Actor and director Malcolm-Jamal Warner, best known for his role on "The Cosby Show," has died in an accidental drowning in Costa Rica, where he was vacationing with his family, officials there said. He was 54.

Malcolm-Jamal Warner died on Sunday, July 20 after drowning while on a family vacation in Costa Rica. In a statement from authorities, he was rescued by bystanders and taken to shore, where he was declared lifeless.

A second man who was involved in the same incident that led to actor Malcolm-Jamal Warner’s drowning death, was in critical condition over the weekend, according to reports. A 35-year-old man was transported to a clinic in Costa Rica in critical condition on July 20, according to a USA Today report.