The following picture is from about 45 minutes of 5 minute, ISO 800 exposures. I set the 80ED telescope over a nice set of coloured stars, and allowed the asteroid to pass through the field of view. 
The 550 mtr long rock, which appears to have its own moon in orbit around it, passed within 1,200,000 Km of the Earth. It won't return for another 200 years.

The following animation was made from the above exposures.

This picture is a mosaic covering a larger area of sky. The gaps in the trail are where I had to reposition the scope to stay ahead of the fast moving asteroid.