There was remarkably little in the way of security for early satellites (or space probes). I recently encountered here on HN the suggestion that, the main reason you can't find particularly in-depth details on the Voyager space probes, is project security. Security through obscurity, mostly. If amateurs can detect the signal from the Voyager probes with a small dish antenna, it's at least conceivable someone might ho…
Documentation and logs of the Voyager and Apollo projects are public, comprehensive, and fascinating reading. They do use authentication and keep the keys secret. They are literally rocket scientists.
The techniques were probably closely held at the time to prevent Soviet interference, but these days you can just download the circuit diagram PDFs.
[0] Simulated, since the owner of the original AGC wanted it back.