The unmanned Falcon rocket blasted off from Florida's Kennedy Space Center, as schools and businesses boarded up for Hurricane Irma.
It's the fifth flight for one of these crewless mini- shuttles, known as the X-37B Orbital Test Vehicle.
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As has become customary, SpaceX landed its leftover booster back at Cape Canaveral for eventual reuse.
This was the first time SpaceX has provided a lift for the experimental mini-shuttle. The previous missions relied on United Launch Alliance's Atlas V rockets. Air Force officials said they want to use a variety of rockets for the X-37B programme, to launch quickly if warranted.
The Boeing-built mini-shuttle is 29 feet long, with a 14 -foot wingspan. By comparison, NASA's retired space shuttles were 122 feet long, with a 78-foot wingspan.
SpaceX stopped providing details about the X-37B's climb to orbit, a few minutes after liftoff at the Air Force's request. The booster's return to SpaceX's landing zone at Cape Canaveral Air Force Station, however, was broadcast live.
"The Falcon has safely landed," a SpaceX launch controller announced. Cheers erupted at SpaceX headquarters in Hawthorne, California.
It was SpaceX's 16th successful return of a first-stage booster. Booster rockets are normally discarded at sea.
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