With outside help you right them by pulling the front over the rear, aka front to back instead of side to side with a "normal" boat. The rear usually have less buoyancy than the front, especially if the amas are not going all the way back. You need a safety boat with a big engine and quick reactions to keep everything inline while pulling.

Without outside help on a small tri you flood an amas, so it sinks but keep some buoyancy, right the boat side to side so it is right way up but with a partially sunk amas, and then empty the water by sailing as quick as possible. Works on a Weta, a 14' tri, not sure if it is really applicable to something 20' long.