A couple from Parracombe have said the RAF Chivenor Sea King crew deserve medals after rescuing them and their three dogs from a dangerous cliff face as the tide raced in.As part of our series of Thanking North Devons Helicopter Heroes stories, Joyce and Eric Salter told how their coastal walk ended in disaster earlier this year.Familiar walkThe couple and their dogs, Melsa, Shanti and Boots, were walking from Lynmouth to Sillery on a sunny afternoon on Thursday, January 8 a walk they had done many times before. Joyce said: We knew we had plenty of time to get to Sillery safely and would have an hour or so to spend on the beach before heading home the top way. But when we reached Sillery a long flight of well eroded concrete steps rose majestically up a narrow outcrop of rock ending in mid air. The couple were stuck on the cliff face, watching the wind churning the waves and the tide racing in.Terrifying intensityThey called the Coastguard but crews were unable to reach them safely and the inshore lifeboat, which also attended, could not get close, so they called the Sea King. Up until this point the dogs had been keenly interested in what was going on but as the big yellow monster appeared from the north west, getting louder and louder, closer and closer, they started to panic, said Joyce. As the helicopter came and hovered just 50 feet overhead, the downdraught turned the incoming waves into a cauldron, soaking us in moments and the noise and pressure was terrifying in its intensity.Knocked down by wavesIn the darkness, the winchman came down to the couple, but was knocked off his feet several times by the crashing waves. He told us there was little time and we would have to move quickly, said Joyce. With the waves up to Erics knees, they managed to bundle the struggling dogs up and were winched to safety in two goes and flown back to base at Chivenor.Not enough fuelJoyce added: We were told later that the search and rescue crew had been on a training exercise at Milford Haven when the call came in and by the time they had reached us and hovered long enough to get us all safely off the beach there was not enough fuel left. One of the Coastguard people there said it was the most difficult rescue they had ever seen the helicopter was so close to the cliff. I have no doubt that without the aid of the Coastguard, lifeboat crews and rescue services we would have perished overnight on Sillery. The Search and Rescue (SAR) service is due to move to a brand new base in St Athan, Wales in October, run by private company Bristow Helicopters Ltd for the Coastguard.Read more tales... Follow the rest of our Helicopter Heroes series here:\tSad to say goodbye to big yellow friend in sky - Braunton woman tells how Sea King crew rescued her from 80ft cliff fall.\tLundy will lose a limb when Sea King leaves - Lundy Island manager tells how the RAF crew saved his best friends life.Have you been rescued by the Sea King helicopter? Contact Sarah Howells on firstname.lastname@example.org or 01271 341658.