Four private astronauts launched to orbit by Elon Musk’s SpaceX returned to Earth Saturday evening, splashing down into the ocean off the east coast of Florida after a three-day mission.

A company space capsule ferrying the quartet landed under parachutes at 7:06 p.m. ET. The capsule carried the ship’s commander, billionaire entrepreneur Jared Isaacman, as well as Hayley Arceneaux, a physician assistant; geoscientist Dr. Sian Proctor; and Chris Sembroski, an aerospace data engineer.