TAMPA, Fla. (WFLA) — The U.S. Coast Guard said it has found two sailors who went missing while making a voyage to Florida.

The USCG posted on social media that Kevin Hyde, 64, and Joe DiTommasso, 76, of New Jersey left their home state to sail for Marathon, Florida.

However, their sailboat, the “Atrevida II,” was overdue, prompting a search over 21,164 square miles of water from Florida to the waters east of New Jersey.

Eventually, they were found at 4:18 p.m. Tuesday 214 miles east of Delaware by the crew of the Silver Muna, one of the tankers that aided in the search.

Hyde and Ditomasso got the Silver Muna’s attention by waving a flag and their arms. When they were discovered, their sailboat was without fuel and power, which left their navigation equipment and radios useless.

“This is an excellent example of the maritime community’s combined efforts to ensure safety of life at sea,” said Cmdr. Daniel Schrader, spokesperson for Coast Guard Atlantic Area. “We are overjoyed with the outcome of the case and look forward to reuniting Mr. Hyde and Mr. Ditomasso with their family and friends. We also want to highlight the importance of proper safety equipment and preparedness when going to sea. Having an emergency position indicating radio beacon, or ‘EPIRB’, allows mariners to immediately make contact with first responders in an emergency.”

The two sailors and their pet dog were evaluated on the Silver Muna, which will head to New York where it will transfer the rescued sailors to a Coast Guard vessel. They will then be reunited with their family and friends.