MEREDITH, N.H. (AP) — Burt Rutan was alarmed to see the plane he had designed was so loaded with fuel that the wing tips started dragging along the ground as it taxied down the runway. He grabbed the radio to warn the pilot, his older brother Dick Rutan. But Dick never heard the message.

Nine days and three minutes later, Dick, along with copilot Jeana Yeager, completed one of the greatest milestones in aviation history: the first round-the-world flight with no stops or refueling.

A decorated Vietnam War pilot, Dick Rutan died Friday evening at a hospital in Coeur d’Alene, Idaho, with Burt and other loved ones by his side. He was 85. His friend Bill Whittle said he died on his own terms when he decided against enduring a second night on oxygen after suffering a severe lung infection.

“He played an airplane like someone plays a grand piano,” said Burt Rutan of his brother, who was often described as has having a velvet arm because of his smooth flying style.