January 6, 2015 5:00 AM EST

SpaceX’s Falcon 9 rocket is taking off from Cape Canaveral Air Force Station in Florida on Tuesday morning, before the company founded by Elon Musk attempts an unprecedented landing on a barge floating in the Atlantic Ocean.

Launch is scheduled for 6:20 a.m. E.T., and it shouldn’t take much more than 20 minutes before the craft attempts to land 200 miles east of the Florida coast.

You can watch the whole thing live above. Read TIME science editor Jeffrey Kluger on the launch here.

Contact us at letters@time.com.

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