Note: The timeline is based on a June 25 liftoff.

T-00:00	Liftoff
The Delta 2 rocket's main engine and twin vernier steering thrusters are started moments before launch. The six ground-start strap-on solid rocket motors are ignited at T-0 to begin the mission.
T+01:16.4	Ground SRM Burnout
The six ground-start Alliant TechSystems-built solid rocket motors consume all their propellant and burn out.
T+01:19.0	Air-Lit SRM Ignition
The three remaining solid rocket motors strapped to the Delta 2 rocket's first stage are ignited.
T+01:20.5	Jettison Ground SRMs
The six spent ground-started solid rocket boosters are jettisoned in sets of three at T+80.5 and 81.5 seconds to fall into the Atlantic Ocean.
T+02:39.5	Jettison Air-Lit SRMs
Having burned out four seconds earlier, the three spent air-started solid rocket boosters are jettisoned toward the Atlantic Ocean.
T+04:23.4	Main Engine Cutoff
After consuming its RP-1 fuel and liquid oxygen, the Rocketdyne RS-27A first stage main engine is shut down. The vernier engines cut off moments later.
T+04:31.5	Stage Separation
The Delta rocket's first stage is separated now, having completed its job. The spent stage will fall into the Atlantic Ocean.
T+04:37.0	Second Stage Ignition
With the stage jettisoned, the rocket's second stage takes over. The Aerojet AJ118-K liquid-fueled engine ignites for the first of two firings needed to place the upper stage and Mars Exploration Rover into the proper orbit during the launch sequence.
T+04:42.0	Jettison Payload Fairing
The 9.5-foot diameter payload fairing that protected the Mars Exploration Rover atop the Delta 2 during the atmospheric ascent is jettisoned is two halves.
T+08:47.8	Second Stage Cutoff 1
The second stage engine shuts down to complete its first firing of the launch. The rocket and attached Mars Exploration Rover are now in a coast period before the second stage reignites. The circular orbit achieved should be approximately 90 nautical miles and inclined 28.5 deg.
T+70:08.6	Second Stage Restart
Delta's second stage engine reignites for a firing that will raise the orbit further.
T+72:20.2	Second Stage Cutoff 2
The second stage shuts down. The orbit achieved should be approximately 2,780 nautical miles at apogee, 88 miles at perigee and inclined 28.5 degrees. Over the next minute, tiny thrusters on the side of the rocket will be fired to spin up the vehicle in preparation for stage separation.
T+73:13.2	Stage Separation
The liquid-fueled second stage is jettisoned from the rest of the Delta 2 rocket.
T+73:50.2	Third Stage Ignition
The Thiokol Star 48B solid-fueled third stage is then ignited to propel the Mars Exploration Rover out of Earth orbit.
T+75:17.3	Third Stage Burnout
Having used up all its solid-propellant, the third stage burns out to completed the powered phase of the launch sequence for Mars Exploration Rover-B.
T+80:00.2	Yo-Yo Despin
Two small yo-yo-like structures are released from the third stage to reduce the spinning motion the Delta rocket and Mars rover are experiencing in preparation for satellite separation.
T+80:05.2	Spacecraft Separation
NASA's Mars Exploration Rover-B is released from the launch vehicle for the seven month, 305 million mile cruise to the Red Planet.

Data source: Boeing.