Every large rocket hobbyist files a flight plan in advance and informs the rocketry community months before their launch schedule.
It was 35 miles off of the coast, longer flight time than any amateur rocket, no flight plan filed, and as far as the amateur rocket community is concerned it wasnt theirs.
To everyone saying it is a jet, you can see a large single orange flame shooting from bottom of the object producing the contrail. Also, the contrail is super large when scaled against the helicopter in flight (good reference point), which is several miles closer to the camera. The bottom plume appears to be at least a mile wide.
If FR mil, ex-mil and engineering FReepers disagree I'll gladly accept their greater knowledge and experience on the matter.