1. FOT Software Tools
Mark Lewis

2. Overview of Software Tools
Developer
Function
Platform
Comments
GTDS
GSFC
Ephemeris Generation, Mission Design, Orbit Determination
Solaris
In Operation at MOC Already
GMAN
Maneuver Planning
FreeFlyer
AI Solutions
Windows XP
Alternate Commercial Solution
SatTrack
BTS
Orbit Analysis, Pass Scheduling, Product Generation, Networking, 3-D Visualization, Ground Station Control
Solaris, Linux
MSASS
Attitude Determination
Solaris, Windows XP
In Operation at MOC Already, Upgrades To Be Provided by GSFC
MTASS
To Be Provided by GSFC
ITOS
Hammers
Probe Command and Control, Telemetry Monitoring, Limit Checking
VirtualSat
Probe Simulation
To Be Supplied with FlatSat
MPS
Command Load Generation
BEARS
UCB
Emergency Response System
Under Development at SSL as Replacement for SERS
BTAPS
Probe Bus and Instrument Trend Analysis
Under Development at SSL for MOC and SOC
APGEN
JPL
Task and Event Scheduling
TeamTrack
TeamShare
Anomaly Tracking
Currently Used by Hammers

3. 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

4. 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. themisopsA
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

5. 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

6. 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
FlatSat 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

7. Flight Software Maintenance
Flight Software Patches
Developed by Hammers
Carefully Tested on FlatSat 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

8. 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

9. Dedicated Workstations
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 SatTrack 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 FrameLink ITOS in Turn Loads TLM/CMD Databases and Supports Pass

10. Mission Control Network
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

11. Telemetry & Command Routing Scheme
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

12. Telemetry Data Format Telemetry Data Format CCSDS V1 Frame Format
Telemetry Data Routed by Virtual Channels
Annotated Channel Access Data Units (CADUs): 1276 Bytes
Telemetry Frame Delivery Header: 10 bytes (Attached at Ground Station)
Attached Synchronization Marker: 4 bytes
Virtual Channel Data Unit: bytes
Frame Error Control Field: bytes
Reed-Solomon Code Trailer: bytes
Virtual Channel
Priority
Data Type
Data Source
VC0
Real-time
Probe State-of-health Data (BAU)
VC1 1
Playback
VC2 2
Instrument Data (IDPU)
VC3 3
VC4
N/A
Not Used
VC5
VC6 4
Probe Bus Events (BAU)
VC7 5
Fill Data
Generate Fill Data (CIM)

13. Telemetry Data Delivery
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)
VC0, VC1, VC2
kbps
NASA/GN to MOC
Secure, Shared TCP/IP Network Connection
(T1 Line, 1 Mbps)
VC0, VC2
kbps
WSGT to MOC
Secure, Dedicated TCP/IP Network Connection
(38 kbps)
VC0
4.096 kbps

14. Command Data Routing Command Data Format CCSDS V1 Frame Format
Command Data Routed by Virtual Channels
VC1: Commands Decoded and Executed in Software
BAU Switched Service Commands
IDPU Commands
FSW Commands
Table Load Commands
Data
VC2: Commands Decoded and Executed in Hardware
Processor Resets and Others
Command Link Transmission Units (CLTUs): Variable Length
Command Delivery Header: bytes (Stripped at Ground Station)
Acquisition Sequence: bytes
Start Sequence: bytes
Telecommand Codeblocks: 37 x 8 bytes (max.)
Tail Sequence: bytes

15. Standard Features in ITOS Page Template
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

16. Command and Telemetry Naming Conventions
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 and Telemetry Naming Conventions
CMD Prefix
TLM Prefix
Subsystem A
Attitude Control System B
Probe Bus (BAU) - Not Subsystem Specific C
Command & Data Handling Subsystem I
Instruments (IDPU, IFGM, ISCM, IESA, ISST, IEFI) M
Memory Management P
Power Subsystem R
Reaction Control System T
Thermal Subsystem X
Transponder
GBL_
Global Variables / Mnemonics (Reserved for ITOS System)
GND_
Ground Defined Mnemonics

17. Probe Status Monitoring
SatTrack Interface to ITOS Data Point Server (DPS)
SatTrack DPS Client Program Connects to SatTrack 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)
MNEMONIC: STATUS STRING
Periodically Generates Web Page with Constellation Status
Top Level Constellation Overview
Contact Schedule Summary
Probe Bus Status
Instrument Status
Performs Yellow and Red Limit Checking with FOT Notification

18. Probe Status Monitoring

19. Probe Status Monitoring

20. Probe Status Monitoring

21. Probe Status Monitoring

22. Mission Planning System
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

23. 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

24. Maneuver Command Loads
GMAN or FreeFlyer Generates Thruster Firing Timeline
Timeline Translated into Typical Probe Command Sequence
2006/306:01:12:43, COMMAND1, ARG1=X1, ARG2=Y1, …
2006/306:01:12:53, COMMAND2, ARG1=X2, ARG2=Y2, …
2006/306:01:13:03, COMMAND3, ARG1=X3, ARG2=Y3, … …
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

25. 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
Disable Thrusters

26. 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

27. 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

28. Number of Executions Per Orbit **
ATS Buffer Sizing
Probe Function
Number of Commands *
Number of Executions Per Orbit **
Number of Commands
Per Orbit
Pass Support 2 6 12
Shadow Entry / Exit 1
Radiation Belt Crossing 4
SAA Crossing
Conjunction Instrument Operations 20
Probe Clock Adjustment Every 8 h 3
Miscellaneous Commands
Orbit and Attitude Maneuvers 22 66
ATS Buffer Switch
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. Load to Cover 5 Days (Only 1 Maneuver) Requires 401 Commands.

29. BEARS Requirements 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 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 and Web Pages

30. 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

31. BEARS Implementation BEARS Implementation Under Development at SSL
Programming Language (Perl, MySQL)
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

32. BTAPS Requirements 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
Plot Mnemonics Versus Time or Other Mnemonics

33. BTAPS Implementation BTAPS Implementation Under Development at SSL
Programming Language (Perl, MySQL)
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

34. Anomaly Tracking System
TeamTrack
Provided by TeamShare
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

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