Space shuttle Endeavour was launched from pad 39A today to begin an 11-day Earth radar mapping mission. Images: NASA TV/Spaceflight Now.

Main engine start The three liquid-fueled main engines of Endeavour rumble to life at T-minus 6.6 seconds. Computers checked engine performance in the moments prior to liftoff.
Liftoff! Endeavour and six-person crew begin the first human space mission of the new decade, century and millennium.
Tower clear About six seconds after the solid rocket boosters ignited, Endeavour cleared the 380-foot tall fixed service structure at pad 39A.
In the roll After the brief vertical rise, Endeavour began a programmed roll maneuver to align with the proper launch heading.
Black door As Endeavour completes the roll and is bound for a northeast trajectory away from Kennedy Space Center, note the black access door on the external tank. Some people were concerned the door had fallen off, but it did not.
Heading out of town The shuttle heads toward an orbit inclined 57 degrees to either side of the Earth's equator.