Onboard video cameras captured critical events during the 50th Atlas 5 rocket launch, beaming back views in stunning clarity of staging and spacecraft separation.

SpaceX’s final Falcon 9 launch of the year carried a classified payload for the National Reconnaissance Office, the U.S. government’s spy satellite agency. SpaceX aborted a launch attempt Thursday morning to assess a second stage sensor reading, but the Falcon 9 successfully lifted off from the Kennedy Space Center at 9 a.m. EST (1400 GMT) Saturday. The rocket’s stage landed back at Cape Canaveral eight minutes later.

Boeing’s first Starliner crew capsule to fly in space departed its factory Thursday at the Kennedy Space Center in Florida for a trip to a launch pad a few miles away, where teams raised the craft atop an Atlas 5 rocket for liftoff next month on an unpiloted test flight to the International Space Station.