The satellite is on a three-year mission to track the amount of water locked in soil, which may help residents in low-lying regions brace for floods or farmers get ready for drought conditions.
The Delta 2 rocket carrying the Soil Moisture Active Passive or SMAP satellite launched shortly before sunrise from Vandenberg Air Force Base on California's central coast. As the rocket zoomed skyward, it gave off an orange glow.
About an hour later, the satellite successfully separated from the rocket and began unfurling its solar panels to start generating power.
Scientists hope data collected by the satellite, the latest to join NASA's Earth-orbiting fleet, will improve flood forecasts and drought monitoring.
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At a news conference broadcast online, SMAP mission project manager Kent Kellogg said the launch went off without a hitch.
"This data will benefit not only scientists seeking a better understanding of our planet, climate and environment ... It's a boon for emergency planners and policy makers," said Geoffery Yoder, NASA's deputy associate administrator for programs.
The rocket was supposed to fly earlier this week, but high winds and technical problems kept it grounded. JPL manages the $916-million mission.
Besides the satellite, the rocket also carried three research nanosatellites for JPL, Montana State University and California Polytechnic State University. More than 100 university students took part in designing and building the tiny satellites known as CubeSats.