The CRS-16 mission launched supplies to the ISS on Wednesday, but the booster headed for the landing pad missed and landed in the water instead, ending SpaceX's flawless record of 12 previous successful landings.
The first stage of the rocket fell into the ocean during an attempted return to the launch site in Florida.
But even with the landing not going as planned, Insprucker emphasized the successful launch.
"Engines stabilised rocket spin just in time, enabling an intact landing in water!"
SpaceX's successful Falcon 9 rocket launch proved to be quite a spectacle for viewers and was considered a success despite the lost booster.
SpaceX has a contract to ferry American astronauts to the space station as part of what's known as the Commercial Crew program with NASA, but the timeline for the first flights has slipped repeatedly.
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Musk also tweeted a video from on board the booster, showing the rocket spinning uncontrollably until it regained stability at the last moment, but missed the landing pad.
"Grid fin hydraulic pump stalled, so Falcon landed just out to sea", he said. It appeared to be undamaged and was transmitting data, Musk said, adding that a recovery ship was sent to retrieve it. "Ships en route to rescue Falcon", he wrote.
Ocean platform landings have proven a bit trickier, but SpaceX has managed to stick the landing, whether on land or sea, 32 times in all. The rocket was loaded with supplies, science experiments and food for the astronauts living there.
The Dragon space capsule that flew on Wednesday was used once before, on a supply mission in February 2017.
After the lift-off, everything went as per the plan including the crucial part where it effectively propelled the cargo-laden Dragon capsule towards the global space station.