Floating Gears on an incline? Missed a gear on an incline.

Someone else can tell you if this is wrong but what I would have done when I missed that gear is first, double-check them RPM's with a glance to see if they are where I thought they were and maybe I can fix that and save the gear change. Usually once you miss it on a hill its gone so jump to the next lowest gear. When I'm loaded and the hill is bad I've have to skip several gears and wait for a gear I'm good at catching (usually 2nd) so I can at least keep my truck moving. But if you are going to come to a stop then keep calm and deal with it. Get to a dead stop, clutch it into a low gear and let the truck pull itself out like you would any other time. Happens more than people are willing to admit.