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In the 1960s, James Van Allen's Outer Planets Panel made a proposal that NASA begin planning missions to the outer planets, that eventually led to Pioneer 10 and 11. I've found many sources that mention it briefly. This one is characteristic:

During this same period an Outer Planets Panel associated with NASA's Lunar and Planetary Missions Board (also chaired by Van Allen) recommended in 1962 that planning should start for low-cost exploratory missions to the outer planets.

Does the text of this recommendation survive? What exactly did they say?

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In general, NASA published selected documents as to their exploration policies since inception in Exploring the Unknown Vol. 5: Exploring the Cosmos (copy at http://history.nasa.gov/SP-4407/ETUv5.pdf). You should be able to find specifics as to your question there.

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  • $\begingroup$ Try II-21–II-23, which concerns planetary exploration objectives circa 1967. $\endgroup$ – Tawooh Feb 29 '16 at 1:04

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