The Marin County coroner has identified the man who died after his vehicle plunged into the water in Sausalito this week, and authorities said the incident does not appear to have been intentional.

Brian Mullins of Sausalito was killed Monday afternoon after his vehicle entered the water near Sausalito Yacht Harbor, according to the Sausalito Police Department.

Emergency crews responded around 2:38 p.m. to the 500 block of Humboldt Avenue after receiving reports that a vehicle had gone into the water with people inside, police said. 

Responders found the vehicle submerged about 10 feet underwater off a dock.

A passenger had exited the vehicle before it entered the water and was trying to help the driver, authorities said. The driver remained inside.

Fire crews launched dive operations and, with help from a private diver, recovered Mullins from the vehicle. He was taken to a hospital, where he was pronounced dead, police said. 

The passenger was evaluated at the scene and did not require hospitalization.

Investigators said the vehicle had been stopped facing the water near D Dock while Mullins was preparing to load items and passengers. For reasons still under investigation, the vehicle accelerated, went over a raised curb and barriers, and entered the water.

The vehicle came to rest upside down, complicating rescue efforts, officials said.

Authorities said the investigation found no indication the incident was intentional. One firefighter sustained minor injuries and was treated.

The U.S. Coast Guard was notified, and officials coordinated efforts to recover the vehicle and address potential environmental concerns.