CAPE CANAVERAL, Fla. (AP) — Space shuttle Atlantis has landed in Florida and draws NASA’s 30-year shuttle program to a close.

Atlantis’ four astronauts closed the payload bay doors in the wee hours of Thursday. That set them on a path toward an on-time landing at 5:56 a.m., just before dawn.

NASA’s shuttle program ends with Atlantis’ successful space station resupply mission. It was the 135th flight in shuttle history. The grand finale comes 50 years to the day that Gus Grissom became the second American in space, aboard Liberty Bell 7.

An estimated crowd of 2,000 was at NASA’s landing strip to welcome Atlantis home, and to bid the shuttle program goodbye. Atlantis will remain at Kennedy Space Center in retirement as a museum display.