IPSWICH, MASS. (WHDH) - The Coast Guard said a swimmer missing in the waters off the coast of Ipswich has been found alive.

The Coast Guard said two men, Alexander Auerbach, 28 of Edgartown and his father-in-law Randall Hackett, age 58, of Ipswich, were swimming from Steep Hill Beach south towards Crane Beach when a rip current came through. The rip current and the foggy weather separated the two men. Family members, concerned that the two men did not return home, went to the beach and found their two bicycles. They then called 911.

Ipswich police notified the Coast Guard Tuesday evening that a father and son-in-law, who were both experienced swimmers, entered the water where Crane Beach and Steep Hill Beach meet at about 5:30 p.m. to swim and did not return home after as expected.

The water temperature was approximately 60 degrees and visibility was near zero at the time.

Hackett was located and brought back to Crane Beach. He was then taken from the scene in an ambulance and brought to a hospital, where he is in stable condition.

Auerbach managed to swim ashore, and was found to be uninjured and in stable condition.

Crane Beach is a large conservation and recreation area in Ipswich, directly north of Cape Ann. It features a 4-mile beachfront and is open year-round.

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