Early this morning (July 11), billionaire Richard Branson and three other passengers briefly went to space for the first fully crewed spaceflight of Virgin Galactic's SpaceShipTwo spaceplane.

At 8:40 a.m. local time (10:40 a.m. EDT; 1440 GMT), the crew of Virgin Galactic's Unity 22 test flight mission took off from the company's Spaceport America facility in New Mexico and flew just above the boundary of space, where the four passengers and two pilots experienced about four minutes of weightlessness.

It was "the experience of a lifetime," Branson said during a live broadcast of the flight. Branson, designated "Astronaut 001" for the Unity 22 mission, founded the Virgin Group of companies that includes Virgin Galactic.

The SpaceShipTwo vehicle, named VSS Unity, made a successful, crewed suborbital test flight to 282,000 feet (86 kilometers) above Earth's surface before gliding back down to Spaceport America for a smooth runway landing.

Related: What to know about Virgin Galactic's SpaceShipTwo Unity 22 launch

This test flight is the company's fourth crewed spaceflight but the first to carry a full crew of two pilots and four mission specialists. In addition to Branson, the crew that flew today included Beth Moses, Virgin Galactic's chief astronaut instructor; Colin Bennet, the lead operations engineer at the company; and Sirisha Bandla, Virgin Galactic's vice president of government affairs and research operations.

The Unity 22 mission lifted off from Spaceport America with the company's VSS Unity spaceplane climbing to an altitude of 50,000 feet (15,000 meters) with the help of its "mothership" VMS Eve, a WhiteKnightTwo carrier plane. After reaching this altitude, VMS Eve let the spaceplane go and from there it rocketed up to 53 miles (86 km) above Earth's surface before returning to Earth and landing not too far from where it took off.

There has been some debate over whether this flight officially reached space. VSS Unity's achieved altitude is high enough for the crew on board to have earned astronaut wings by standards set by the U.S. military, the Federal Aviation Administration (FAA) and NASA, which set the boundary of outer space at 50 miles (80 km). However, it is below the Kármán line, another popularly recognized boundary of outer space, which begins at an altitude of 62 miles (100 km).

This difference was pointed out by Virgin Galactic competitor Blue Origin, which is launching its New Shepard crewed suborbital flight with its founder, Jeff Bezos, on July 20. This upcoming mission will pass the Kármán line.

With the Unity-22 test flight, Virgin Galactic aimed for the crew to evaluate the "private astronaut experience," according to a statement from the company. The flight focused on "cabin and customer experience objectives," the statement shared, which include evaluating comfort and what the cabin feels like with a full crew, the experience of being weightless and viewing Earth from space, demonstrating how the crew might conduct research experiments and seeing how well the crew's training at Spaceport America prepared them for the mission.

Following this successful launch and landing, the crew will now inspect the vehicles and begin an extensive data review, according to the same statement. This review will help to inform the company's flight program and future missions like this. Virgin Galactic is aiming to launch two more crewed test flights before beginning full commercial service in 2022.

Email Chelsea Gohd at [email protected] or follow her on Twitter @chelsea_gohd. Follow us on Twitter @Spacedotcom and on Facebook.