A kind of head down, bum up approach helps with the floating. So does lots of beer and pizza, fat being less dense than water and all...
Seriously though, look into the swim training/lessons/coaching thing - I'm a confident, competent swimmer and I'd sign up for some of that in a jiffy if the pool I swim at offered such things for grownups. Hmm, perhaps I should look into it while I'm home. I know I don't swim that efficiently and I'd love to be able to go faster.
Drink coffee and do stupid things faster with more energy.