In the case of a true emergency- the possible injury or loss of life- I would immediately contact an emergency response agency i.e. Coast Guard, Baywatch, or harbor patrol, as they have the personal and equipment to deal with medical emergencies. If it was determined that I had the best and quickest response time I would of coarse respond. However bobbing around in ocean 3 miles from land with a broken impeller and an over heating engine, with everyone getting seasick is not considered a life or death emergency.
I realize that this less likely to happen on a sailboat- only a small percentage of my tows are sailboats- but it can.
A soft grounding is basically just stuck in the mud were there is no damage to the boat and pulling the boat out of the mud is not likely to cause any damage to the boat. A hard grounding, damage to the boat dewatering of the boat or babysitting of the boat, waiting for the tide to come back, is almost always considered a salvage