the Atlas I (and all previous Atlas models) were replaced by a hydrazine-fueled roll control system on Atlas II. This system, mounted on the interstage between the first and second stages, utilized small thrusters to control the vehicle's roll. Compared to Atlas I, the Atlas II first stage was taller. The Atlas II was the last Atlas rocket to use the "stage-and-a-half" technique, where it ignited all 3 RS-56 engines at liftoff and then jettisoned the 2 RS-56-OBA side engines and their support structure during ascent. The two RS-56-OBA engines were integrated into a single unit called the MA-5A and shared a common gas generator. They burned for approximately 164 seconds before being jettisoned, when acceleration reached approximately 5.0-5.5 g. The central sustainer engine on the first stage, an RS-56-OSA, would burn for an additional 125 seconds after their jettison. It featured better efficiency at high altitudes than the RS-56-OBAs. The first stage also had the option to be fitted with 4 Castor 4A solid rocket boosters as part of the IIAS version, each providing an additional of thrust for 56 seconds. The first two boosters were ignited at liftoff, and the other two were ignited after the first two burnt out. Both pairs of boosters were jettisoned shortly after their respective burns. Centaur II upper stage The second stage of Atlas II, the Centaur II, was the result of over 3 decades of flights and enhancements of the Centaur upper stage. Centaur II featured 2 RL-10A-3-3A engines, burning liquid hydrogen and liquid oxygen. It featured propellant tanks 0.9 meters longer than its predecessor, Centaur I, giving the stage more propellant and therefore higher performance. Due to the super cold propellants inside Centaur, foam insulation was installed onto the outer metal skin on the stage to help mitigate propellant boiloff inside the tank. Centaur II's foam insulation was permanently attached to the side of the stage, whereas previous versions of the stage (including Centaur I) jettisoned their insulation panels during flight. The Centaur II upper stage (along with all other Centaur variants) used a pressure-stabilized propellant tank design and cryogenic propellants. The two stainless steel propellant tanks were separated by a common bulkhead, which helped keep mass down. Centaur II was long, carrying almost of fuel. The stage also featured 12 hydrazine thrusters to orient the stage and settle the propellants prior to engine ignition. For the IIA and IIAS