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The competition heats up: A Falcon 9 rocket today successfully put a NASA solar observation satellite into orbit.
They have also said that they have achieved splashdown of the first stage, though no details yet on how soft that splashdown was.
Update: SpaceX reports that “the first stage successfully soft landed in the Atlantic Ocean within 10 meters of its target. The vehicle was nicely vertical and the data captured during this test suggests a high probability of being able to land the stage on the drone ship in better weather.”