NEED TO KNOW
Four days after Kelly Marie Catrambrone, 37, was last seen leaving her Florida home, she was found stuck in a muddy and swampy river on Oct. 28The discovery came after she was heard crying for helpShe’s expected to make a full recovery

After a 37-year-old woman who was missing for days was heard crying for help, she was discovered safe, but stuck in the mud among mangroves on the edge of a Florida river.

On Friday, Oct. 24, around 5 p.m. local time, Kelly Marie Catrambrone was seen by her family walking away from her Port St. Lucie home, according to police reports reviewed by Hometown News. She was not reported missing for three days, Sgt. Dominic Mesiti of the Port St. Lucie Police Department told the outlet.

“According to the family, she often wanders away from home, but she usually comes back,” Mesiti told Hometown News. “But this time, she didn’t.”

That Monday, authorities began searching the 700 block of NE Emerson Street, saying she “may have wandered into a body of water.”

By the following afternoon, on Tuesday, Oct. 28, some of Catrambrone’s possessions were located near the edge of the St. Lucie River, prompting an “extensive search.” 

Search and rescue teams continued to comb the area as darkness fell — and by 9 p.m., SWAT Technician Kraviec from the police department was flying a drone when he “heard a faint cry for help,” according to police. The sound was coming from across the body of water.

Shortly after, a 911 caller reported hearing “a woman crying for help” in an unknown location near the river.

As officers continued the search, local Herb Yancy offered up his boat to help after Kraviec saw movement in the swamp. The citizen then helped guide officers to the missing woman.

At approximately 9:30 p.m., Catrambrone was found stuck in two feet of water near an island of mangroves, across the way from where her items had been found.

In a video shared by the police department, an officer can be heard yelling her first name. “I’ve got you, girl,” the officer said when he reached Catrambrone. “You’re okay.”

First responders searched for the missing woman for hours.

Port St. Lucie Police Department/Facebook

“Extremely dehydrated and disoriented, Catrambrone was transported to a nearby hospital where she is expected to make a full recovery!” the police department said. 

Never miss a story — sign up for PEOPLE’s free daily newsletter to stay up-to-date on the best of what PEOPLE has to offer, from celebrity news to compelling human interest stories.

“It’s moments like this that truly reverberate throughout our community as we stand together!” police continued.

The Port St. Lucie Police Department did not immediately respond to PEOPLE’s request for additional comment.