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I told Zidar to go to the spot in the water with the treasure, but I fell out of the boat next to the docks and he went on without me. Now he is just waiting for me out in the water, but I can't get to him because of all the "sharks".

How do I make him come back?
Loading an earlier save would mean I'd have to redo basically the whole Okansankaar region... :/
You could use a cheat for godmode:
Invulnerability and more money per chest

*NOTE*
This cheat involves editing a .ini file. Make sure you back up the file before you alter anything.

Run the game once and then close it. Go to the directory where you installed the game and open the Outcast.ini file which will now be fully updated.

Use control + f and look for the line HeroDamageScale=1.000000 and change that to HeroDamageScale=0.000000
Now Cutter won't take any damage from outside sources like falls, gunshots, grenades, animals, poison and even instant-kill things like Zeedog plants. However, you can still drown, so keep an eye on your air supply at all times.