You can see an astronaut floating free in the Earth orbit, but it was not astronaut, it was just a space suite without astronaut.In 2006 a space suite floated away from the International Space Station, well it was intentionally put it in the orbit by the station crew.
ISS astronaut Mike Finke spacewalks in a Russian Orlan spacesuit in 2004
It was named Suitsat-1 and stuffed with old cloths and also armed with small radio transmitter and three batteries. It also had internal sensors to measure temperature and battery power. The readings were transmitted to ground observation center.
This SuiteSat - a space suite turned into satellite was a Russian Orlan space suite. They were used by Russian Space Program for spacewalks. SuiteSat was a Russian idea, they wanted to turn old spacesuits into useful satellites.
The suite circled the Earth 2 times before its radio signal become weak, but it continued to circle Earth every 90 minutes and burned up in the Earth's atmosphere after few weeks.
Source: NASA Apod
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