Authorities in southwest Idaho say a 40-year-old Boise woman and her three kids died after a Range Rover plunged about 70 feet off a cliff and into Lucky Peak Reservoir Thursday morning.

The Ada County Sheriff's Office says bodies of two girls, ages 12 and 6, and the body of a 10-year-old boy were recovered Thursday morning.

The body of the woman remained in the vehicle and was recovered after the vehicle was pulled from the water.

Deputies responded at about 7 a.m. after receiving an initial report of a vehicle going off High Bridge on State Highway 21.

But deputies say they found the vehicle instead went off a cliff near the north end of the bridge and was submerged in 40 feet of water.

Authorities are investigating.