The Honolulu Medical Examiner’s Office has identified the 67-year-old Mililani man who died Sunday while free-diving in Yokohama Bay near Waianae as Robert Tamashiro.

An autopsy confirmed that Tamashiro died from “asphyxia due to drowning,” the office reported.

Tamashiro’s body was found at 11:45 a.m. in an underwater cave by a fire rescue diver.

Tamashiro’s family said he often free-dived in the area. His car was found between Yokohama Bay and Makua Cave, according to Honolulu Fire Department spokesman Capt. Terry Seelig.

Tamashiro was taken by rescue boat to the Waianae Small Boat Harbor.

Efforts to revive the man were unsuccessful, Seelig said.