Timeline of United States discoveries four days into the ship's maiden voyage, "Titanic" struck an iceberg and sank two hours and forty minutes later, early on April 15, 1912. The sinking resulted in the deaths of 1,517 of the 2,223 people on board, making it one of the deadliest peacetime maritime disasters in history. After nearly 74 years of being lost at sea on the bottom of the ocean floor, a joint Franco-American expedition led by American oceanographer Dr. Robert D. Ballard, discovered the wreckage of the RMS "Titanic" two miles (3 km) beneath the waves of the North Atlantic on September 1, 1985. Ballard
Wreck of the RMS Titanic previously unseen pieces of wreckage, and led to the documentary "Titanic's Final Moments: Missing Pieces". RMS Titanic Inc. mounted further expeditions to "Titanic" in 2004 and 2010, when the first comprehensive map of the entire debris field was produced. Two autonomous underwater vehicles – torpedo-shaped robots – repeatedly ran backwards and forwards across the debris field, taking sonar scans and over 130,000 high-resolution images. This enabled a detailed photomosaic of the debris field to be created for the first time, giving scientists a much clearer view of the dynamics of the ship's sinking. The expedition encountered difficulties: several hurricanes passed