Canoe and River Current Timing
Context
Two friends paddle on a river with a constant current of 2 mph. Their paddling speed relative to the water is constant and the same on both days.
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Day 1: Starting at their original launch point, they canoe upstream for 4 hours, then immediately turn and paddle downstream for 5 hours.
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Day 2: From where they ended Day 1, they paddle upstream back to the original launch point, which is 23 miles upstream from their Day 2 starting location. They arrive at 16:00.
Task
At what time did they depart on the return trip (i.e., the Day 2 upstream trip back to the original launch point)?