The key is - he is NOT out the second he enters the dugout. And yes, this does mean he can leave the dugout after entering while play was still continuing if he recognizes his mistake and is not physically aided by anyone in the dugout.
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"Many baseball fans look upon an umpire as a sort of necessary evil to the luxury of baseball, like the odor that follows an automobile." - Hall of Fame Pitcher Christy Mathewson
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