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Tyler Tasche was on the Mississippi River with his brother, Tristan, and grandfather near a waterfall in Monticello, Minn., when the incident happened

The 28-year-old father and husband was the main caregiver for his daughter, who has severe autism

“I’ll never forget for as long as I live [Tristan] hollering at me to help flip the boat because he thought his brother was trapped underneath,” their grandfather says. “But Tyler wasn’t there”

What began as a fun morning of fishing with his granddad and younger brother ended in the death last week of Tyler Tasche, a father of four young children, loved ones say.

Mark Tasche tells PEOPLE that he, Tyler and and Tristan, Tyler's 18-year-old brother, had gone to a good fishing spot on the Mississippi River near a waterfall in Mont

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