What's the Name of That Book??? discussion

Spoiler "the book starts with the man falling from a rock climbing wall and his crew mates/friends help him out. they tell him he lost his memories but he is actually the captain of the ship and he and the co captain are immortal due to something involving the ship. The crew are not and have been traveling for hundreds of years reproducing the next generation, always the same amount. It ends with him taking the ship back over and heading back to earth only to realize when he gets there that its been more than a thousand years" Some unique portions of the book are you cant deny sleeping with someone if its the first time they ask. When you get old you go into this chamber and become the food and air for the ship and its passengers. The original journey was only suppose to be 20 years or so with the crew frozen while the captain and co captain live due to some technology developed with the ship. The co captain becomes obsessed with the mission to find life and creates of loop of the captain losing his memories over and over again while the crew keep having the exact amount of children to replace them.

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The Dark Beyond the Stars by Frank M. Robinson


edited to add: fall during rock climbing on page 8-9 from what I read in a google preview

Thank you! that is the one The Dark Beyond the Stars by Frank M. Robinson