T-00:00:00 - Falcon 9 lift-off. Stage 1's nine Merlin engines produce 1.3M pounds of thrust.
T+00:00:07 - Falcon 9 clears the launch tower.
T+00:01:00 - Altitude: 6km, Velocity: 241m/s, Downrange distance: 1km
T+00:01:10 - Falcon 9 achieves supersonic speed.
T+00:01:23 - Falcon 9 achieves maximum dynamic pressure (Max Q).
T+00:02:00 - Altitude: 30km, Velocity: 1km/s, Downrange distance: 23km
T+00:02:30 - Altitude: 51km, Velocity: 1.8km/s, Downrange distance: 59km
T+00:02:41 - MECO (Main Engine Cut-Off) Altitude: 80km, Velocity: Mach 10
T+00:02:44 - Stage 1 separates from Stage 2.
T+00:02:45 - Stage 2's single Merlin engine ignites.
T+00:03:25 - Dragon's nose cone is jettisoned.
T+00:04:21 - Altitude: 148km, Velocity: 3.2km/s, Downrange distance: 346km
T+00:05:22 - Altitude: 182km, Velocity: 4km/s, Downrange distance: 541km
T+00:06:24 - Altitude: 200km, Velocity: 4.6km/s, Downrange distance: 767km
T+00:07:31 - Altitude: 210km, Velocity: 5.6km/s, Downrange distance: 1,080km
T+00:09:40 - SECO (Second-stage Engine Cut-Off)
T+00:10:15 - Stage 2 separates from Dragon.
This will be a historic moment if the recovery succeeds, ushering in a new era of space travel due to the massively reduced operating costs of recoverable engines.
https://www.youtube.com/watch?v=9ZDkItO-0a4
In this video, the copter is actually HOVERING ABOVE the rocket as the rocket descends back down to the launchpad. The only time I've ever seen something like that before was Hollywood (Apollo 13, and then when the footage was re-used in Austin Powers 2).