In a beautiful video, I just watched a great ball of fire slowly descend to the landing pad and then fade out to reveal a booster rocket standing as straight as you please. Absolutely incredible. The whole of mission control was throwing a party.
The rest of the rocket went on to deploy six more satellites to complete the constellation arrangement.
I'll update this post with a link to the video of the launch and further details as I get them.
SpaceX launch video (I suggest starting at about 21:00)
The above link will also give more mission details.
Background on the launch
Long exposure of the launch and landing of the rocket
The booster rocket safely on the landing pad