CROSS -- Authorities rescued a man floating in Lake Marion nearly four hours after his boat capsized Tuesday morning.

A woman walking her dog at the lake called 911 about 7:30 a.m. after she heard someone yelling for help, according to Bill Salisbury, director of the Berkeley County Rescue Squad.

Salisbury said they searched the lake for several hours until a S.C. Department of Natural Resources plane spotted the man about 10:30 a.m. He was wearing a life jacket and holding onto the 15-foot fishing boat.

Authorities helped him out of the water and brought him to safety at the Rocks Pond boat landing in Orangeburg County, about two miles from where he was found.

Robert Stewart, 63, of Eutawville told rescuers the boat capsized about 7 a.m., Salisbury said.

"He was able to hang on to the boat until DNR spotted him," Salisbury said.

Salisbury said they also searched for but could not find Stewart's Boston terrier, which swam toward a nearby island after the boat capsized.

The rescue squad, DNR and the Cross fire department all aided in the search.