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His relieved father said he had initially given up hope as the hours stretched on and called the rescue a \"miracle.\"

\"I should never give up hope. Don't give up on the big guy,\" his father, Raymond Gregory, told WJXX.

Cmdr. Nick Barrow, Coast Guard Sector Jacksonville search and rescue mission coordinator, told WJXX the \"odds were starting to be against us\" in the search due to Gregory's vessel, which wasn't suited for an offshore environment.

\"We are pleased about the outcome in this case and I would like to thank all of our local and state partners who were heavily involved in searching for Charles and bringing him home to his family,\" Barrow said in a statement.

\"While this case resulted in rescuing Charles from a life-threatening situation, it highlights the importance of having safety gear onboard and being prepared for the worst,\" the statement continued.

Barrow advised anyone going out on the water to bring a life jacket, VHF marine grade radio, signaling devices and an emergency personal locator beacon.

ABC News' Matt Foster contributed to this report.

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