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Boeing’s Starliner’s first-ever astronaut mission is underway.

Starliner, Boeing’s new astronaut taxi for NASA, soared into space today (June 5) from Launch Complex 41 at Cape Canaveral Space Force Station, notching a huge milestone after nearly two decades of commercial crew planning.

Veteran NASA astronauts Barry “Butch” Wilmore and Suni Williams, both

former U.S. Navy test pilots, with 11,000 flight hours between them, are riding aboard the Boeing Starliner capsule, which launched today at 10:52 a.m. EDT (1452 GMT) atop a United Launch Alliance’s (ULA) workhorse Atlas V rocket. As it was for Starliner, this was also the first time astronauts have launched atop an Atlas V in its 22-year flight history.

“We all know that when the going gets tough, as it often does, the tough get going, and you all have,” Wilmore said while waiting on the pad for liftoff. “Let’s get going, let’s put some fire in this rocket. “

“Let’s go Calypso, take us to space and back,” pilot Sunita Williams said just minutes before launch, referring to the name of the Starliner capsule.

Starliner is headed toward the International Space Station (ISS), where Wilmore and Williams will spend about eight days putting the spacecraft through a series of tests toward operational crew certification. Rendezvous is scheduled for Thursday (June 6) around 12:15 p.m. EDT (1615 GMT). You can follow the mission with our Starliner live updates page.

The fiery launch brings NASA within reach of a goal the agency set more than a decade ago: getting two American commercial vehicles up and running for astronaut missions to the ISS. It’s been a long road to get here, as the roots of this goal go back to at least 2006.

The newly launched Starliner mission, a roughly 10-day jaunt known as Crew Flight Test (CFT), was originally scheduled to lift off on May 6. But that attempt was scrubbed about two hours before launch, when team members noticed a “buzzing” valve on the Atlas V’s upper stage.

ULA decided to replace the valve, which required rolling the rocket off the pad and back to the company’s vertical integration facility. That work delayed the planned liftoff until May 17, but then another issue arose: a slight helium leak in one of the reaction-control thrusters in Starliner’s service module.

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