re: The Challenger exploded on this day 38 years ago...January 28, 1986.

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hoping it was quick and as painless as possible for them

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Consensus is, unfortunately, that they survived until impact with the water. The vehicle compartment that they were in separated from the exploded portions. They emergency oxygen was activated by several of the astronauts and they were all found still strapped in when the vehicle compartment was found at the bottom of the ocean, dead from mostly blunt force trauma of impact. It was a long fall unfortunately.
Was a defining event in my and millions of other’s young childhood.