A submersible carrying five people to the Titanic imploded near the site of the shipwreck and killed everyone on board, authorities said Thursday, bringing a tragic end to a saga that included an urgent around-the-clock search and a worldwide vigil for the missing vessel.

that remained for was wiped away early Thursday, when the submersible’s 96-hour supply of oxygen was expected to run out following its Sunday launch and the Coast Guard announced that debris had been found roughly 1,600 feet (488 meters) from the Titanic in North Atlantic waters.

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