A pilot was killed and four passengers survived after a small plane crashed in Brazil on Thursday morning.

Surveillance camera footage showed the Cessna 545 about to land when it suddenly overshot the rainy runway at Ubatuba Airport in Ubatuba, a coastal city in the southeastern state of São Paulo.

The aircraft crashed and exploded before a large part of it came to rest in the ocean on a nearby beach.

Bystanders recorded first responders carrying two children from the waves after they had been pulled from the wreckage.

Mireylle Fries, her husband, Bruno Almeida Souza, and the couple's young son and daughter, were taken to Santa Casa de Ubatuba Hospital and are in stable condition, Ubatuba Fire Department captain, Karoline Magalhães, told Globo News.

The pilot, Paulo Seghetto, was removed from the doomed plane and went into cardiac arrest before dying at the scene.

The Ubatuba city government and the São Paulo Department of Public Safety said a person who was at the beach was injured.

Rede VOA, the company that manages the airport, said that a woman and her child were hit by the plane and survived.

The plane departed from Mineiros Municipal Airport in Mineiros, a city in the central state Goiás and encountered poor weather conditions in Ubatuba, including a wet runaway before it slammed through a fence.

The plane was owned by Fries and her family, according to National Civil Aviation Agency records.

It was built in 2008 by Cessna Aircraft. It has a capacity of seven passengers and two pilots.