The Coast Guard rescued a 77-year-old man Monday who was reported missing off Cape Cod, plucking him from roughs seas by helicopter after he fell overboard at the end of a six-day sailing trip with his grandson.

Steven Rockwood, 19, said his grandfather, George Rockwood, went overboard off their sailboat at about 2:30 p.m. The boat was about 3.5 miles off the beach at the time when it was hit with a rogue wave.

"It was as though I had vaulted out of the boat, because she gave a lurch with the sea," the elder Rockwood said.

He said when he fell he was concerned for his grandson, a Wisconsin native who hasn't done much sailing.

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Click here for the official Coast Guard report with videos, audio of the mayday call, photos and a graphic showing the location of the incident.