It wasn't in Florida. It was launched from the Turks and Caicos. I just saw it on several news sites. It was just visible from South Florida.

The audio is playing Brazilian music and the guy says UFO with a Brazilian accent. Most Brazilians are in Pompano Beach and Miami.

https://twitter.com/Marco_Langbroek/status/1358578559963561984

Testing/training also being done in Ocala: Pinecastle Range Complex Training Schedule

Navy training schedules indicate that inert bombing will take place at the Pinecastle Range Complex located in the Ocala National Forest the following days and times:

Feb. 8 – 3:45.-5:30 p.m. – Inert Feb. 10 – 10-11 a.m. – Inert Noon-1:15 p.m. - Inert Feb. 11 – 10-11:30 a.m. – Inert 3:45-5 p.m. - Inert

During bombing periods wildlife may be temporarily displaced. Use extra caution when driving through the Ocala National Forest and surrounding areas. Secure any items around your residence that could attract wildlife. Always be mindful of larger animals including black bears and practice bearwise measures.

https://www.cnic.navy.mil/regions/cnrse/installations/nas_jacksonville.html

Port Canaveral is a sub base. The subs launch and and a tracking center located on Ascension Island tracks from launch till impact