A SpaceX Falcon Heavy rocket blasted off from Kennedy Space Center in Florida on Tuesday, putting 24 experimental satellites into orbit after what Elon Musk's rocket company called one of its "most difficult" launches ever.

The craft lifted off to cheers from onlookers at 2:30 a.m. after a three-hour delay from the original launch time late Monday.

The boosters separated safely as the craft began its six-hour mission to deploy the satellites.