Using measurements of time-variable gravity from the Gravity Recovery and Climate Experiment satellites, we determined mass variations of the Antarctic ice sheet during 2002-2005. We found that the mass of the ice sheet decreased significantly, at a rate of 152 +/- 80 cubic kilometers of ice per year, which is equivalent to 0.4 +/- 0.2 millimeters of global sea-level rise per year. Most of this mass loss came from the West Antarctic Ice Sheet.