The IIIE did indeed have a Centaur stage with a "thermos" full of liquid hydrogen and another with liquid oxygen, but that's not what we see in this clip -- the pillars of fire and smoke come from a pair of solid-fuel boosters that burn for about two minutes, followed by about six more minutes of flight powered by two more stages burning non-cryogenic liquid propellants (hydrazine and nitrogen tetroxide) before the Centaur was ignited.