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Toms River police said a truck drove off Gladney Avenue and onto the icy river early this morning. The truck was found submerged near Motor Road in Pine Beach.

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Two people have turned themselves in after a truck was found submerged in Toms River this morning, police said.

Toms River Police spokesman Ralph Stocco said this afternoon that the two people, who he did not identify, were being interviewed.

New Jersey State Police said a dog was found dead inside the truck. No people were in the vehicle.

A search and rescue effort involving the New Jersey State Police and U.S. Coast Guard was launched early this morning for the vehicle, which a witness reported drove onto the frozen river from the end of Gladney Avenue in Toms River just after midnight.

The truck drove to the center of the river and began doing donuts, according to Stocco, who said police also saw the vehicle on the ice. The truck's lights were visible from the shore as it drove toward the other side of the river, Stocco said, but eventually they disappeared and the search effort started.

U.S. Coast Guard Petty Officer Nick Ameen said a helicopter crew spotted a hole in the ice this morning.

A #USCG aircrew located a truck that fell through the ice on Toms River early Sunday. @NJSP dive team is responding. pic.twitter.com/wDXEG30t4x — USCG Mid-Atlantic (@uscgmidatlantic) March 1, 2015

A rescue swimmer was lowered down to the area to investigate, Ameen said, and observed the truck in the water.

New Jersey State Police spokesman Sgt. First Class Gregory Williams said that earlier today crews were unable to identify if anyone was inside the vehicle because the windows were tinted. Williams said a dive team was working to identify is anyone was inside the vehicle.

State Police found no people in the truck. A boxer mix dog, however, was inside the vehicle.

NJSP TEAMS Unit conducted Successful Dive confirmed, No persons in Pickup; Boxer mix dog found in pkup. 2 subjects in custody. — NJSP - State Police (@NJSP) March 1, 2015

Erin O'Neill may be reached at eoneill@njadvancemedia.com. Follow her on Twitter @LedgerErin. Find NJ.com on Facebook.