NASA Lisp

So I guess most delusional Lisp weenies will have read the account at http://www.flownet.com/gat/jpl-lisp.html.
I started wondering, though, is any of the Lisp code that NASA/JPL wrote publicly available?

I did find http://nmp-techval-reports.jpl.nasa.gov/DS1/Remote_Integrated_Report.pdf, which is interesting in it's own right, and contains snippets like this:
(to achieve (IPS THRUSTING ips level)
 ((ips is in standby state p ips)
  (sequence (achieve (power on? 'ega—a))
  (command with confirmation
   (send—ips—set—thrust—level level))
  (command with confirmation
   (send—acs—change—control—mode
    :acs—tvc—mode))))
 ((ips in thrusting state p ips)
  (command with confirmation
   (send—ips—change—thrust—level level)))
 (t (fail :ips achieve thrusting)))

LISP in space craft? Yeah right. Just when the craft is landing, the garbage collection would stop the execution of the code and the craft would crash. GC is shit.