Live coverage: SpaceX supply ship returns to Earth

An Orbital ATK Minotaur 4 rocket partially powered by modified motors from a Cold War-era nuclear missile lifted off early Saturday from Cape Canaveral with a small U.S. military satellite to help track other objects in space. The solid-fueled launcher took off at 2:04 a.m. EDT (0604 GMT) after a weather delay.

Take a look back on the liftoff of Boeing’s Starliner spacecraft on its first orbital test flight Dec. 20 aboard a United Launch Alliance Atlas 5 rocket with these photos showing the capsule streaking into space at dawn.

The mission comes as SpaceX continues to ferry four astronauts to the International Space Station on Axiom Mission 4, which launched in the predawn hours. Liftoff occurred from pad 40 at 3:54 p.m. EDT (1954 UTC).