Authorities say that the SOS sign was visible from above.
The three rescued men had been missing in the Micronesia archipelago for around three days during which their distress signal was spotted Sunday.
Searchers on Australian and US aircraft noticed the distress signal coming on an uninhabited Pikelot Island, according to the Australian Defense Department.
The men had apparently set out from Pulawat atoll in a 7-meter (23-foot) boat on July 30 and had intended to travel about 43 kilometers (27 miles) to Pulap atoll when they sailed off course and ran out of fuel, the department said.
Searchers in Guam asked for Australian help. The military ship, Canberra, which was returning to Australia from exercises in Hawaii, diverted to the area and joined forces with US searchers from Guam.
The men were found about 190 kilometers (118 miles) from where they had set out.
“I am proud of the response and professionalism of all on board as we fulfill our obligation to contribute to the safety of life at sea wherever we are in the world," said Canberra’s commanding officer, Capt. Terry Morrison, in a statement.
The men were found in good condition, and an Australian military helicopter was able to land on the beach and give them food and water.
A Micronesian patrol vessel was due to pick them up.
SOS is an internationally recognized distress signal that originates from Morse code.
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