The duo reportedly departed from Saibai in a 5m Wahoo vessel about 10am on Monday, July 7, for the journey to Badu, which should have seen the arrive there by about 2pm.

However, family members became concerned when they had still failed to arrive by 10pm and alerted police.

Due to rough weather conditions, the search effort was launched at first light the following morning, involving two helicopters and seven fixed-wing aircraft, including an RAAF P3 Orion, a Coastwatch Dash 8 and an Australian Maritime Safety Authority (AMSA) Dornier Search and Rescue Aircraft. Police and Navy vessels also joined in the search, accompanied by SES spotters.

The missing boat was spotted by the Coastwatch aircraft at 2.40 in the afternoon, approximately 14 km off Warul Kawa (Deliverance Island), some 84km east of Saibai and 36km from the PNG Coast.

A rescue helicopter winched the survivors aboard and carried them to TI for a medical checkup.

"AMSA’s emergency towage vessel, Pacific Responder, will assist Thursday Island Police to recover the vessel to prevent any navigation hazard in the area," AMSA said.

Police said the pair had boating safety equipment onboard the vessel.