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Thermal: Radioisotope Heater Units - NASA Science

https://science.nasa.gov/planetary-science/programs/radioisotope-power-systems/thermal-radioisotope-heater-units

2 Pioneer 10 Jupiter 12 Pioneer 11 Jupter and Saturn 12 Voyager 1 Jupiter, Saturn

"Discussion at the 443rd Meeting of the National Security Council, Thursday, May 5, 1960,"

https://www.nasa.gov/history/sputnik/may60.html

use in submarines. Accordingly, both JUPTER and THOR became land-based missiles