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When she didn’t return 15 minutes later, her parents and nearby campers began to search the area.
Kathy Hochul, state governor, said: “We are overjoyed at the news that Charlotte Sena has been located safely this evening after an intense days-long search. Our hearts are with her family as they welcome her home.
“Thank you to the New York State Police, New York Park Police and all who worked so tirelessly to find Charlotte. It is because of their efforts that Charlotte will be able to return home safe to her family.”
More than 100 personnel and 75 law enforcement officials were deployed in the search for the girl, which also included dogs, two drones, boats and six underwater rescue teams, Ms Hochul said earlier.
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Earlier on Monday, police said 400 search and rescue personnel were searching for the nine-year-old, across a space measuring 46 miles.
Police set up checkpoints in the park, while stopping cars and checking vehicles as they drove through.
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The park was closed while the search took place, with officials asking the public to stay away.
Police added the FBI was also helping in the case.
Charlotte’s aunt, Jene Sena, told Sky’s US partner network NBC Newsthat her niece vanished in only minutes.
“She disappeared almost into thin air. I mean it was, minutes, minutes, between when she was last seen and when she wasn’t there anymore,” Sena said.