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SpaceX's 16-foot-tall (4.9 meters) Crew Dragon capsule, atop a Falcon 9 rocket, lifted off from Florida's Kennedy Space Center at 2:49 a.m. (0749 GMT), carrying a test dummy nicknamed Ripley.
A successful launch - SpaceX's fourth attempt in a week after technical and weather delays - would be a significant victory for Musk's rocket company.
Tesla must appoint an independent chairman, two independent directors, and a board committee to set controls over Musk's communications under the proposed agreement.
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