The incident was reported to authorities at 8:01 a.m. by the car's owner, San Francisco fire Lt. Mindy Talmadge said.
A relative of the owner said the car had gone in the Bay near the intersection of Terry A. Francois Street and Mission Bay Boulevard, Talmadge said.
A diver and tow truck were called to the scene to pull out the car, which was fully submerged in the water, she said.
A member of the Bay View Boat Club who declined to give his name said the car was still in the water as of 11:45 a.m. He said the parking brake had apparently not been set properly.