and really regret, are unfortunately necessary.
RIP OBG