The woman and two boys who went missing while kayaking in Door County have been found safe about 12 hours after they were reported missing.

The U.S. Coast Guard says the three were found in their kayaks about 14 miles from where they set out on Thursday afternoon.

A U.S. Coast Guard helicopter hoisted the 43-year-old woman and two 9-year-old boys out of their kayaks and into the chopper about 6 a.m. Friday.

The Door County Sheriff's Department says all three have mild hypothermia and have been flown to a hospital in Michigan. The Coast Guard says a search plane spotted the three about 10 miles north of Chambers Island. Goss says they were in their kayaks and had their life jackets on.

The trio left Nicolet Bay in Peninsula State Park about 3 p.m. Thursday.