The U.S. Coast Guard said Wednesday that it had rescued four boaters one day after they failed to return home as scheduled from a snorkeling trip off Key West. 

A rescue crew reached the missing vessel around 5 p.m. Wednesday, about 40 miles northwest of Key West. All four people onboard were reportedly in good health. A Coast Guard plane spotted the boat earlier Wednesday following a search that covered nearly 4,000 square miles by air and sea.

Authorities previously reported that the boaters left Banana Bay Resort in a 25-foot boat on Tuesday for a snorkeling trip about six miles north of Key West.

A concerned family member contacted the Coast Guard Tuesday evening when they didn't return as scheduled by 4 p.m.

The missing boaters had been identified as 48-year-old David Thompson, 28-year-old Adam Kelley, 15-year-old Joshua Thompson and 11-year-old Evan Thompson.

The Associated Press contributed to this report.