The actor was swimming with his 8-year-old daughter in Costa Rica when surfers nearby noticed the pair struggling in the water.

Malcolm-Jamal Warner died at 54, with his official cause of death now being revealed. The actor was on a family vacation in Costa Rica when he died from an accidental drowning, the Judicial Investigation Agency (OIJ) confirmed to PEOPLE.

Authorities have confirmed the official cause of death for Malcolm-Jamal Warner, who died Sunday in Costa Rica while swimming at Playa Grande in Cahuita, a village in the province of Limón. Warner, who famously played Theodore Huxtable on “ The Cosby Show ,” was 54.