In one leap, Felix Baumgartner made history.

The Austrian daredevil plunged 24 miles toward Earth on Sunday and set the new world record for the highest free-fall of all time.

But Baumgartner, now the first skydiver to reach supersonic speed, didn't do it alone. And big-name sponsor Red Bull wasn't the only company run by an entrepreneurial founder that helped him pull off the stunt.

Here are a few small and private companies, according to the event's website, that geared him up for the record-breaking jump.

GoPro: For the stunt, Baumgartner was fastened with high-definition video cameras. Wearable camera provider GoPro, an Inc. 5000 company that raked in $250 million in revenue last year, tweeted on Monday: "Red Bull reports all 5 GoPro cameras mounted in Felix's suit worked perfectly & the footage will be released shortly."

Sage Cheshire: The team of scientists and engineers at this 40-year-old aerospace firm, which operates in California, developed the pressurized space capsule that hovered over Earth and served as the launch pad.

ATA Aerospace: A joint venture of Albuquerque-based Applied Technology Associates and ASRC Aerospace, ATA, which reportedly generated $37.3 million in 2011, provided the launch services, personnel and equipment for the helium balloon that lifted the capsule. 

Riedel Communications: Headquartered in Germany, Riedel offers digital audio and real-time video services. The company, which says it employs more than 350 people, reportedly hooked up the wireless video links for the capsule's onboard cameras.

David Clark Company: A manufacturer of air and space gear, this 70-year-old company (best known for its noise-canceling headsets) designed the full-pressure suit to withstand temperatures of 100 to -90 degrees.

Velocity Sports Equipment: Launched in 1998, this sports equipment provider built a specialized parachute harness system that could hold two oxygen bottles--each supplied at least 10 minutes of oxygen.