Wikipedia
The Atlas-Agena was an American expendable launch system derived from the SM-65 Atlas missile. It was a member of the Atlas family of rockets, and was launched 109 times between 1960 and 1978. It was used to launch the first five Mariner unmanned probes to the planets Venus and Mars, and the Ranger and Lunar Orbiter unmanned probes to the Moon. The upper stage was also used as an unmanned orbital target vehicle for the Gemini manned spacecraft to practice rendezvous and docking.
The Atlas-Agena was a two-and-a-half-stage rocket, with a stage-and-a-half Atlas missile as the first stage, and an RM-81 Agena second stage. Initially, Atlas D missiles, redesignated as the LV-3, were used as the first stage. These were later replaced by the standardised Atlas SLV-3, and its derivatives, the SLV-3A and B. The final Atlas-Agena launch used an Atlas E/F.
Launches were conducted from Launch Complexes 12, 13 and 14 at the Cape Canaveral Air Force Station, and Launch Complexes 1 and 2 at Point Arguello (now SLC-3 and 4 at Vandenberg Air Force Base).