"NASA began planning Curiosity's mission — which is officially known as the Mars Science Laboratory (MSL) — back in 2003. The rover was originally scheduled to blast off in 2009, but it wasn't ready in time. Launch windows for Mars-bound spacecraft are based on favorable alignments between Earth and the Red Planet, and they open up just once every two years. So the MSL team had to wait until 2011." I can't imagine ho…
I just found a good link to the story:
http://www.thespacereview.com/article/1319/1
The amount of planning and risk management for large projects like this is amazing. I remember seeing the chart of subsystem deliverables and dependencies for a medium-size instrument (~100M$, far smaller than MSL), printed out from a large-format printer, tacked to a hallway wall. It was about 20 feet long by 4 feet high, printed just large enough to read.