A friend of mine used to be on the El Adem (Libya) SAR detachment. Should they have to pick up a pilot in his dinghy from the Mediterranean the winchman would go down with the hoist and harness up the survivor. They would have a go at lifting them both but if that failed then the survivor would be sent up to sort out himself how to get in the back.
The winchman would sit in his dinghy whilst the Sycamore would fly the survivor to El Adem and then come back for him.