Turns out I was indeed too close, but once launched it cannot be recalled. :P
Tried the mission again, stopped almost 1000 yards away. Waited about 10-15 minutes for the DSRV to dock... Well, it is only moving at 3 knots. It's also dumb enough to only go back to the original spot instead of heading toward me if I moved! Eventually got it complete and escaped the cavern with over 30 minutes to spare.
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