STURGEON BAY, Wis. -

A woman, her son and another boy rescued after spending the night in their kayaks on the waters of Green Bay have been treated and released from a northeastern Wisconsin hospital.

Door County sheriff's officials said 43-year-old Allison Alter, her 9-year-old son, Zach Suri, of Austin, Texas and 9-year-old-old Thomas Alter, of Highland Park, Illinois, were treated for mild hypothermia after a U.S. Coast Guard helicopter plucked them from the Michigan waters of Green Bay about 6 a.m. Friday.

The trio went missing after launching their kayaks from Nicolet Bay in Peninsula State Park Thursday afternoon. The kayak rental company called authorities about 6:30 p.m. after they failed to return.

Sheriff's officials said they were found about 14 miles from their launch site with their two kayaks tethered together.