On Endurance, Cooper joins Brand's daughter, biologist Amelia, physicist Romilly , geographer Doyle, and robots TARS and CASE. They enter the wormhole and head to Miller, but discover the planet is so close to Gargantua that it experiences severe gravitational time dilation: each hour on the surface is seven years on Earth. The team descends to the planet, which proves inhospitable as it is completely covered by a shallow ocean roiled by enormous tidal waves. As Amelia attempts to recover Miller's data, a wave hits, killing Doyle and delaying the shuttle's departure. When they return to the Endurance, 23 years have passed.