Harris County Sheriff Ed Gonzalez says the van was discovered in Green's Bayou in northeast Houston.
Gonzalez said the bodies of two adults were found in the front of the van, while the bodies of four children were found in the back.
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Authorities are trying to decide whether dive team members will retrieve the bodies or if it would be safer to pull the van from the treacherous water first.
Devy Saldivar, 16; Dominic Saldivar, 14; Xavier Saldivar, 8; and Daisy Saldivar, 6, disappeared along with their great-grandparents while traveling with their dad inside a white van.
Ric Saldivar is the uncle of the four children. His brother, Manuel "Sammy" Saldivar, was behind the wheel when he lost control of the vehicle.
He says the family encouraged him to get the family out after the water began to rise around his home.
Manny borrowed a van from a family member, and loaded his kids and their great-grandparents, Belia and Manuel Saldivar, inside.
The family had just made their way over a bridge when the vehicle was caught in the swollen bayou.
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"The water picked the van up, and it was just floating after that," Ric said. "It went head first in, and water came in real fast."
Sammy didn't have much time to think. Ric said Sammy managed to unbuckle his seat belt before pulling himself out a half-open window.
The fast-moving water was strong, but somehow Sammy was able to grab onto something.
"He called it a twig," Ric said. "A two-inch little branch."
Oscar Peru of U.S. Customs and Border Protection searches for flood victims from a helicopter after torrential rains pounded the area on August 31, 2017 near Sugar Land, Texas.none
This is a 'before' DigitalGlobe satellite imagery of Simonton, Texas, taken in November 2016.none
This is an 'after' DigitalGlobe satellite imagery of Simonton, Texas on August 30, 2017.none
In this Thursday, Aug. 31, 2017, photo, volunteers with the Islamic Society of Greater Houston package donations at a mosque that was being used as a shelter.none
Tyler Moody removes a mattress from a friend's home after floodwaters from Tropical Storm Harvey drenched the city Thursday, Aug. 31, 2017, in Houston.none
Liv Gilreath searches for salvageable items from a friend's home after floodwaters from Hurricane Harvey drenched the city, Thursday, Aug. 31, 2017, in Houston.none
Rescue workers begin mandatory evacuations in the area beneath the Barker Reservoir as water is released in Houston, Texas on August 31.none
A viewer sent in these photos of the rescue of a bunny found struggling in the water. They said after several hours of caring for it, the bunny was able to hop away.none
A viewer sent in these photos of the rescue of a bunny found struggling in the water. They said after several hours of caring for it, the bunny was able to hop away.none
Monster trucks and other vehicles in Spring, Texas during rescue efforts.none
A young girl in Mississippi overheard her parents talking about a trip to Houston, so she offered to donate her doll with a sweet note. Her parents are Hurricane Katrina survivors.none
Little JW Claburn welcomed the National Guard into his community, Rio Vista, with an American flag. JW will turn 5 on Sept. 6.none
This dog is among the adoptable pets being sent to Atlanta to make room for rescued animals at the Houston SPCA.none
Deer navigate the flood waters near Clay Road and Queenston Blvd in Houston.none
A resident of the Lake Olympia neighborhood in Houston sent in this photo of a baby alligator, writing, ''The mother must be close by!''none
A viewer sent in this photo showing the an Jacinto Rive over Highway 59.none
Volunteers sort through donations in this viewer-submitted photo.none
Downtown Houston, Texas is reflected in flooded Buffalo Bayou Wednesday, Aug. 30, 2017, as the city continues to recover from record flooding caused by Hurricane Harvey.none
Harvey flood evacuee Cyree Howard, 3, carries a ball through a shelter setup inside NRG Center Wednesday, Aug. 30, 2017, in Houston.none
Cyree Howard, 3, is comforted by his mother's hand while inside a shelter setup inside NRG Center for victims of Harvey Wednesday, Aug. 30, 2017, in Houston.none
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Flood waters and pollution surround buildings in West Houston, TX on Wednesday, Aug 30, 2017.none
U.S. Border Patrol Agent Steven Blackburn, left, checks if people wading in water need help during a search a rescue operation in a neighborhood inundated by floodwaters.none
Harvey flood evacuee children look through donated shoes at a shelter setup inside NRG Center Wednesday, Aug. 30, 2017, in Houston.none
Gillis Leho looks for documents in her car that was covered by floodwaters brought on by Tropical Storm Harvey in Houston, Texas, Wednesday, Aug. 30, 2017.none
Flooded homes are shown near Lake Houston following Hurricane Harvey August 29, 2017 in Houston, Texas.none
People watch as people are rescued ad brought to shore as flood waters surround houses and apartment complexes in West Houston, TX on Wednesday, Aug 30, 2017.none
Children play at a shelter setup inside NRG Center for flood victims of Harvey Wednesday, Aug. 30, 2017, in Houston.none
Citizen rescuers in Houston on Tuesday captured these photos.none
Citizen rescuers in Houston on Tuesday captured these photos.none
Citizen rescuers in Houston on Tuesday captured these photos.none
Barry Horvitz hugs his wife Kim while standing outside their home after removing items damaged by floodwaters from Tropical Storm Harvey on Wednesday, Aug. 30, 2017, in Houston.none
Jose Martinez, right, works to remove drywall from a home damaged by floodwaters from Tropical Storm Harvey Wednesday, Aug. 30, 2017, in Houston.none
Michael Saghian walks across the living room of his home damaged by floodwaters from Tropical Storm Harvey on Wednesday, Aug. 30, 2017, in Houston.none
A home is surrounded by floodwaters from Tropical Storm Harvey on Tuesday, Aug. 29, 2017, in Houston.none
Houston police patrol the downtown area as the first days curfew ends after Hurricane Harvey caused heavy flooding in Houston, Texas on August 30, 2017.none
The sun rises over the downtown area as the first days curfew ends after Hurricane Harvey caused heavy flooding in Houston, Texas on August 30, 2017.none
A human chain is formed during a rescue operation at I-10 and Federal Road in Houston.none
Glenda Montelongeo, Richard Martinez and his two sons are helped out of a boat after being rescued near Tidwell Road and Toll road 8 in Houston, TX on Tuesday.none
The Houston Police rescues a woman stranded by the flood.none
The Twitter user who posted this photo on Tuesday wrote, ''THE SUN IS OUT IN HOUSTON. I repeat. THE SUN IS OUT IN HOUSTON.''none
The Harris County Sheriff posted this photo of residents rescued in a convoy while helping out with rescues on Tidwell Rd in Houston.none
The Harris County Sheriff posted this photo on Tuesday while helping out with rescues on Tidwell Rd in Houston.none
The Harris County Sheriff posted this photo on Tuesday while helping out with rescues on Tidwell Rd in Houston.none
''#PhotosFromtheField: One team, one mission. #TMDHarvey #Harvey,'' the Texas Military Department posted on Twitter.none
The Houston Police rescues a dog stranded by the flood.none
These photos show the view from downtown Houston three days in a row.none
These photos show the view from downtown Houston three days in a row.none
''#PhotosFromtheField: One team, one mission. #TMDHarvey #Harvey,'' the Texas Military Department posted on Twitter.none
These photos show the view from downtown Houston three days in a row.none
The Houston Police rescue a group stranded by the flood.none
The Houston Police rescue a group stranded by the flood.none
Loved ones help put rain coats on children after they escaped a flooded neighborhood during the aftermath of Hurricane Harvey on August 29, 2017 in Houston, Texas.none
Members of the US Coast Guard help residents leave a flooded residential area during the aftermath of Hurricane Harvey on August 29, 2017 in Houston, Texas.none
People walk to a Harris County Sheriff air boat while escaping a flooded neighborhood during the aftermath of Hurricane Harvey on August 29, 2017 in Houston, Texas.none
Volunteer Asuleni Santiago, 11, carries donated clothes for victims of the flooding from Tropical Storm Harvey at a shelter opened at the Lakewood Church in Houston on Tuesday.none
Highways around downtown Houston are empty as floodwaters from Tropical Storm Harvey overflow from the bayous around the city Tuesday, Aug. 29, 2017, in Houston.none
Volunteers Brenda Tcoc, right, and Hugo Wilson help sort bags of donated clothes for victims of the flooding after a shelter opened at the Lakewood Church on Tuesday.none
Harris County Constable Pct. 2 Christopher E. Diaz posted this photo searching for the mother of the baby found in Houston. They have since been reunited.none
People take shelter at Alief Taylor High School.none
People take shelter at Alief Taylor High School.none
Residents evacuate near the Addicks Reservoir as floodwaters from Tropical Storm Harvey rise Tuesday, Aug. 29, 2017, in Houston.none
Evacuees make their way though floodwaters near the Addicks Reservoir as floodwaters from Tropical Storm Harvey rise Tuesday, Aug. 29, 2017, in Houston.none
Evacuees are helped as floodwaters from Tropical Storm Harvey rise Tuesday, Aug. 29, 2017, in Houston.none
Homes are flooded near the Addicks Reservoir as floodwaters from Tropical Storm Harvey rise Tuesday, Aug. 29, 2017, in Houston.none
Vian Janse van Rensburg and his family in Katy, Texas, got their dogs to safety using what they had, an inflatable swan.none
Alexis Hernandez holds her daughter Faith as they make their way into the crowded George R. Brown Convention Center in Houston, Texas, on Tuesday, Aug. 29, 2017.none
A father is reunited with his children who were evacuated in the Clodine district after Hurricane Harvey caused heavy flooding in Houston, Texas on August 29, 2017.none
Volunteer rescuers evacuate people from a flooded residential area during the aftermath of Hurricane Harvey on August 29, 2017 in Houston, Texas.none
Rescue workers and volunteers help residents make their way out of a flooded neighborhood after it was inundated with rain water on August 29, 2017 in Houston.none
''#PhotosFromTheField: 36th CAB @36thInfantryDiv in action during rescue operations in #Texas. #Harvey #TMDHarvey @USNationalGuard'' the Texas Military Department wrote.none
Ezekiel Lyons, left, walks with his wife at the George R. Brown Convention Center that has been set up as a shelter on Tuesday, Aug. 29, 2017.none
Robert Salgado, 2, sleeps on the floor at the George R. Brown Convention Center that has been set up as a shelter on Tuesday, Aug. 29, 2017.none
People rest at the George R. Brown Convention Center that has been set up as a shelter on Tuesday, Aug. 29, 2017.none
Benedict Lim and his son, Jacob Lim, delivered home-cooked food to neighbors on their inflatable kayak in this viewer-submitted photo from Houston.none
Koi from the Lone Star Koi Club swim around the flood waters in this viewer-submitted photo. The viewer wrote ''One of those sights that one would laugh and cry at the same time.''none
A Coast Guard helicopter lowers someone in Houston, TX on Monday, Aug 28, 2017.none
Barb Davis, 74. is helped to dry land after being rescued from her flooded neighborhood after it was inundated with rain water, on August 28, 2017.none
People move from helicopters to busses as they land on Highway 69 after being rescued in Houston, TX on Monday, Aug 28, 2017.none
A flood victim in a wheel chair is helped off a delivery truck after being rescued during Hurricane Harvey, Monday, August 28, 2017.none
People are rescued from a flooded neighborhood after it was inundated with rain water, remnants of Hurricane Harvey, on August 28, 2017 in Houston, Texas.none
A man waves down a rescue crew as he tries to leave the area after it was inundated with flooding from Hurricane Harvey on August 28, 2017 in Houston, Texas.none
Rescue workers discovered southeast Houston resident Betty Walter sheltering 21 neighborhood dogs. Walter and the dogs were all rescued.none
''#PhotosFromTheField: #Evacuees and #NationalGuard take shelter in #Houston on 28 August, 2017. #Harvey'' wrote the Texas Military Department on Twitter.none
A neighbor does not believe anyone was home in this burning building in Friendswood, Texas. Firefighters were unable to reach it.none
An explosion has rocked a building on Fannin Street in downtown Houston on Monday.none
''Out of food and water for these 200+ people anything good would help!!!'' wrote Serena McDougle from 1st Bapt Church in North Houston.none
A family in Houston posted this photo from their rescue.none
A 60-year-old female died in East Montgomery County when a tree fell on her while she slept, the sheriff's office confirmed.none
People are rescued from a hotel by boat after Hurricane Harvey caused heavy flooding in Houston, Texas on August 27, 2017.Creative Content
Stranded vehicles sit where they got stuck in high water from Hurricane Harvey on Dairy Ashford Drive, August 28, 2017 in Houston, Texas.Creative Content
The downtown Houston skyline and flooded highway 288 are seen August 27, 2017 as the city battles with tropical storm Harvey and resulting floods.none
Naomi Coto carries Simba on her shoulders as they evacuate their home after the area was inundated with flooding from Hurricane Harvey on August 27, 2017 in Houston, Texas.none
082717-ktrk-girl-sign-rescue-1-vidKTRK
People view the flooded highways in Houston on August 27, 2017 as the city battles with tropical storm Harvey and resulting floods.none
A man helps children across a flooded street as they evacuate their home after the area was inundated with flooding from Hurricane Harvey on August 27, 2017 in Houston, Texas.none
A charred, abandoned car is seen on Interstate 610 North August 27, 2017 in Houston as the city battles with tropical storm Harvey and resulting floods.none
People walk through the flooded waters of Telephone Rd. in Houston on August 27, 2017 as the US fourth city city battles with tropical storm Harvey and resulting floods.none
People push a truck down a flooded street after the area was inundated with flooding from Hurricane Harvey on August 27, 2017 in Houston, Texas.none
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Residents are evacuated from their homes surrounded by floodwaters from Tropical Storm Harvey on Aug. 27, 2017 in Houston.AP
Evacuees wade down a flooded section of Interstate 610 as floodwaters from Tropical Storm Harvey rise on Aug. 27, 2017 in Houston.AP
Jayveon Murphy, 10, makes is way through floodwaters from Tropical Storm Harvey to check on a neighbor at his apartment complex in Houston on Aug. 27, 2017.AP
Wilford Martinez, right, waits to be rescued by Harris County Sheriff's Dept. after his car got stuck in floodwaters on Aug. 27, 2017 in Houston.AP
A man helps a woman in floodwaters from Tropical Storm Harvey on Aug. 27, 2017 in Houston.AP
Residents are rescued from their homes surrounded by floodwaters from Tropical Storm Harvey on Aug. 27, 2017 in Houston.AP
Flooding from Hurricane Harvey up to the street lights at Beltway 8 and Mainnone
''View from the front door. #hurricaneharvey #hurricaneharvey2017 #rainraingoaway,'' wrote an Instagram user in Dickinsonnone
''About 3 feet of water in the house now. The cars are toast. Luckily we are safe. #prayfortexas #prayforhouston #hurricane #harvey,'' wrote
an Instagram user in Meyerland.none
an Instagram user in Meyerland.none
Searching for dry land as Tropical Storm Harvey hits the Houston area on Aug. 27, 2017none
About 60 wheelchair-bound and four bed-ridden individuals from Friendswood Care Center Retirement home were rescued on Aug. 27, 2017. (David Cravens)none
About 60 wheelchair-bound and four bed-ridden individuals from Friendswood Care Center Retirement home were rescued on Aug. 27, 2017. (David Cravens)none
George Bush Park Reservoir at 3 p.m. Aug. 27, 2017. (Randy Garner)none
2100 Memorial senior home in Houston, which has about 190 elderly residents, has six feet of water on Aug. 27, 2017.none
Allen Parkway and I-45 in downtown Houston on Aug. 27, 2017. (Sam Gordy)none
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Feeder road collapsing onto Beltway 8 on Aug. 27, 2017. (Andrew Holland)none
Coast Guard rescue near Edgebrook and I-45 on Aug. 27, 2017.none
Intersection of Sheldon Rd and I-10 on Aug. 27, 2017.none
A street in the Needville Rosemeadow Subdivision on Hurricane Harvey. (Amber Atkinson)none
Water reached the top of the bayou. Telephone Avenue and Bellfort Street in Houston on Aug. 27, 2017.none
''#USCG Flood Punt Teams conducting urban search and rescue in greater #houston area. #Harvey,'' tweeted the US Coast Guard.none
''#USCG Flood Punt Teams conducting urban search and rescue in greater #houston area. #Harvey,'' tweeted the US Coast Guard.none
''Harris County Sheriff's Office deputies are out in the Blackhorse subdivision still working high water rescues,'' the office wrote on Facebooknone
US Coast Guard Heartland Flood Punt Teams conducting urban search and rescue in the greater Houston area.none
US Coast Guard Heartland Flood Punt Teams conducting urban search and rescue in the greater Houston area.none
An airboat is used to rescue people from an apartment building.none
Texas National Guard rescues Texans from floodwaters in Houston area.none
Texas National Guard rescues Texans from floodwaters in Houston area.none
Texas National Guard rescues Texans from floodwaters in Houston area.none
Texas National Guard rescues Texans from floodwaters in Houston area.none
Rosemont Bridge over Buffalo Bayou.KTRK
Flooding outside the Wortham Center in downtown Houston.KTRK
A flooded runway roads just outside Hobby AirportKTRK
Flooded runway and roads at Hobby Airport.none
A viewer submitted this photo from Northwest Houstonnone
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The Texas Military Department wrote, ''#BREAKINGNEWS: #Texas #NationalGuard are using every means available to save Texans in #Houston. #TMDHarvey #Harvey @USNationalGuard.''none
The Texas Military Department wrote, ''#BREAKINGNEWS: #Texas #NationalGuard are using every means available to save Texans in #Houston. #TMDHarvey #Harvey @USNationalGuard.''none
The Texas Military Department wrote, ''#BREAKINGNEWS: #Texas #NationalGuard are using every means available to save Texans in #Houston. #TMDHarvey #Harvey @USNationalGuard.''none
The Texas Military Department wrote, ''#BREAKINGNEWS: #Texas #NationalGuard are using every means available to save Texans in #Houston. #TMDHarvey #Harvey @USNationalGuard.''none
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He then yelled for the kids to get out, but it was too late. The van was bobbing up and down in the floodwaters as the children screamed.
Moments later, the van was gone, submerged underneath the fast current.
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"That keeps playing in his head," Ric said.
Complete coverage of Hurricane Harvey and its aftermath
For information on how you can help the victims of Harvey, visit this link here on 6abc.com.
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