The mission's pilot spoke with ABC7 News by phone on Tuesday, saying it was one of the most difficult rescues of his 20-year career.
"With the weather, the seas, the ceilings, the limited daylight and then just the sense of urgency for a 1-year-baby, it really posed a unique challenge for the whole crew," said Maj. Mike Wagle from the California Air National Guard.
The Kaufman family, who had set out on a year-long voyage, were transferred to a Navy ship on Sunday when their boat began to sink.
The baby is improving and the family is set to arrive in San Diego on Wednesday. They face criticism for taking their two small children on such a trip. Rescuers say they're just happy they could help the family.