CAPE CANAVERAL, Fla. – Discovery, the world’s most traveled spaceship, thundered into orbit for the final time Thursday, heading toward the International Space Station on a journey that marks the beginning of the end of the shuttle era.

The six astronauts on board, all experienced space fliers, were thrilled to be on their way after a delay of nearly four months for fuel tank repairs. But it puts Discovery on the cusp of retirement when it returns in 11 days and eventually heads to a museum.

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The space shuttle Discovery lifts off at Kennedy Space Center in Cape Canaveral, Fla., on Thursday as it heads to the International Space Station. Once it completes its 39th mission – the 133rd overall in a program that has lasted for 30 years – Discovery will head for a museum. The Associated Press

Discovery is the oldest of NASA’s three surviving space shuttles and the first to be decommissioned this year. Two missions remain, first by Atlantis and then Endeavour, to end the 30-year program.

It was Discovery’s 39th launch and the 133rd shuttle mission overall.

“Enjoy the ride,” the test conductor radioed just before liftoff. Commander Steven Lindsey thanked everyone for the work in getting Discovery ready to go: “And for those watching, get ready to witness the majesty and the power of Discovery as she lifts off one final time.”

Emotions ran high as Discovery rocketed off its seaside pad into a late afternoon clear blue sky, and arced out over the Atlantic on its farewell flight. There were a tense few minutes before liftoff when an Air Force computer problem popped up. The issue was resolved and Discovery took off about three minutes late, with just a few seconds remaining in the countdown.

Discovery will reach the space station Saturday, delivering a small chamber full of supplies and an experimental humanoid robot. “Look forward to having company here on ISS in a couple days,” station commander Scott Kelly said in a Twitter message.

The orbiting lab was soaring over the South Pacific when Discovery blasted off.

NASA is under presidential direction to retire the shuttle fleet this summer, let private companies take over trips to orbit and focus on getting astronauts to asteroids and Mars.

An estimated 40,000 guests gathered at Kennedy Space Center to witness history in the making, including a small delegation from Congress and Florida’s new Gov. Rick Scott.

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