Thank you all for your kind comments.

Re: the lens used, it was actually the standard 17-85mm lens that came with the camera (I also have a 17-55mm, but that’s having focusing problems and the extra 30mm really helps for static shots), so nothing special. The camera itself is a Canon 50D. The setting used varied depending on the position and I can’t remember the specifics for each shot, but I seem to recall most of them being between 15 and 30 second exposures; the ground running ones are a little less, maybe about 6 seconds or thereabouts.