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Mars Reconnaissance Orbiter
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Launch: Viewing the Launch on NASA TV

In this image, against a bright blue sky streaked with thin clouds, a Lockheed Martin-built gold and white rocket lifts off its pad at Cape Canaveral Air Station, Florida. Fire bursts from the bottom of the rocket which is surrounded by four lightning suppression towers, two of which are in view in this picture.
A Lockheed Martin-built Atlas 5 rocket, like the one pictured, will launch the Mars Reconnaissance Orbiter in August 2005 from Cape Canaveral Air Station, Florida.
Image Credit: Lockheed Martin
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The Mars Reconnaissance Orbiter Mission launch was carried live on NASA TV. Digital NASA Television, carried by MPEG-2 signal, could be accessed in the continental United States on AMC-6, at 72 degrees west longitude, Transponder 17C, 4040 MHz, vertical polarization. If you lived in Alaska or Hawaii, NASA TV could be seen on AMC-7, at 137 degrees west longitude, Transponder 18C, at 4060 MHz, vertical polarization, audio at 6.8 MHz in analog through NASA's Space Shuttle Return to Flight mission.

You could also put in a request to your cable company to carry NASA TV.

Additional information on NASA TV is available here: