1. THEMIS/GBO CDR 1 UC Berkeley, June 17, 2004 Ground Based Observatories (GBO) CDR S. B. Mende University of California - Berkeley

2. THEMIS/GBO CDR 2 UC Berkeley, June 17, 2004 GBO Team Institutions University of California – Berkeley (UCB) S. B. Mende – GBO science lead Provides ASI development, system engineering, GBO system fabrication and construction, data archive and dissemination University of California – Los Angeles (UCLA) C. T. Russell – magnetometer science lead Develop and provide ground magnetometer and GPS for GBO / EPO University of Calgary E. Donovan – Canadian science lead Providing GBO system deployment in Canada, field management, data collection, development participation University of Alberta I. Mann – magnetometer scientist Providing access to Canadian magnetometer network

3. THEMIS/GBO CDR 3 UC Berkeley, June 17, 2004 Detailed Peer Review was conducted on the 26th and 27 th of April in Calgary, Canada. Peer Review Panel consisted of technical specialists: Dr. Michael Lampton, UCB acting chair, currently senior scientist with Super Nova Acceleration Program working at the Lawrence Berkeley Laboratories. Dr. Hans Nielsen, University of Alaska, scientific project leader on several ground and aircraft based auroral observing programs. Dr. Jeff Baumgardner, Boston University, instrument scientist on optical aurora and airglow programs Mr. R. Sterling, UCB lead engineer on the Antarctic Automatic Observatory Refurbishment Program NASA representatioves: Bill Davis, Dennis S. Lee, Frank Snow and John Thurber Peer Review preceding CDR

4. THEMIS/GBO CDR 4 UC Berkeley, June 17, 2004 Recent Comment from Dr. Michael Lampton chairman of the peer review board:

5. THEMIS/GBO CDR 5 UC Berkeley, June 17, 2004 GBO / UCB Organization GBO Lead Co-Investigator S. B. Mende 510-642-0876 GBO Lead Co-Investigator S. B. Mende 510-642-0876 Administrator Yaling Zhu 510-643-5176 Administrator Yaling Zhu 510-643-5176 Project Manager S. Harris 510-643-3395 Project Manager S. Harris 510-643-3395 Test & Verif. H. Frey Test & Verif. H. Frey System Eng. S. Harris System Eng. S. Harris Mechanical G. Dalton Mechanical G. Dalton Software S. Geller Software S. Geller Assembly B. Dalen Assembly B. Dalen Electrical Test W. Rachelson Electrical Test W. Rachelson UCB Organization

6. THEMIS/GBO CDR 6 UC Berkeley, June 17, 2004 GBO/EPO Magnetometer Organization Lead Co-Investigator C. T. Russell 310-825-3188 Lead Co-Investigator C. T. Russell 310-825-3188 R & QA D. Dearborn 310-825-1488 R & QA D. Dearborn 310-825-1488 Business Office J Nakatsuka 310-825-3939 Business Office J Nakatsuka 310-825-3939 Program Manager D. Pierce 775-588-0356 Program Manager D. Pierce 775-588-0356 Magnetics R. Snare Magnetics R. Snare Analog D. Pierce Analog D. Pierce Mechanical G. Barr Mechanical G. Barr Digital D. Dearborn Digital D. Dearborn Assembly W. Greer Assembly W. Greer UCLA Organization

7. THEMIS/GBO CDR 7 UC Berkeley, June 17, 2004 GBOs: A synoptic view of the aurora Major Science objective is to locate and time the substorm onset as seen at ground level. At onset the aurora intensifies and expands and the magnetic field caused by the ionospheric current intensifies. Global auroral image taken by IMAGE WIC. Proposed THEMIS GBO sites superimposed.

8. THEMIS/GBO CDR 8 UC Berkeley, June 17, 2004 GBO Site Locations IMAGE FUV substorm onset identification. Of events indicated within GBO longitude sector, 2% are outside the latitude covered

9. THEMIS/GBO CDR 9 UC Berkeley, June 17, 2004 GBO Science Objective GBO shall monitor the auroral light and ionospheric currents across North America in order to localize the time, location, and evolution of the auroral manifestation of the substorm. Themis mission requirement relating to GBO: Determine substorm onset time and substorm meridian magnetic local time (MLT) using All Sky Imagers (one ASI per MLT hr) and Ground Magnetometer (two GMAG per MLT hr) with t_res<30s and dMLT<1° respectively, in an 8hr geographic local time sector including the US.

10. THEMIS/GBO CDR 10 UC Berkeley, June 17, 2004 GBO Derived Requirements

11. THEMIS/GBO CDR 11 UC Berkeley, June 17, 2004 ASI Requirements REQUIREMENTSYSTEM DESIGN GB.ASI-1: FOV. The field of view of the ASI shall be greater than 170°, full angle. Compliance. Yes GB.ASI-2: Exposure Time. Shall have an exposure duration that is programmable with a maximum exposure duration of no less than 1 second. Compliance. Yes GB.ASI-3: Spectral Response. Within passband of 400 to 700nm, shall provide detectable response when stimulated with a source radiance less than 10kRayleigh, at maximum specified exposure duration. Compliance. Expect minimum sensitivity < 1kR (5:1 SNR) GB.ASI-4: Spatial Resolution. Shall provide aurora onset localization with accuracy better than 100km (dMLT< 1°) Compliance. Raw ASI image will have > 250 pixel resolution per image diameter. Thumbnails will have 0.5° binning. GB.ASI-5: Viewport. Shall have heated dome viewportCompliance. Yes GB.ASI-6: Cadence Shall have a programmable repetition interval, minimum interval of no less than 10 seconds Compliance. Have demonstrated cadence of 5s, and 3s appears to be feasible

12. THEMIS/GBO CDR 12 UC Berkeley, June 17, 2004 ASI Specifications Imager: Field of View: 170º full angle Spectral passband: 400 – 700 nm (with IR filter) Sensitivity: < 1kR (5:1 S/N) Spatial resolution: 290 pixel diameter all-sky-image Exposure duration: programmable, 1 sec typical Cadence: 5 s demonstrated, 3 s appears feasible Enclosure: Operate in external ambient –50º to +40ºC Maintain internal temperature at 20º ± 10ºC –Requires about 150 W heating worst case Hermetically sealed unit w/ nitrogen purge –Dessicant used for field repair –Hermetically sealed electrical connectors Polycarbonate/acrylic dome Flexible mounting

13. THEMIS/GBO CDR 13 UC Berkeley, June 17, 2004 Mag Requirements & Specifications System Features GPS Receiver  Antenna and Electronics Integrated into one package  May be located >30M from host (RS422 signals)  NTP compatible (1msec time accuracy) Flxugate Magnetometer  ±72KnT dynamic range @ 0.01nT Resolution (~23 bits)  Offset DAC system for 256 possible ranges per axis  2 Vectors per second data rate  Low Power < 4W  Small Size 22cm x 13cm x 5cm  Ruggedized All Weather Sensor Design  USB interface for data retrieval and firmware upload

14. THEMIS/GBO CDR 14 UC Berkeley, June 17, 2004 Implementation Plan GBO Program Implementation: Integrate ASI from UCB, GMAG from UCLA with site prep and deployment provided by U. Calgary Build, calibrate and qualify first unit within one year after start of Phase B Five sites shall be installed two winters before THEMIS launch Total GBO installed network shall be 20 sites, installed one winter before THEMIS launch

15. THEMIS/GBO CDR 15 UC Berkeley, June 17, 2004 GBO Site Location Deployment

16. THEMIS/GBO CDR 16 UC Berkeley, June 17, 2004 Observatory Design Major components: Science Instruments: –All Sky Imager (ASI) –Ground Magnetometer (GMAG) –GPS Observatory Equipment –Communications –Environment Control –System Computer

17. THEMIS/GBO CDR 17 UC Berkeley, June 17, 2004 GBO Components AC Power GMAG Telesat Dish Iridium GPS All Sky Imager Computer Enclosure Internet Variations possible at some sites: Existing magnetometer Enclosures not needed Existing Internet connection

18. THEMIS/GBO CDR 18 UC Berkeley, June 17, 2004 Complete Installation in Athabasca, Canada ASI Computer Enclosure Mag

19. THEMIS/GBO CDR 19 UC Berkeley, June 17, 2004 All Sky Imager Heritage Environmental protection/deployment and automation drawn from AGOs (flawless multi-year operation in Antarctica). Prototype camera field tested in Canada – Demonstrated high cadence, high sensitivity –Taking 5s images

20. THEMIS/GBO CDR 20 UC Berkeley, June 17, 2004 ASI primary image 290 pixel diameter is “binned” to 0.5° resolution (thumbnails) Primary science data: Level 1 (~ 1kbps) (incl GMAG, housekeeping) Available via SAT comm, either Telesat (Internet real-time) or Iridium (daily) High resolution data: Level 0 (180 kbps) Selective downloads via Satellite Internet Periodic collection via disk swapping ASI Data Products

21. THEMIS/GBO CDR 21 UC Berkeley, June 17, 2004 Production Enclosure Design Design: Allison Park Group, Inc.

22. THEMIS/GBO CDR 22 UC Berkeley, June 17, 2004 Prototype ASI Enclosure ASI installed in Athabasca

23. THEMIS/GBO CDR 23 UC Berkeley, June 17, 2004 ASI Enclosure Performance Dome: Stayed clear Some ice buildup on flange Heating: Maintain 50°  T using about 35W avg. heat power Total heating power available is 240W 3/3/2004

24. THEMIS/GBO CDR 24 UC Berkeley, June 17, 2004 ASI Prototype Findings What we learned: 5 second cadence produces a LOT of data Insulation must be tolerant to sun exposure –Adopting Foil-face polyethylene air pillow wrap, multi-layer wrap Improvement to dome heating is desirable Sealing improvement needed Other minor issues: –Need to reduce length of housing –Improve thermal coupling of thermistor to mounting bracket –Orient camera such that top of image is North –Various changes in fasteners / assembly “dome gunk” Courtesy M. Greffen

25. THEMIS/GBO CDR 25 UC Berkeley, June 17, 2004 ASI Sun Shield Background ASI must survive, without degradation, non-operating exposure to daytime sun exposure CCD is Sony Interline Transfer device ICX249AL –Features “microlens” on each pixel, an organic material subject to deterioration due to UV exposure All Sky Lens uses Peleng Fisheye f/3.5 –A/R coating exhibited discoloration after one summer in Athabasca Result Need internal sun shield Drives housing diameter and heat required

26. THEMIS/GBO CDR 26 UC Berkeley, June 17, 2004 Sun Shield Design Retracted Position is the Fail-safe Position

27. THEMIS/GBO CDR 27 UC Berkeley, June 17, 2004 Sun Shield Prototype Status: Just built Needs adjustment / balancing Solenoid drive circuit needs test –Provides low power cont. duty drive Needs qualification test

28. THEMIS/GBO CDR 28 UC Berkeley, June 17, 2004 Ground Site Requirements REQUIREMENTSYSTEM DESIGN GB.GS-1: GBO sites shall provide largely unobstructed viewing over 160° hemisphere. Compliance. Site selection criteria GB.GS-2: GBO sites shall be reasonably clear of local magnetic interference. Compliance. Site selection criteria GB.GS-3: Each GBO site shall provide power, 120 VAC, single phase, 60Hz, at least 10A service Compliance. Site selection criteria GB.GS-4: Each GBO site shall have a local custodian available for periodic maintenance and Level 0 data retrieval Compliance. Site selection criteria

29. THEMIS/GBO CDR 29 UC Berkeley, June 17, 2004 Observatory Requirements REQUIREMENTSYSTEM DESIGN GB.OBS-1: Shall provide unattended operation of instruments, data acquisition and storage for up to 4 months per observation season Compliance. Will operate for 12 months/yr GB.OBS-2: Shall provide interface to enable periodic upload of new observation parameters and operating software. Compliance. Internet connectivity provides secure login and file transfer GB.OBS-3: Shall provide digital interfaces and digital data storage for the ASI and GMAG. Compliance. Linux OS supports serial, USB, 10BaseT, etc. GB.OBS-4: Shall provide a GPS receiver for geographic position calibration and time stamp Compliance. GPS included in GMAG subsystem, provides better than 50ms accuracy. Synchronous image acquisition. GB.OBS-5: Shall provide a means for daily uplink of Level 1 (compressed) data, at least 3MB/day Compliance. Satellite Internet connection has demonstrated 10kbps sustained uplink. Provides > 100MB/day GB.OBS-6: Observatory shall store high resolution, Level 0 data locally on hard drives, at least 24GB/month Compliance. USB (or Firewire) drives, 80GB to 120GB, will be periodically swapped by site custodian. Selective transfer of high res. data via Internet is also planned GB.OBS-7: Observatory shall be compatible with locally provided power Compliance. 120 VAC, 60Hz, 10A service, backed up by UPS. UPS sized for 1 hour battery operation (excl heaters) GB.OBS-8: Shall provide controlled power-up and power- down of instruments and system computer automatically Compliance. System power and shutdown/re-boot sequencing controlled by independent control processor GB.OBS-9: Operate in external ambient temperatures range from -50° to +40°C Compliance. Enclosures, insulation, heaters and control designed to keep internal temperatures at 20º ± 10º C GB.OBS-10: Shall survive transport to site and provide stable mounting at the site Compliance. Yes

30. THEMIS/GBO CDR 30 UC Berkeley, June 17, 2004 Prototype OSE Layout 28” Rack Mount Shipping Case System Computer GMAG Interface Electronics Hot Swap HDD Space available for modems UPS

31. THEMIS/GBO CDR 31 UC Berkeley, June 17, 2004 Prototype OSE Layout (2) Power Control Unit CR10X Datalogger UPS Camera Power Supply CR10X Battery

32. THEMIS/GBO CDR 32 UC Berkeley, June 17, 2004 Power Control Unit (PCU) Design Approach Provide temperature environment inside Computer Enclosure and ASI that enables use of standard commercial hardware for computer, USB hard drives, Telesat/Starband gear, etc. –Maintain internal temperatures at 20º ± 10º C –Implement graceful shutdown in either event of: –Loss of Power –Loss of Temperature (either too high, or too low) –In the event of extended power loss, power control must allow for temperature to stabilize prior to re-boot Select “Smart” controller (CR10X) vs Thermostat approach –Programmable with remote access via Internet or Iridium –Provides analog I/O, digital I/O for System Computer –Extended temperature range (-55º to +85ºC) –Always operating and accessible –Low power consumption (battery can operate it for months) –Simple programming and data logging capability The PCU provides control of both Temperature and Instrument Power

33. THEMIS/GBO CDR 33 UC Berkeley, June 17, 2004 Heating and Cooling Control CR10X Temperature Sensors ASICSEOutside AC Power Analog I/O Digital I/O System Computer Serial I/O Main AC V LINE CSE Heater SSRs ASI Heater CSE Cooler CB1 Power Control Unit

34. THEMIS/GBO CDR 34 UC Berkeley, June 17, 2004 CSE Heating / Cooling Devices Small Space Heaters 175W, 120VAC, 2 ea Solid State Air Conditioner 163W Capacity 120VAC Power

35. THEMIS/GBO CDR 35 UC Berkeley, June 17, 2004 Instrument Data Flow System Computer ASI GMAGTelesat Modem Hot Swap Hard Drive(s) USB Serial I/O 10/100 Base T GPS Internet

36. THEMIS/GBO CDR 36 UC Berkeley, June 17, 2004 Remote Intervention Two Levels: Typically GBO accessed via Internet –Hardwired in several locations –Using local LAN connection –Telesat HSi (Canada) or Starband 480 (Alaska) –Can provide fixed IP address –Tests indicate about 10kbps sustainable uplink rate Under duress, Back up communication via Iridium –Reserve for remote locations? –2400 bps

37. THEMIS/GBO CDR 37 UC Berkeley, June 17, 2004 Iridium Connection System Computer Serial Port SwitchIridium Modem CR10X Serial I/O Supervisor Channel 2 Supervisor Channel 1 UCB

38. THEMIS/GBO CDR 38 UC Berkeley, June 17, 2004 Computer Sys. Enclosure (CSE) Requirements: House Observatory Support Electronics in Controlled Environment –ASI, GMAG, Computer, Communications, Control, etc. Maintain internal temperature at 20º ± 10º C Operate in external ambient of -50º to +40ºC Provide “dust-free” method of cooling when required External Cable access via “stuffing tube” Provide access door for Hard Drive Hot Swap Provide access for maintenance Ruggedized and shock protection for transportation

39. THEMIS/GBO CDR 39 UC Berkeley, June 17, 2004 Enclosure Concept “Box within a Box” Internal Rack Mount for Equipment (Doubles as Shipping Case) External Insulated Environmental Enclosure

40. THEMIS/GBO CDR 40 UC Berkeley, June 17, 2004 Heating/Cooling Needs Heating Required: Outside temp: -60º C Inside temp: +10º Heat added: 165 W Cooling Required: Outside temp: +50º C Inside temp: +40º Heat to remove: 80 W Assumptions: Enclosure dimensions: 34” (h) x 44” (w) x 44” (l) Thermal resistance (R-value): R-12 Internal power dissipation: 47 W Prototype GBO Athabasca

41. THEMIS/GBO CDR 41 UC Berkeley, June 17, 2004 Prototype Findings Prototype CSE Deployment: Current design size is larger than necessary. –Prototype size: 43” (L) x 45” (W) x 38” (H) –Could be smaller for easier transport. –Minimum size: approx. 37” (L) x 40” (W) x 38” (H) “Awning” design needs improvement. Keeping it warm inside has proven to be easy Keeping it cool inside may be more difficult, but the solid state A/C seems to work. Athabasca 4/15/04 courtesy M. Greffen

42. THEMIS/GBO CDR 42 UC Berkeley, June 17, 2004 Ground Magnetometer Overview: Specifications Design Data Products Software GBO & E/PO

43. THEMIS/GBO CDR 43 UC Berkeley, June 17, 2004 Block Diagram UCLA GBO MAGNETOMETER SYSTEM OVERVIEW PIC18F452 Micro-Controller GPS Serial Interface DB15F USB USB Interface DB9F PPS Timing Interface GPS Heater & Power Interface TCXO XC2S50 FPGA FPGA FLASH Power Regulation +/-15V +5V Power Regulation +/-15V +5V DIN-5F Axis 1 Axis 2 Axis 3 DB25F Drive Sensor Heater

44. THEMIS/GBO CDR 44 UC Berkeley, June 17, 2004 Mechanical and Thermal GMAG PCB & Chassis

45. THEMIS/GBO CDR 45 UC Berkeley, June 17, 2004 Mechanical and Thermal Ground Magnetometer Fluxgate Sensor

46. THEMIS/GBO CDR 46 UC Berkeley, June 17, 2004 Mechanical and Thermal Ground Magnetometer Fluxgate Sensor Components

47. THEMIS/GBO CDR 47 UC Berkeley, June 17, 2004 Mechanical and Thermal Installed Fluxgate Sensor at Athabasca

48. THEMIS/GBO Mission CDR 48 UCB, Jun. 17, 2004 GBO Data Flow

49. THEMIS/GBO Mission CDR 49 UCB, Jun. 17, 2004 Data Flow & Monitoring Collaborator tasks: 1) UCalgary physically installs and maintains the Canadian GBO's 2) UCB physically installs and maintains the Alaskan GBO's 3) UCalgary collects all GBO data (UCB ASI, UCLA GMAG, H&S) and GBO team (UCLA, UCB, UA) picks up data from UCalgary. 4) UAlberta recovers CGSM and NRCAN GMAG data. UCB picks up data from UAlberta. 5) UCalgary will have a notification system in place that will react to all high level GBO H&S issues. UCB acts in backup capacity for this role. 6)UCalgary maintains the physical status and responds to H&S of the Canadian GBO's 7)UCB maintains the physical status and responds to H&S of of the Alaskan GBO's 8) UCLA monitors the data quality of the GMAG data and directs UCalgary to make any configuration or calibration changes. Changes are discussed and approved by GBO team. 9)UCalgary monitors the quality of the Canadian ASI data. UCalgary will make changes to instrument configuration/calibration after consulting with the GBO team (if the action is not already specified in the ops doc). 10)UCB monitors the quality of the Alaskan ASI data and directs UCalgary to make changes to instrument configuration/calibration. 11) UCLA will recover the E/PO data. UCB picks up data from UCLA. 12) UCLA will validate data and respond to any H&S issues.

50. THEMIS/GBO Mission CDR 50 UCB, Jun. 17, 2004 Approach to System I&T Lab testing where necessary and possible For instance, testing of temperature limits on cameras Cold limit testing on commercial components Get in the field early and often Establish network of GBOs well before satellites launched Prototype to be deployed winter ’03-’04 –ASI deployed with OSE in Calgary late Feb. –CSE deployed in Athabasca mid-Apr –GMAG (E/PO type) deployed in Athabasca mid-Apr Original Deployment Schedule 5 Units to be deployed by winter ’04-05 Additional 15 Units deployed by winter ’05-06

51. THEMIS/GBO Mission CDR 51 UCB, Jun. 17, 2004 Observatory I&T Flow ASI Sensor Fab / Integration (UCB) Subsystem Acceptance Test (incl performance verification) GMAG / GPS Fab / Integration (UCLA) Subsystem Acceptance Test (incl performance verification) OSE Fab / Integration (UCB) Subsystem Acceptance Test (incl performance verification) Subsystem Inspection System Integration Functional Test Burn - In Shipment to Site On-Site Functional Test and Verification Remote Comms Verification Physical Installation Custodian Orientation Remote Data Acquisition & Control Verification Installation Team departs site only after Operation is confirmed Unattended Operation

52. THEMIS/GBO CDR 52 UC Berkeley, June 17, 2004 ASI Unit Test Summary Acceptance Tests: FOV (>170°) Exposure Time (duration at least 1 sec) Spectral Response –Produce detectable response to source radiance < 10kR –Goal < 1kR –Passband 400 – 700nm –1 sec exposure duration Spatial Resolution (>250 pixel image diameter) –Verify point source response Cadence (better than 10s) –Goal < 5s Record dark and bias images (room temperature) Record response to standard source Pre-Shipment: Focus adjustment and verification Alignment verification (top of image relative to alignment datum) Heater control functional test (incl thermistor time response) Solenoid functional test (#iterations TBD) Internal mechanical inspection checklist Final Assembly / purge and backfill Final functional test and Imager Burn-in (duration TBD)

53. THEMIS/GBO CDR 53 UC Berkeley, June 17, 2004 Instrument Integration and Test Verification Tests Performed by UCLA 2.6.1 GMAG Sensitivity (UCLA CF) 2.6.2 GMAG 3-axis Sensing (SGDSD) 2.6.3 GMAG Dynamic Range (UCLA CF) 2.6.4 GMAG Time Resolution (UCLA CF) 2.7.4 GPS Time Base (UCLA CF) 2.7.9 Operating Temperature (UCLA CF) CF - Calibration Facility SGDSD - San Gabriel Dam Site Deployment

54. THEMIS/GBO Mission CDR 54 UCB, Jun. 17, 2004 Current Deployment Schedule Deployments scheduled between May and Oct in ’04, ’05, ‘06 By Winter ’04-’05: 6 GBOs done Summer ’04: deploy 4 in Canada, 2 in Alaska By Winter ’05-’06: 14 GBOs done Summer ’05: deploy 6 in Canada, 2 in Alaska Demonstrate operational breadth of network By Time of Themis Launch (Oct. ’06): 20 GBOs completed Summer ’06: deploy final 6 in Canada Complete the network, have all operating

55. THEMIS/GBO Mission CDR 55 UCB, Jun. 17, 2004 Deploy Schedule Summary Notes: “GMAG-n” is a full UCLA-built system with GMAG sensor, expected delivery in parentheses “GPS-n” is a UCLA-built system with GPS-only

56. THEMIS/GBO Mission CDR 56 UCB, Jun. 17, 2004 Status/Issues GBO Production Procurement Status/Issues ASI and OSE procurement is already in progress –Cameras, Lenses, Power components already in house –ASI Enclosure production is in procurement Need to identify sites that require a Computer Enclosure –Ideally we purchase what we need in one order –Changes to design will likely cause some delay in fabrication Open Issues Sun shield design validation Integration of Iridium is lagging

57. THEMIS/GBO Mission CDR 57 UCB, Jun. 17, 2004 CDR Peer Review Results GBO CDR Peer Review on 26-27 April, 2004 resulted in 6 RFAs. All have been closed by the review board.

58. THEMIS/GBO Mission CDR 58 UCB, Jun. 17, 2004 CDR Peer Review Results GBO CDR Peer Review on 26-27 April, 2004 resulted in several recommendations, summarized below...