Wishbone: It is explained later that many did die, but afterwards the survivors built a raft and set out to sea. It is implied that some of them must have survived, in order to build the human race. The books don't really leave any doubt that the Golgafrinchans are indeed our ancestors.
Miaghstir: Hmm, I must've missed that (a possibility that's not at all unlikely). I need to read the books again.
From "Life, the Universe and Everything", chapter 2: "What happened to the Golgafrinchans?" asked Ford.
Arthur shrugged.
"A lot of them didn't make it through the winter three years ago," he said, "and the few who remained in the spring said they needed a holiday and set off on a raft. History says that they must have survived..."
"Huh," said Ford, "well well."