Oh, I have slipped the surly bonds of earth, ...

 put out my hand, and touched the face of God. 

They didn't suffer much either.  RIP to the Titan crew and passengers.  Surely the pressure, not lack of oxygen, killed them.  (The sounds allegedly being heard are just justification for the huge overtime and rescue costs that will be billed.)  "They died doing what they loved."

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The Flight Of Daedalus And Icarus

Icarus was the young son of Daedalus and Nafsicrate, one of King Minos’ servants. Daedalus was way too smart and inventive, thus, he started thinking how he and Icarus would escape the Labyrinth. Knowing that his architectural creation was too complicated, he figured out that they could not come out on foot. He also knew that the shores of Crete were perfectly guarded, thus, they would not be able to escape by sea either. The only way left was the air.

Daedalus managed to create gigantic wings, using branches of osier and connected them with wax. He taught Icarus how to fly, but told him to keep away from the sun because the heat would make the wax melt, destroying the wings.

Daedalus and Icarus managed to escape the Labyrinth and flew to the sky, free. The flight of Daedalus and Icarus was the first time that man managed to fight the laws of nature and beat gravity.

Icarus Death

Although he was warned, Icarus was too young and too enthusiastic about flying. He got excited by the thrill of flying and carried away by the amazing feeling of freedom and started flying high to salute the sun, diving low to the sea, and then up high again.

His father Daedalus was trying in vain to make young Icarus to understand that his behavior was dangerous, and Icarus soon saw his wings melting.

Icarus fell into the sea and drowned. The Icarian Sea, where he fell, was named after him and there is also a nearby small island called Icaria.