Its debut also marks a leap forward in re-usability for the California-based company, which is intent on bringing down the cost of spaceflight.
"We expect there would be literally no action taken between flights, so just like aircraft," Musk said.
The launch was postponed at the last minute yesterday, when an automatic abort switch was triggered, but SpaceX said it was just a glitch and the spacecraft remained in good health.
After liftoff, the rocket will attempt to return to an upright landing on the "Of Course I Still Love You" droneship stationed in the Atlantic Ocean. So far, SpaceX has landed 11 of its boosters on land and 13 on its droneships, which are floating platforms in the ocean, as part of its effort to bring down the cost of spaceflight and re-use costly rocket parts.
The Block 5 Falcon 9 is eventually meant to carry astronauts to the International Space Station, with the first launch tentatively planned for December 2018.
It will mark the first time since the end of the US space shuttle program in 2011 that a rocket has left US soil carrying people to space.
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