FOT Software Tools Mark Lewis THEMIS FDMO CDR

FOT Software Tools Mark Lewis THEMIS FDMO CDR Peer Review − FOT Software Tools 1 June 1 -2, 2004

Overview of Software Tools Tool Developer GTDS GSFC GMAN Free. Flyer Sat. Track GSFC AI Solutions BTS MSASS Function Platform Comments Solaris In Operation at MOC Already Solaris Windows XP Solaris, Linux In Operation at MOC Already Alternate Commercial Solution In Operation at MOC Already GSFC Ephemeris Generation, Mission Design, Orbit Determination Maneuver Planning Orbit Analysis, Pass Scheduling, Product Generation, Networking, 3 -D Visualization, Ground Station Control Attitude Determination Solaris, Windows XP In Operation at MOC Already, Upgrades To Be Provided by GSFC MTASS GSFC Attitude Determination To Be Provided by GSFC ITOS Hammers Virtual. Sat MPS BEARS Hammers GSFC UCB Probe Command Control, Telemetry Monitoring, Limit Checking Probe Simulation Command Load Generation Emergency Response System Solaris, Windows XP Solaris, Linux Windows XP Solaris To Be Supplied with Flat. Sat In Operation at MOC Already Under Development at SSL as Replacement for SERS BTAPS UCB Solaris APGEN Team. Track JPL Team. Share Under Development at SSL for MOC and SOC In Operation at MOC Already Currently Used by Hammers Probe Bus and Instrument Trend Analysis Task and Event Scheduling Anomaly Tracking Solaris Windows XP THEMIS FDMO CDR Peer Review − FOT Software Tools 2 In Operation at MOC Already June 1 -2, 2004

FOT Software Tools Overview • Workspace Configuration – Configuration Control • Integrated Test and Operations System (ITOS) – Telemetry Processing – Berkeley Emergency Anomaly Response System (BEARS) – Berkeley Trending And Plotting System (BTAPS) • Mission Planning System (MPS) – Command Load Generation THEMIS FDMO CDR Peer Review − FOT Software Tools 3 June 1 -2, 2004

Workspace Configuration Several Workspaces • Generic top level THEMIS workspace: themisops – Holds Common Software and Configuration Files – BEARS, BTAPS, MPS, APGEN – ITOS Pages and Procs directories common to all Probes • Each Probe will have a dedicated workspace: e. g. themisops. A – Holds Databases and Configuration Files specific to each Probe – ITOS Telemetry and Command Databases – Configuration files for BEARS, BTAPS, MPS – ITOS Pages and Procs specific to each Probe – Page Header files THEMIS FDMO CDR Peer Review − FOT Software Tools 4 June 1 -2, 2004

Configuration Control Software Configuration Control • Each Workspace is under SCCS Configuration Control – Continue to use for software already under Configuration Control • – ITOS, MPS, APGEN Also Use SCCS for Configuration Control of New Tools – GTDS, MSASS, MTASS, BEARS, BTAPS Probe Configuration Control File • Each Probe will have a Configuration File under SCCS – Includes physical configuration – Deploy status of booms, Fuel Remaining, etc – Known hardware failures or anomalous behaviors – Expected clock drift – Software configuration – Onboard FSW version and patch level – Probe specific Telemetry and Command Database versions THEMIS FDMO CDR Peer Review − FOT Software Tools 5 June 1 -2, 2004

Configuration Control Software Test and Development Environment • Provide Workspace for Off-line Testing – “Demilitarized Zone” (DMZ) – Developers have their own copy of workspaces allowing for simultaneous development and testing • Virtual Network Computing (VNC) Environment – Secure Remote Access to Swales – Flat. Sat and Probes during I&T – VNC Protocol Runs on Detached X-Server – Client/Server Environment • Configuration Control Board (CCB) – Approves Software before moving to Secure Operations Net – Approves Hardware changes to MOC equipment • Bus TLM/CMD Databases Under Configuration Control at Swales until L-60, then Transfers to Berkeley THEMIS FDMO CDR Peer Review − FOT Software Tools 6 June 1 -2, 2004

Flight Software Maintenance Flight Software Patches • Flight Software Patches – Developed by Hammers – Carefully Tested on Flat. Sat Prior to Upload • Upload Strategy – Upload to One Probe Only, if Patch Is Probe Specific – Upload to All Probes if Patch Fixes FSW Bug or Optimizes Science Data Acquisition and/or Processing – Will Still be Loaded to One Probe First Flight Software Configuration Control • Flight Software Images and Tables – Current and Previous Versions for Each Probe Stored on the Ground – BAU Flight Software Under Configuration Control at Swales – IDPU Flight Software Under Configuration Control at UCB THEMIS FDMO CDR Peer Review − FOT Software Tools 7 June 1 -2, 2004

ITOS Requirements General ITOS Requirements • THEMIS Will Be Using the Commercial Version of ITOS – Same as I&T System • Similar to FAST and RHESSI – See ITOS Standard Documentation Implementation of New Features • Decompression of THEMIS Telemetry Data in Real-time – May Be Enabled or Disabled, Depending on Instrument Data Type • Desirable Features for Constellation Operations – Telemetry Server for Distribution of Data Streams to Multiple ITOS Clients – Status Displays for Telemetry Points Across Multiple Probes – ITOS Telemetry Server THEMIS FDMO CDR Peer Review − FOT Software Tools 8 June 1 -2, 2004

ITOS Configuration Dedicated Workstations • Basic Configuration Is One Dedicated ITOS System per Probe – Same Workstation will Always Support each Probe unless there is a Problem with the Primary Workstation • • Flexibility Built Into System for Dynamic Allocation of Workstations Capability to Route Telemetry to Multiple Workstations – Allows Many Engineers to Monitor Spacecraft during LEO Operations – Command Only Enabled on Primary Workstation • Multiple Hot Back-up Systems Upgrade Path To More Complex Future Missions • • ITOS Connects to Sat. Track Gateway Server (SGS) ITOS Specifies Mission (e. g. THEMIS) and Leaves Individual Object and Facility Unspecified SGS Assigns Individual ITOS System to a Particular Pass Support Routing of Telemetry and Command Connections Via Frame. Link ITOS in Turn Loads TLM/CMD Databases and Supports Pass THEMIS FDMO CDR Peer Review − FOT Software Tools 9 June 1 -2, 2004

Mission Control Network Architecture All Ground Stations Connect to Dedicated Ports on IP Router to Establish TLM and CMD Socket Connections Router Switches TLM and CMD Socket Connections Through to Multiple ITOS Systems Process Controlled by Automated Scheduling System THEMIS FDMO CDR Peer Review − FOT Software Tools 10 June 1 -2, 2004

TLM & CMD Data Routing Telemetry & Command Routing Scheme • • • Router Acts as Server Incoming Connections from Ground Stations and ITOS Clients Port Assignment – Ground Stations: Each Has Dedicated Ports for TLM & CMD – ITOS Clients: Can Connect to Any Ground Station by Selecting Appropriate TLM and CMD Ports – Standard Frame Format for All Data Flows – I&T End-to-end Tests – Ground Stations • Router Establishes Connections Based on Scheduling Information from Gateway Server THEMIS FDMO CDR Peer Review − FOT Software Tools 11 June 1 -2, 2004

Telemetry Data Format • CCSDS V 1 Frame Format – • Telemetry Data Routed by Virtual Channels Annotated Channel Access Data Units (CADUs): 1276 Bytes – – – Telemetry Frame Delivery Header: Station) Attached Synchronization Marker: Virtual Channel Data Unit: Frame Error Control Field: Reed-Solomon Code Trailer: 10 bytes (Attached at Ground 4 bytes 1100 bytes 2 bytes 160 bytes Virtual Channel Priority Data Type VC 0 0 Real-time Probe State-of-health Data (BAU) VC 1 1 Playback Probe State-of-health Data (BAU) VC 2 2 Real-time Instrument Data (IDPU) VC 3 3 Playback Instrument Data (IDPU) VC 4 N/A Not Used VC 5 N/A Not Used VC 6 4 Playback Probe Bus Events (BAU) VC 7 5 Fill Data Generate Fill Data (CIM) THEMIS FDMO CDR Peer Review − FOT Software Tools 12 Data Source June 1 -2, 2004

Telemetry Data Delivery of Real-time Telemetry Data • • Real-time TCP/IP Network Socket Connection Initiated by Ground Station Data Routing Transfer Medium Virtual Channels Maximum Data Rate BGS to MOC Secure Local Area Network (100 Mbps) VC 0, VC 1, VC 2 1048. 576 kbps NASA/GN to MOC Secure, Shared TCP/IP Network Connection (T 1 Line, 1 Mbps) VC 0, VC 2 65. 536 kbps WSGT to MOC Secure, Dedicated TCP/IP Network Connection (38 kbps) VC 0 4. 096 kbps THEMIS FDMO CDR Peer Review − FOT Software Tools 13 June 1 -2, 2004

Command Data Routing Command Data Format • CCSDS V 1 Frame Format – – Command Data Routed by Virtual Channels VC 1: Commands Decoded and Executed in Software – – – VC 2: Commands Decoded and Executed in Hardware – • BAU Switched Service Commands IDPU Commands FSW Commands Table Load Commands Data Processor Resets and Others Command Link Transmission Units (CLTUs): Variable Length – – – Command Delivery Header: Acquisition Sequence: Start Sequence: bytes Telecommand Codeblocks: Tail Sequence: bytes THEMIS FDMO CDR Peer Review − FOT Software Tools 14 24 bytes (Stripped at Ground Station) 18 bytes 2 37 x 8 bytes (max. ) 8 June 1 -2, 2004

ITOS Page Layout Standard Features in ITOS Page Template • • • Uniform Page Header and Page Layout Probe Identifiers: Probe Bus and Constellation ID UTC and Probe System Time Sub-headers, Data Columns, Grouping of Parameters SI Units: V, A, s, m, kg, C, K, N, Pa, T THEMIS FDMO CDR Peer Review − FOT Software Tools 15 June 1 -2, 2004

TLM and CMD Naming Telemetry & Command Naming Rules for ITOS Database • Unmistakable Naming Conventions Reduce Operational Risks – – • • CLEAR Commands to Clear Counters or Status Flags Only RESET Commands to Power Cycle or Reboot Subsystems Only Identify Subsystems in Commands and Telemetry Mnemonics Consistent Use of SI Units Command Telemetry Naming Conventions CMD Prefix TLM Prefix Subsystem A A Attitude Control System B B Probe Bus (BAU) - Not Subsystem Specific C C Command & Data Handling Subsystem I I Instruments (IDPU, IFGM, ISCM, IESA, ISST, IEFI) M M Memory Management P P Power Subsystem R R Reaction Control System T T Thermal Subsystem X X Transponder GBL_ Global Variables / Mnemonics (Reserved for ITOS System) GND_ Ground Defined Mnemonics THEMIS FDMO CDR Peer Review − FOT Software Tools 16 June 1 -2, 2004

Probe Status Monitoring Sat. Track Interface to ITOS Data Point Server (DPS) • • • Sat. Track DPS Client Program Connects to Sat. Track Gateway Server One Instance of DPS Client Can Handle Multiple Probes Simultaneously Receives Pass Schedule Information in Real-time Connects/Disconnects to/from ITOS Supporting a Pass for a Given Probe Connects/Disconnects Can Be Interleaved for Multiple ITOS Systems Polls Values for List of Mnemonics and Saves Values in Local Database (One File for Each Probe) – • Periodically Generates Web Page with Constellation Status – – • MNEMONIC: STATUS STRING Top Level Constellation Overview Contact Schedule Summary Probe Bus Status Instrument Status Performs Yellow and Red Limit Checking with FOT Notification THEMIS FDMO CDR Peer Review − FOT Software Tools 17 June 1 -2, 2004

Probe Status Monitoring THEMIS FDMO CDR Peer Review − FOT Software Tools 18 June 1 -2, 2004

Probe Status Monitoring THEMIS FDMO CDR Peer Review − FOT Software Tools 19 June 1 -2, 2004

Probe Status Monitoring THEMIS FDMO CDR Peer Review − FOT Software Tools 20 June 1 -2, 2004

Probe Status Monitoring THEMIS FDMO CDR Peer Review − FOT Software Tools 21 June 1 -2, 2004

MPS Configuration Mission Planning System • Command Loads Built Using Mission Planning Products – Station View Periods – Based on Station Masks – Includes Confirmed Support Schedules – Link Access Periods – Dynamic Link Margin Calculated for Optimum Telemetry Data Rate – Duration Events – Shadow Periods – Conjunction Region Crossings – Central Canada Region Crossings – Orbit Events – Apogee and Perigee Crossings – Node Crossings – Thruster Operation – Command Sheets for Maneuver Execution • Special Commands Inserted Manually THEMIS FDMO CDR Peer Review − FOT Software Tools 22 June 1 -2, 2004

Command Load Requirements Typical Command Load Requirements per Orbit • Housekeeping Functions – Clock Adjustments – ATS Buffer Switching • Communications – Telemetry Data Rate Selection – Transmitter Control – Telemetry Transmission • Instrument Control – – Conjunction Region Radiation Belt Crossings Special Instrument Commands Configuration of IDPU, FGM, SCM, ESA, SST, EFI THEMIS FDMO CDR Peer Review − FOT Software Tools 23 June 1 -2, 2004

Maneuver Command Loads • • GMAN or Free. Flyer Generates Thruster Firing Timeline Translated into Typical Probe Command Sequence 2006/306: 01: 12: 43, COMMAND 1, ARG 1=X 1, ARG 2=Y 1, … 2006/306: 01: 12: 53, COMMAND 2, ARG 1=X 2, ARG 2=Y 2, … 2006/306: 01: 13: 03, COMMAND 3, ARG 1=X 3, ARG 2=Y 3, … … • • Timeline Merged with Other Probe Commands Using MPS Only One Maneuver per ATS Maneuvers Scheduled during Contacts Only Add ATS Pointer Skip Command to Each Maneuver – First Command of Maneuver Set Will Skip ATS Pointer Past All Maneuver Commands – Once Good Two-Way Has Been Established, FOT Will Skip ATS Pointer Back to Start of Maneuver Sequence THEMIS FDMO CDR Peer Review − FOT Software Tools 24 June 1 -2, 2004

Maneuver Command Loads Maneuver Command Sequence • Preparation: – Configure Telemetry Filter Table for Thrust Mode – May require several commands • First Attitude Maneuver: – – – Catalyst Bed Heater On (for 60 min) Catalyst Bed Heater Off (Just Prior to Thrusting) Enable Thrusters Select Thruster Mode Set Thrust Phase Angle, Pulse Width and Number of Pulses – May be Repeated up to 10 Times – Set Thrust Start and Stop Times – May be Repeated up to 10 Times – Disable Thrusters THEMIS FDMO CDR Peer Review − FOT Software Tools 25 June 1 -2, 2004

Maneuver Command Loads Maneuver Command Sequence • Orbit Maneuver: – – – Catalyst Bed Heater On (for 60 min) Catalyst Bed Heater Off (Just Prior to Thrusting) Enable Thrusters Select Thruster Mode Set Thrust Phase Angle, Pulse Width and Number of Pulses (for Pulse Thrusting of Tangential Thrusters) – Set Thrust Start and Stop Times – Disable Thrusters • Second Attitude Maneuver: – Same as First Attitude Maneuver • Shutdown: – Configure Telemetry Filter Table for Normal Mode – May Require Several Commands THEMIS FDMO CDR Peer Review − FOT Software Tools 26 June 1 -2, 2004

Flight Software Features ATS and RTS Load Sizing • ATS and RTS Loads Need to Support 5 Days of Operation – Seconds Field Is 4 Bytes Wide – Maximum Concurrently Executing Sequences: 1 ATS, 16 RTS • ATS Loads – – – • 2 ATS Buffers Maximum Size of ATS Buffer: 8, 192 Bytes Average CCSDS Command Size: 20 Bytes Maximum Number of Commands in Load: 409 Uplink of One ATS Load Requires 65 s at 1. 0 kbps RTS Loads – – – 64 RTS Buffers Available for Probe FDC and Operations Maximum Size of RTS Buffer: 256 Bytes Average Command Size in RTS: 18 Bytes Maximum Number of Commands in RTS: 14 Uplink of All RTS Buffers Requires 130 s at 1. 0 kbps THEMIS FDMO CDR Peer Review − FOT Software Tools 27 June 1 -2, 2004

ATS Buffer Sizing Number of Commands * Number of Executions Per Orbit ** Number of Commands Per Orbit Pass Support 2 6 12 Shadow Entry / Exit 1 2 2 Radiation Belt Crossing 1 4 4 SAA Crossing 2 1 2 Conjunction Instrument Operations 20 1 20 Probe Clock Adjustment Every 8 h 2 3 6 Miscellaneous Commands 20 1 20 Orbit and Attitude Maneuvers 22 3 66 ATS Buffer Switch 1 1 1 Probe Function Totals *** 133 * Includes Use of RTS Calls For Many Routine Functions. ** Assuming 1 -Day Orbits. *** Worst Case Assuming All Conceivable Operations Contained in One Command Load to Cover Days (Only 1 Maneuver) Requires 401 THEMIS FDMO CDR Peer Review − 5 FOT Software Tools 28 June 1 -2, 2004 Commands.

BEARS Requirements • • Anomaly Detection, Operator Notification and Response Handling Real-time Spacecraft and Ground System Fault Detection Parsing of Telemetry Playback Log Files to Detect Back-orbit Problems Parsing of Other Ground System Log Files for User Defined Keywords Interface with Various GDS Elements Via Email and/or Log Files Logging of Anomalies and Tracking of Discrepancy Reports Pass Summaries Ingested from Ground Station Monitor Blocks – • • • Monitor Blocks Not Available from All Antennas Multiple Instances of BEARS to Support MOC and SOC Independently Database with Problem Reports, Actions Taken, Fixes and Work-arounds Database with Contact Information of Operations Personnel Notification of On-call Personnel with Persistent Paging Capability Centralized Submission of Pages by External Facilities (e. g. NASA Scheduling) Remote Response Handling Via Email and Web Pages THEMIS FDMO CDR Peer Review − FOT Software Tools 29 June 1 -2, 2004

BEARS Requirements − Continued • • • Improved Web Based User Interface for Reliable Access Interface with Scheduling System to Alert Personnel about Schedule Changes Capability to Temporarily Screen Paging During Special Operations ASCII Configuration Files No Compromise of Spacecraft and Systems Security THEMIS FDMO CDR Peer Review − FOT Software Tools 30 June 1 -2, 2004

BEARS Implementation • • Under Development at SSL Programming Language (Perl, My. SQL) Solaris and Linux Platform Support Development of Tools for Procedure and Feature Testing Assignment of Programming Tasks Develop Individual Tools for Various Tasks – Log Pre-filtering and Parsing – Database Handling – Web Interfaces – Operator Notification with Accept / Defer Mechanisms Project Duration – Currently Generating Requirements – Complete One Year Prior to THEMIS Launch Configuration Control – Under Workspace SCCS Control THEMIS FDMO CDR Peer Review − FOT Software Tools 31 June 1 -2, 2004

BTAPS Requirements • • Hold All BAU HK Data For Life of Mission Hold All IDPU HK Data For Life of Mission Store Data in Raw Format Separate Engineering Conversion Table for Each Probe – Conversions May Change Over Time Web Interface for Accessing Data Output Data in ASCII Format Over Any Time Range Produce Plots Over Any Time Range – Include Up To Six Telemetry Mnemonics on One Plot Mnemonics Versus Time or Other Mnemonics THEMIS FDMO CDR Peer Review − FOT Software Tools 32 June 1 -2, 2004

BTAPS Implementation • • Under Development at SSL Programming Language (Perl, My. SQL) Solaris and Linux Platform Support Development of Tools for Procedure and Feature Testing Assignment of Programming Tasks Develop Individual Tools for Various Tasks – Data Acquisition – Database Handling – Plotting – Web Interfaces Project Duration – – • Version For RHESSI is in Early Testing Stages THEMIS Version to be Complete One Year Prior to Launch Configuration Control – Standard Workspace SCCS Control THEMIS FDMO CDR Peer Review − FOT Software Tools 33 June 1 -2, 2004

Anomaly Tracking System Team. Track • • Provided by Team. Share Used by Hammers to Track ITOS Bugs May Be Linked to Microsoft Access Database Used by Swales to Track Spacecraft Problems Option for Status and Anomaly Tracking at Berkeley MOC – Berkeley Already Has Two Accounts THEMIS FDMO CDR Peer Review − FOT Software Tools 34 June 1 -2, 2004

Software Verification Plan Tool ITOS MPS BEARS BTAPS Heritage FAST, RHESSI None Function Method of Verification Real-time Telemetry Acquisition Data Flow Tests from Ground Stations and TDRSS Post-pass Telemetry Playback Testing During I&T Telemetry Decoding Testing During I&T Limit Checking Testing During I&T Real-time Command Transmission Data Flow Tests to Ground Stations and TDRSS Real-time Commanding Testing During I&T Table Load Uplink Testing During I&T ATS Load Generation Testing at MOC, Testing on Flat. Sat, Using THEMIS Products Generation of Integrated Prints Testing at MOC, Using THEMIS Products Limit Violation Checking Flat. Sat Data, FAST/RHESSI Data Persistent Paging Two-Way Alpha Numeric Pagers Anomaly Reports, Web Access Test Using FAST/RHESSI Data, Test During I&T Data Ingest to Databases Test Using RHESSI Data, I&T Plot Creation Test Using RHESSI Data, I&T Web Access Test Using RHESSI Data, I&T THEMIS FDMO CDR Peer Review − FOT Software Tools 35 June 1 -2, 2004