Only 22 minutes later, around 4:56 UTC (5:56 am local time), it made a pass visible from Europe. The ATV was still connected to the Ariane upper stage at that moment. As seen from Leiden, it was a low pass at a maximum elevation of 24 degrees in the S-SE, and in deep twilight: sun at -7 degrees altitude.
Nevertheless it was easily visible by the naked eye around culmination, as a fast and steady mag. 0 to -1 object moving against a bright blue twilight background. The picture above is a 4-second exposure taken with the Canon EOS 450D + EF 2.8/24mm lens, 400 ISO.
Note added 24/03/2012: More observations from following nights, including video of a pass on the 24th, available here.