The agreement is to launch a Lockheed Martin technology demonstration mission.
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In order to manufacture orbital transfer vehicles, Firefly plans to retain Spaceflight's Bellevue, Washington, payload processing facility.
The new version of the Antares, called the Antares 330, will feature the first stage using seven Miranda engines under development by Firefly.
The new funding round will support design work on a medium-class launch vehicle, called Beta.