The orbiter then began a series of maneuvers to meet up with the first of the two satellites to be recovered, Palapa B2. The orbits of both satellites had been lowered by ground commands from about to to facilitate recovery operations. On day five of the mission, "Discovery" rendezvoused with Palapa. Mission specialists Allen and Gardner performed an EVA, capturing the satellite with a device known as a "Stinger" (Apogee Kick Motor Capture Device, ACD), which was inserted into the satellite's apogee motor nozzle by Allen. The satellite's rotation was slowed to 1 RPM, and Gardner, operating from a position on the end of the RMS, attempted unsuccessfully to grapple the satellite. Allen was able to manually maneuver the satellite into its cradle with Gardner's help, further aided by the RMS, which was operated by Fisher. The successful, improvised rescue effort took two hours.