CAPE CANAVERAL, Fla. (AP) — Two NASA astronauts returned to Earth on Sunday in a dramatic, retro-style splashdown, their capsule parachuting into the Gulf of Mexico to close out an unprecedented test flight by Elon Musk’s SpaceX company.

It was the first splashdown by U.S. astronauts in 45 years, with the first commercially built and operated spacecraft to carry people to and from orbit. The return clears the way for another SpaceX crew launch as early as next month and possible tourist flights next year.

Test pilots Doug Hurley and Bob Behnken rode the SpaceX Dragon capsule back to Earth less than a day after departing the International Space Station and two months after blasting off from Florida. The capsule parachuted into the calm gulf waters about 40 miles off the coast of Pensacola, hundreds of miles from Tropical Storm Isaias pounding Florida’s Atlantic coast.

“Welcome back to planet Earth and thanks for flying SpaceX,”î said Mission Control from SpaceX headquarters.

“It was truly our honor and privilege,î” replied Hurley.

More than an hour after splashdown, the astronauts emerged from their capsule on the deck of a recovery ship, both signaling a thumbs-up as they headed for medical exams.

Their ride home in the capsule dubbed Endeavour was fast, bumpy and hot, at least on the outside.

The spacecraft went from a screaming orbital speed of 17,500 mph to 350 mph during atmospheric reentry, and finally to 15 mph at splashdown. Peak heating during descent was 3,500 degrees Fahrenheit. The anticipated top G forces felt by the crew: four to five times the force of Earth’s gravity.

Within a half-hour of splashdown, the scorched and blistered 15-foot capsule was on board a SpaceX recovery ship with a staff of more than 40, including doctors and nurses.

To keep the returning astronauts safe in the pandemic, the recovery crew quarantined for two weeks and were tested for the coronavirus.

The opening of the hatch was held up briefly by extra checks for toxic rocket fumes outside the capsule. After medical exams, the astronauts were expected to fly home to Houston for a reunion with their wives and sons. Musk was also headed to Texas to meet with them from SpaceX’s Mission Control in California.