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River had responded appropriately to Zoe and Simon on comm. There wasn't much to say to them.

She felt her brother coming back aboard and despite knowing him so well she was still surprised by the intensity of Simon's reaction to leaving Adam. River was pleased that he had somewhere to go to find comfort. She was still tired from the Niska episode and really didn't need to be close to strong emotion. Simon in the Engine Room with Kaylee and her on the Bridge put him at the best distance that could be achieved on Serenity and for that she was grateful.
River tried not to read Jayne's intentions but she sincerely hoped that he would refrain from coming to the Bridge. She didn't need the distraction his proximity would have posed.

The closing of the Cargo Bay main hatch was the signal she had been waiting for. River didn't need it, of course, but every one felt more comfortable when she at least pretended that she required comm message and the system notification that the doors were closed. By the time the Cargo Bay hatch was closed River had initiated start up, first on the port engine and then on the starboard. It didn't take long; within a minute Serenity was ready to lift and it seemed to River that Serenity was anxious as herself and Mal to be clear of the ground and out in the Black. She knew where Mal wanted her to take Serenity but she waited for his presence on the Bridge and his formal order before setting course, though by that time Serenity was already clear of the ground and heading on the outbound vector granted them by Boros Control. That vector she did require comm confirmation on - the Control Centre was too far away and surrounded by too many other sources of input for River to be able to get the information directly. Even if she had been able to pluck it out of the brains of the appropriate Controller she would have refrained - Mal needed her not to draw attention to them by her anticipating Boros Control directives.