Prince William Pays Tribute to Friend Henry Worsley who died while Crossing the Antarctic for Charity

Prince William has paid tribute to his friend, British explorer Henry Worsley, who died during his journey across the Antarctic.

"He was a man who showed great courage and determination and we're incredibly proud to be associated with him," William said reported by PEOPLE. "Even after retiring from the Army, Henry continued to show selfless commitment to his fellow servicemen and women by undertaking this extraordinary [Ernest] Shackelton solo expedition on their behalf."

Worsley, a father of two, died from "complete organ failure" at the age of 55 after being airlifted to a hospital located in Punta Arenas Chile for severe exhaustion and dehydration. The British Army Officer was attempting to become the first man ever to cross the Antarctic without any assistance.

Worsley undertook the journey, which was inspired by Ernest Shackleton, a British explorer who tried to cross the Antarctic in the early 1990s, to raise money. According to Worsley's wife, Joanna, via CNN, he had "achieved his Shackleton Solo goals: of raising over £100,000 ($142,000) for the Endeavour Fund, to help his wounded colleagues, and so nearly completing the first unsupported crossing of the Antarctic landmass. A crossing made, under exceptionally difficult weather conditions, to mark the 100th anniversary of Sir Ernest Shackleton's Endurance expedition -- his lifelong hero."

Worsley lasted 71 days and had about 30 miles left to go before he called for medical assistance on Friday.

His final message read, "The 71 days alone on the Antarctic with over 900 statute miles covered and a gradual grinding down of my physical endurance finally took its toll today, and it is with sadness that I report it is journey's end -- so close to my goal."

Donations have since totaled to more than $150,000.