Just to be clear, you were using a DPV when the DPV would hit something before you saw what it hit?
Was this in wide open water?
Yes. The ocean around pinnacles and reefs
Often you drop in and you might have good vis for the first 6m then it turns to pea soup with a think plankton layer . where you can barely see outline for the fins in front of you, their can light is a faint glimmer because its defused
You're descending around a pinnacle and if you're unlucky battling current. You hope that you break through into clearer water, which often happens around the 35m depth., but I've got to 45 and given up before
Sometimes with the tide change the upper 6m loses vis too, so all the way up inc stops and deco you're in very poor vis. You deal with it, and learn to have a 6th sense. Losing scooter buddies is not uncommon but that's why we're all completely redundant.
Similarly the vis can be good but you get caught in down currents, not rare here, but again you learn a 6th sense when something doesn't "feel right" and either avoid or prepare, and be rigged appropriately in the first place (air bail out, over size cylinders for large contingency, and some 50% for deco.
I really don't understand why you guys are making such a big thing about situational awareness - its not a hard skill to have