Direct from the NASA TV live stream comes the shuttle launch video, which took place “at 4:53 p.m. ET, three minutes later than scheduled,” due to a last-minute glitch. One thing you may not have known, is that “Discovery is NASA’s most traveled space shuttle, putting in nearly three decades of service.” Videos after the break.

This is the 39th flight for Discovery, which has logged 143 million miles (230 million kilometers) since its first mission in 1984. After retirement, the orbiter is expected to go on display at the Smithsonian Institution’s Udvar-Hazy Center, an annex of the National Air and Space Museum.

[via MSNBC]