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Clearly as stated above. The guy is not Rico it is Pepe.
I wasn't talking about Pepe, but the guy named Rico. As you notice Rico is also in this mission despite having been killed by a grenade earlier. If you have played this mission, you would have noticed the words "Go and meet Rico" etc.
The game text in "Trojan Voodoo" Specifically mentions that its Rico. Its simply a mistake by Rockstar or as I explain it in-universe Rico jumped off the boat before it exploded and swam to shore during the rest of the mission.
Its funny too, because Ricos the one with the "stinking hatians" line, hes the one who got R* into all the trouble!