Boeing said the signals were received by controllers in Australia 59 minutes after the satellite was launched from Cape Canaveral, Fla., on a United Launch Alliance Delta IV rocket.
The signals indicated the vehicle was functioning normally and was ready to be moved into Earth Orbit.
"This satellite is going to strengthen an important tool that warfighters count on to be successful and safe," said Craig Cooning, vice president and general manager of Boeing Space & Intelligence Systems.
The WSG-5 is designed to provide warfighters greater access to fast, secure communications, and Boeing said it will be handed over to the Air Force after completing several maneuvers and tests.
The satellite and its ground terminals operate in X- and Ka-band frequencies, expands the global reach of the WGS system and can be "shaped to meet users' needs," Boeing said.