SAN FRANCISCO — A minivan driver plunged in the vehicle off a California cliff Friday and into the ocean but managed to get out of the wreckage and walk on rocks to a rescuer who rappelled down to him, authorities said.

The unidentified man was the minivan's only occupant and was taken to a hospital with non-life threatening injuries after the van went off the scenic Highway 1 that hugs the ocean in Montara State Beach south of San Francisco, said California Highway Patrol Officer Vu Williams.

Images from KGO-TV showed the firefighter rappel down the cliff and reach the man as he stood among rocks, with the wrecked vehicle nearby pummeled by waves.

The man walked to the firefighter, was put in a harness, lifted up the cliff, put on a stretcher and taken away by an ambulance.

Williams said the cause of the crash was not determined but that the minivan had been traveling south when it went onto the highway's shoulder and then plunged off the cliff in a hilly area known as Devil's Slide because of its propensity for rock slides.