OAKLAND -- A man led sheriff's deputies on a foot chase before jumping into the Oakland Estuary and trying to swim away from capture, authorities said.

According to the Alameda County Sheriff's Office, at 5:42 p.m., two deputies on duty were driving in the parking lot of the Oakland Aquatic Center at 115 Embarcadero when they spotted a stolen vehicle.

The driver of the car, Terry Rizzo, was not only on probation for vehicle theft, but he also had a warrant out for his arrest for vehicle theft, authorities said.

As Rizzo drove out of the parking lot, sheriff's deputies attempted to stop the car, but Rizzo instead continued eastbound onto Embarcadero.

Rizzo drove the stolen vehicle about 75 yards down Embarcadero to the Embarcadero Bridge, where he hit a UPS truck that was blocking the eastbound lanes, sheriff's deputies said. No one was injured, and there were only minor damages to both the truck and the car.

Rizzo then jumped out of the car and fled on foot underneath the west side of the Embarcadero Bridge. A passenger inside the car was immediately detained by one of the deputies.

The second deputy chased after Rizzo on foot before Rizzo jumped into the Oakland Estuary. Rizzo then swam from the west shore of the estuary to the east shore.

The Alameda County Sheriff's Office surrounded the area and when Rizzo arrived at the east shore of the estuary, he began running south through a vacant peninsula owned by the Port of Oakland.

AC Transit police and Peralta Police Services units locked Rizzo down on the peninsula and he again dove back into the water, according to sheriff's deputies.

Rizzo swam to and boarded a sailboat just off the shore. East Bay Regional Parks Police responded with a helicopter, and Oakland police arrived with a K-9 unit and an Oakland police marine unit to help capture Rizzo. He was ordered to surrender, and he finally left the sailboat and was arrested on shore without further incident.

No one was injured in the incident, sheriff's deputies said.

According to sheriff's deputies, Rizzo had a small amount of methamphetamine on him when he was arrested.

He was booked into Glenn Dyer Jail, though the extent of his charges was not known late Wednesday.

Check back for updates.

Contact Katie Nelson at 925-945-4780 or follow her at Twitter.com/katienelson210.