The San Francisco resident in the minivan when it plunged into the water from the Marina Green at about 5 p.m., police Officer Gordon Shyy said.
The vehicle eventually sank with the woman still inside.
Dive teams found the vehicle after searching for hours, but conditions caused the rescue operation to be suspended until Saturday.
The salvage team marked the vehicle with a beacon and an officer stayed at the scene.
The vehicle and Crenshaw's body were pulled from the Bay on Saturday morning.
Police were still investigating why the van drove over the embankment into the Bay.
What to do if your car starts sinking in water:
So how can you save yourself, should the unthinkable happen, and you find yourself trapped in your car underwater? An estimated 400 people die each year because their cars are trapped in water. Most of the victims wait or call 911 expecting help. Safety experts say don't wait: unbuckle your seat-belts, get the window open, and get out of the car before it sinks. And because the back windows on some cars don't roll all the way down, passengers should head through the front ones. An inexpensive window break tool can punch out the glass before water fills the inside of your car. Experts warn the first 30 to 60 seconds are key to trying to get out of the car.
(ABC7 News contributed to this report)