A special team of four SpaceX astronauts performed the world’s first commercial spacewalk on Thursday, September 12, soaring high above Earth on the third day of a five-day journey into low Earth orbit.

“SpaceX, we’ve got a lot of work to do at home, but it looks like a perfect world from up here,” said Polaris Dawn commander Jared Isaacman, the American billionaire who funded the mission, standing mostly still and looking down at Earth from outside the dragon hatch.

On Tuesday, September 10, SpaceX launched four astronauts — Isaac, pilot Scott “Kidd” Poteet, and mission specialists Sarah Gillis and Anna Menon (both from SpaceX) — into orbit aboard a historic Falcon 9 rocket at Complex 39A at NASA’s Kennedy Space Center, the same launch pad that hosted Apollo 11, the first mission to send humans to the moon.

Fifteen hours later, the crew made early space history by reaching an altitude of 870 miles (1,400.7 kilometers), higher than any crewed mission since the Apollo program half a century earlier. Another NASA mission, Gemini 11, previously held the altitude record for a crewed spacecraft in Earth orbit at 853 miles (1,373 km).

After reaching a record altitude, the Crew Dragon Resilience spacecraft descended to 458 miles (737 km) at its highest point. Once there, Resilience was depressurized and Isaacman and Sarah Gillis entered space one by one; Isaacman ejected at approximately 6:48 ET (10:48 GMT) and Gillis followed at 7:04 ET (11:04 GMT).