FALMOUTH, Mass. (WHDH) — The Coast Guard picked up two people who went out on a boat Sunday night and never made it home.

Authorities said the two people got lost and ran out of fuel. Officials said the two men spent the night paddling with their arms to make it to shore. They were found on Naushon Island, some 20 miles from where they launched their boat.

“They paddled to shore with everything they had. They did feel like the current was moving one way, the winds were moving another way, so it was quite the struggle for them to get to shore,” said Petty Officer David Knoll of the U.S. Coast Guard.

The boat ran out of fuel, with the last communication coming at 2:30 a.m. Monday, after leaving at 5 p.m. the night before.

“When initially you get sketchy information, this one was ‘Hey, there’s a boat that left out of Wareham last night, nobody seems to know where they’re at, could you guys go take a look,’” said Lt. Jeff Jacobs of the U.S. Coast Guard.

The crew of four were in the air training when the call came in.

“We finished one search pattern and they gave us another one because we didn’t find anything and then we were almost finished and we got a call saying that the people were found, but they were on a piece of rocky land that couldn’t be accessed on a boat,” said Lt. Bryan Hoyt of the U.S. Coast Guard.

The two men are 21 and 41 years old. They did not have to go to the hospital, they only suffered mild hypothermia.

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