Swim out after you eat your best foods for most stamina.
Go as far as you can and stop.
Log out.
Log back in.
You will have full stamina again.
Repeat to get your stuff.

edit add- I try not to abuse it but getting on ladder in heavy seas...well it isn't the easiest to begin with. Spawning back in but ship moved a bit so you have to swim around to find it. That sort of thing... good for learning.