The rocket blasted off from Space Launch Complex 41 at 9:14 a.m.
The U.S. Space Force launched its secretive X-37B orbital test vehicle atop the rocket as well as a small satellite developed by the U.S. Air Force Academy.
The classified mission was dedicated to health care workers, first responders and anyone else who has been affected by COVID-19.
SpaceX was scheduled to launch a Falcon 9 rocket from Space Launch Complex 40 early Sunday, but that launch has been postponed until Tuesday.
The rocket will deploy 60 satellites for the Starlink program, which aims to provide affordable, global internet access.
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