Among the last words heard from the crew of an experimental submersible headed for the wreck of the Titanic were “all good here,” according to a visual re-creation of the journey of the Titan before it imploded, killing all five on board.

The U.S. Coast Guard presented the animation Monday on the first day of what is expected to be a two-week hearing on the causes of the implosion. Crew aboard the Titan were communicating with staff aboard the support ship Polar Prince via text messages, according to the presentation.