The quartet of newly minted citizen astronauts comprising the SpaceX Inspiration4 mission safely splashed down in the Atlantic off Florida's coast on Saturday, completing a three-day flight of the first all-civilian crew ever launched into Earth orbit.

SpaceX's Crew Dragon capsule, dubbed Resilience, parachuted into calm seas around 7 p.m. shortly before sunset, following an automated re-entry descent, SpaceX showed during a live webcast on its YouTube channel.

Within an hour, the four smiling crew members were seen emerging one by one from the capsule's side hatch after the vehicle, visibly scorched on its exterior, was hoisted from the ocean to the deck of a SpaceX recovery vessel.