The THEMIS Array of Ground-based Observatories for the Study of Auroral Substorms

The NASA Time History of Events and Macroscale Interactions during Substorms (THEMIS) project is intended to investigate magnetospheric substorm phenomena, which are the manifestations of a basic instability of the magnetosphere and a dominant mechanism of plasma transport and explosive energy release. The major controversy in substorm science is the uncertainty as to whether the instability is initiated near the Earth, or in the more distant >20 Re magnetic tail. THEMIS will discriminate between the two possibilities by using five in-situ satellites and ground-based all-sky imagers and magnetometers, and inferring the propagation direction by timing the observation of the substorm initiation at multiple locations in the magnetosphere. An array of stations, consisting of 20 all-sky imagers (ASIs) and 30-plus magnetometers, has been developed and deployed in the North American continent, from Alaska to Labrador, for the broad coverage of the nightside magnetosphere. Each ground-based observatory (GBO) contains a white light imager that takes auroral images at a 3-second repetition rate (“cadence”) and a magnetometer that records the 3 axis variation of the magnetic field at 2 Hz frequency. The stations return compressed images, “thumbnails,” to two central databases: one located at UC Berkeley and the other at the University of Calgary, Canada. The full images are recorded at each station on hard drives, and these devices are physically returned to the two data centers for data copying. All data are made available for public use by scientists in “browse products,” accessible by using internet browsers or in the form of downloadable CDF data files (the “browse products” are described in detail in a later section). Twenty all-sky imager stations are installed and running at the time of this publication. An example of a substorm was observed on the 23rd of December 2006, and from the THEMIS GBO data, we found that the substorm onset brightening of the equatorward arc was a gradual process (>27 seconds), with minimal morphology changes until the arc breaks up. The breakup was timed to the nearest frame (<3 s) and located to the nearest latitude degree at about ±3^oE in longitude. The data also showed that a similar breakup occurred in Alaska ～10 minutes later, highlighting the need for an array to distinguish prime onset.     

The THEMIS Magnetic Cleanliness Program

The five identical THEMIS Spacecraft, launched in February 2007, carry two magnetometers on each probe, one DC fluxgate (FGM) and one AC search coil (SCM). Due to the small size of the THEMIS probes, and the short length of the magnetometer booms, magnetic cleanliness was a particularly complex task for this medium sized mission. The requirements leveled on the spacecraft and instrument design required a detailed approach, but one that did not hamper the development of the probes during their short design, production and testing phase. In this paper we describe the magnetic cleanliness program’s requirements, design guidelines, program implementation, mission integration and test philosophy and present test results, and mission on-orbit performance.     

THEMIS Ground Based Observatory System Design

The comprehensive THEMIS approach to solving the substorm problem calls for monitoring the nightside auroral oval with low-cost, robust white-light imagers and magnetometers that can deliver high time resolution data (0.33 and 2 Hz, respectively). A network of 20 Ground-Based Observatories (GBOs) are deployed across Canada and Alaska to support the collection of data from these instruments. Here we describe the system design of the observatory, with emphasis on how the design meets the environmental and data-collection requirements. We also review the design of the All Sky Imager (ASI), discuss how it was built to survive Arctic deployments, and summarize the optical characterizations performed to qualify the design to meet THEMIS mission requirements.     

The Upgraded CARISMA Magnetometer Array in the THEMIS Era

This review describes the infrastructure and capabilities of the expanded and upgraded Canadian Array for Realtime InvestigationS of Magnetic Activity (CARISMA) magnetometer array in the era of the THEMIS mission. Formerly operated as the Canadian Auroral Network for the OPEN Program Unified Study (CANOPUS) magnetometer array until 2003, CARISMA capabilities have been extended with the deployment of additional fluxgate magnetometer stations (to a total of 28), the upgrading of the fluxgate magnetometer cadence to a standard data product of 1 sample/s (raw sampled 8 samples/s data stream available on request), and the deployment of a new network of 8 pairs of induction coils (100 samples per second). CARISMA data, GPS-timed and backed up at remote field stations, is collected using Very Small Aperture Terminal (VSAT) satellite internet in real-time providing a real-time monitor for magnetic activity on a continent-wide scale. Operating under the magnetic footprint of the THEMIS probes, data from 5 CARISMA stations at 29–30 samples/s also forms part of the formal THEMIS ground-based observatory (GBO) data-stream. In addition to technical details, in this review we also outline some of the scientific capabilities of the CARISMA array for addressing all three of the scientific objectives of the THEMIS mission, namely: 1. Onset and evolution of the macroscale substorm instability, 2. Production of storm-time MeV electrons, and 3. Control of the solar wind-magnetosphere coupling by the bow shock, magnetosheath, and magnetopause. We further discuss some of the compelling questions related to these three THEMIS mission science objectives which can be addressed with CARISMA.     

The THEMIS Mission

The Time History of Events and Macroscale Interactions during Substorms (THEMIS) mission is the fifth NASA Medium-class Explorer (MIDEX), launched on February 17, 2007 to determine the trigger and large-scale evolution of substorms. The mission employs five identical micro-satellites (hereafter termed “probes”) which line up along the Earth’s magnetotail to track the motion of particles, plasma and waves from one point to another and for the first time resolve space–time ambiguities in key regions of the magnetosphere on a global scale. The probes are equipped with comprehensive in-situ particles and fields instruments that measure the thermal and super-thermal ions and electrons, and electromagnetic fields from DC to beyond the electron cyclotron frequency in the regions of interest. The primary goal of THEMIS, which drove the mission design, is to elucidate which magnetotail process is responsible for substorm onset at the region where substorm auroras map (～10 R_E): (i) a local disruption of the plasma sheet current (current disruption) or (ii) the interaction of the current sheet with the rapid influx of plasma emanating from reconnection at ～25 R_E. However, the probes also traverse the radiation belts and the dayside magnetosphere, allowing THEMIS to address additional baseline objectives, namely: how the radiation belts are energized on time scales of 2–4 hours during the recovery phase of storms, and how the pristine solar wind’s interaction with upstream beams, waves and the bow shock affects Sun–Earth coupling. THEMIS’s open data policy, platform-independent dataset, open-source analysis software, automated plotting and dissemination of data within hours of receipt, dedicated ground-based observatory network and strong links to ancillary space-based and ground-based programs. promote a grass-roots integration of relevant NASA, NSF and international assets in the context of an international Heliophysics Observatory over the next decade. The mission has demonstrated spacecraft and mission design strategies ideal for Constellation-class missions and its science is complementary to Cluster and MMS. THEMIS, the first NASA micro-satellite constellation, is a technological pathfinder for future Sun-Earth Connections missions and a stepping stone towards understanding Space Weather.     

The Time History of Events and Macroscale Interactions during Substorms (THEMIS) Education and Outreach (E/PO) Program

During the pre-launch phase of NASA’s THEMIS mission, the Education and Public Outreach (E/PO) program successfully brought the excitement of THEMIS to the public, students and teachers through a variety of programs. The Geomagnetic Event Observation Network by Students (GEONS) was the main effort during this time, a project in which 13 magnetometers were placed in or near 13 rural schools across the country. High school teachers and a few middle school teachers at these and/or neighboring schools took part in a long-term professional development program based around space science and the magnetometer data. The teachers created week-long to semester-long projects during which their students worked on THEMIS lessons that they, their colleagues, and the E/PO team created. In addition to this program, THEMIS E/PO also launched the only Lawrence Hall of Science (LHS) Great Explorations in Mathematics and Science (GEMS) site in Nevada. This site provides a sustainable place for teacher professional development using hands-on GEMS activities, and has been used by teachers around the state of Nevada. Short-term professional development for K-12 teachers (one-hour to two-day workshops), with a focus on the Tribal College and Society for the Advancement of Chicanos and Native Americans in Science (SACNAS) communities have reached hundreds of teachers across the country. A Space Telescope Science Institute (STScI) ViewSpace show on auroras and THEMIS was created and distributed, and shown in over a hundred science centers and museums nationwide. The THEMIS E/PO program developed and maintained a THEMIS E/PO Website for dissemination of (1) information and multimedia about the science and engineering of THEMIS, (2) updated news about the mission in language appropriate for the public, (3) the GEONS data, the GEONS teacher guides with classroom activities, and (4) information about the THEMIS E/PO program. Hundreds of thousands of visitors have viewed this website. In this paper, we describe these programs along with the evaluation results, and discuss what lessons we learned along the way.     

THEMIS Science Objectives and Mission Phases

The five THEMIS spacecraft and a dedicated ground-based observatory array will pinpoint when and where substorms occur, thereby providing the observations needed to identify the processes that cause substorms to suddenly release solar wind energy stored within the Earth’s magnetotail. The primary science which drove the mission design enables unprecedented observations relevant to magnetospheric research areas ranging from the foreshock to the Earth’s radiation belts. This paper describes how THEMIS will reach closure on its baseline scientific objectives as a function of mission phase.     

The Magnetospheric Multiscale Magnetometers

The success of the Magnetospheric Multiscale mission depends on the accurate measurement of the magnetic field on all four spacecraft. To ensure this success, two independently designed and built fluxgate magnetometers were developed, avoiding single-point failures. The magnetometers were dubbed the digital fluxgate (DFG), which uses an ASIC implementation and was supplied by the Space Research Institute of the Austrian Academy of Sciences and the analogue magnetometer (AFG) with a more traditional circuit board design supplied by the University of California, Los Angeles. A stringent magnetic cleanliness program was executed under the supervision of the Johns Hopkins University’s Applied Physics Laboratory. To achieve mission objectives, the calibration determined on the ground will be refined in space to ensure all eight magnetometers are precisely inter-calibrated. Near real-time data plays a key role in the transmission of high-resolution observations stored on board so rapid processing of the low-resolution data is required. This article describes these instruments, the magnetic cleanliness program, and the instrument pre-launch calibrations, the planned in-flight calibration program, and the information flow that provides the data on the rapid time scale needed for mission success.     

Instrument Data Processing Unit for THEMIS

The Time History of Events and Macroscale Interactions during Substorms (THEMIS) mission is a NASA Medium-class Explorer (MIDEX) mission, launched on February 17, 2007. The mission employs five identical micro-satellites, or “probes,” which line-up along the Earth’s magnetotail every four days in conjunctions to determine the trigger and large-scale evolution of magnetic substorms. The probes are equipped with a comprehensive suite of instruments that measure and track the motion of thermal and super-thermal ions and electrons, and electric and magnetic fields, at key regions in the magnetosphere. Primary science objectives require high data rates at periods of scientific interest, large data volumes, and control of science data collection on suborbital time scales. A central Instrument Data Processing Unit (IDPU) is necessary to organize and prioritize the data from the large number of instruments into a 200 MB solid state memory. The large data volume produced by the instruments requires a flexible memory capable of both high resolution snapshots during conjunctions and coarser survey data collection throughout the orbit. Onboard triggering algorithms select and prioritize the snapshots based on data quality to optimize the science data that is returned to the ground. This paper presents a detailed discussion of the hardware and software design of the THEMIS IDPU, describing the heritage design that has been fundamental to the THEMIS mission success so far.     

Orbit Design for the THEMIS Mission

THEMIS, NASA’s fifth Medium Class Explorer (MIDEX) mission will monitor the onset and macro-scale evolution of magnetospheric substorms. It is a fleet of 5 small satellites (probes) measuring in situ the magnetospheric particles and fields while a network of 20 ground based observatories (GBOs) monitor auroral brightening over Northern America. Three inner probes (～1 day period, 10 R_E apogee) monitor current disruption and two outer probes (～2 day and ～4 day period, 20 R_E and 30 R_E apogees respectively) monitor lobe flux dissipation. In order to time and localize substorm onsets, THEMIS utilizes Sun–Earth aligned conjunctions between the probes when the ground-based observatories are on the nightside. To maintain high recurrence of conjunctions the outer orbits have to be actively adjusted during each observation season. Orbit maintenance is required to rearrange the inner probes for dayside observations and also inject the probes into their science orbits after near-simultaneous release from a common launch vehicle. We present an overview of the orbit strategy, which is primarily driven by the scientific goals of the mission but also represents a compromise between the probe thermal constraints and fuel capabilities. We outline the process of orbit design, describe the mission profile and explain how mission requirements are targeted and evaluated. Mission-specific tools, based on high-fidelity orbit prediction and common magnetospheric models, are also presented. The planning results have been verified by in-flight data from launch through the end of the first primary science seasons and have been used for mission adjustments subject to the early scientific results from the coast phase and first tail season.     

OpenGGCM Simulations for the THEMIS Mission

The THEMIS mission provides unprecedented multi-point observations of the magnetosphere in conjunction with an equally unprecedented dense network of ground measurements. However, coverage of the magnetosphere is still sparse. In order to tie together the THEMIS observations and to understand the data better, we will use the Open Geospace General Circulation Model (OpenGGCM), a global model of the magnetosphere-ionosphere system. OpenGGCM solves the magnetohydrodynamic (MHD) equations in the outer magnetosphere and couples via field aligned current (FAC), electric potential, and electron precipitation to a ionosphere potential solver and the Coupled Thermosphere Ionosphere Model (CTIM). The OpenGGCM thus provides a global comprehensive view of the magnetosphere-ionosphere system. An OpenGGCM simulation of one of the first substorms observed by THEMIS on 23 March 2007 shows that the OpenGGCM reproduces the observed substorm signatures very well, thus laying the groundwork for future use of the OpenGGCM to aid in understanding THEMIS data and ultimately contributing to a comprehensive model of the substorm process.     

The Electric Field Instrument (EFI) for THEMIS

The design, performance, and on-orbit operation of the three-axis electric field instrument (EFI) for the NASA THEMIS mission is described. The 20 radial wire boom and 10 axial stacer boom antenna systems making up the EFI sensors on the five THEMIS spacecraft, along with their supporting electronics have been deployed and are operating successfully on-orbit without any mechanical or electrical failures since early 2007. The EFI provides for waveform and spectral three-axis measurements of the ambient electric field from DC up to 8 kHz, with a single, integral broadband channel extending up to 400 kHz. Individual sensor potentials are also measured, providing for on-board and ground-based estimation of spacecraft floating potential and high-resolution plasma density measurements. Individual antenna baselines are 50- and 40-m in the spin plane, and 6.9-m along the spin axis. The EFI has provided for critical observations supporting a clear and definitive understanding of the electrodynamics of both the boundaries of the terrestrial magnetosphere, as well as internal processes, such as relativistic particle acceleration and substorm dynamics. Such multi-point electric field observations are key for pushing forward the understanding of electrodynamics in space, in that without high-quality estimates of the electric field, the underlying electromagnetic processes involved in current sheets, reconnection, and wave-particle interactions may only be inferred, rather than measured, quantified, and used to discriminate between competing hypotheses regarding those processes.     

The Juno Magnetic Field Investigation

The Juno Magnetic Field investigation (MAG) characterizes Jupiter’s planetary magnetic field and magnetosphere, providing the first globally distributed and proximate measurements of the magnetic field of Jupiter. The magnetic field instrumentation consists of two independent magnetometer sensor suites, each consisting of a tri-axial Fluxgate Magnetometer (FGM) sensor and a pair of co-located imaging sensors mounted on an ultra-stable optical bench. The imaging system sensors are part of a subsystem that provides accurate attitude information (to ～20 arcsec on a spinning spacecraft) near the point of measurement of the magnetic field. The two sensor suites are accommodated at 10 and 12 m from the body of the spacecraft on a 4 m long magnetometer boom affixed to the outer end of one of ’s three solar array assemblies. The magnetometer sensors are controlled by independent and functionally identical electronics boards within the magnetometer electronics package mounted inside Juno’s massive radiation shielded vault. The imaging sensors are controlled by a fully hardware redundant electronics package also mounted within the radiation vault. Each magnetometer sensor measures the vector magnetic field with 100 ppm absolute vector accuracy over a wide dynamic range (to 16 Gauss = \(1.6 \times 10^{6}\mbox{ nT}\) per axis) with a resolution of ～0.05 nT in the most sensitive dynamic range (±1600 nT per axis). Both magnetometers sample the magnetic field simultaneously at an intrinsic sample rate of 64 vector samples per second. The magnetic field instrumentation may be reconfigured in flight to meet unanticipated needs and is fully hardware redundant. The attitude determination system compares images with an on-board star catalog to provide attitude solutions (quaternions) at a rate of up to 4 solutions per second, and may be configured to acquire images of selected targets for science and engineering analysis. The system tracks and catalogs objects that pass through the imager field of view and also provides a continuous record of radiation exposure. A spacecraft magnetic control program was implemented to provide a magnetically clean environment for the magnetic sensors, and residual spacecraft fields and/or sensor offsets are monitored in flight taking advantage of Juno’s spin (nominally 2 rpm) to separate environmental fields from those that rotate with the spacecraft.     

The THEMIS ESA Plasma Instrument and In-flight Calibration

The THEMIS plasma instrument is designed to measure the ion and electron distribution functions over the energy range from a few eV up to 30 keV for electrons and 25 keV for ions. The instrument consists of a pair of “top hat” electrostatic analyzers with common 180°×6° fields-of-view that sweep out 4π steradians each 3 s spin period. Particles are detected by microchannel plate detectors and binned into six distributions whose energy, angle, and time resolution depend upon instrument mode. On-board moments are calculated, and processing includes corrections for spacecraft potential. This paper focuses on the ground and in-flight calibrations of the 10 sensors on five spacecraft. Cross-calibrations were facilitated by having all the plasma measurements available with the same resolution and format, along with spacecraft potential and magnetic field measurements in the same data set. Lessons learned from this effort should be useful for future multi-satellite missions.     

An algorithm for calibrating the three-axis magnetometer

A three-step computational technique for calibrating the magnetometers is proposed based on the functional minimization by means of a discrete Newton algorithm. A comparative analysis reveals that the technique proposed allows us to correct the data necessary for determining the azimuth by the Earth’s magnetic field.     

The Galileo Plasma wave investigation

The purpose of the Galileo plasma wave investigation is to study plasma waves and radio emissions in the magnetosphere of Jupiter. The plasma wave instrument uses an electric dipole antenna to detect electric fields, and two search coil magnetic antennas to detect magnetic fields. The frequency range covered is 5 Hz to 5.6 MHz for electric fields and 5 Hz to 160 kHz for magnetic fields. Low time-resolution survey spectrums are provided by three on-board spectrum analyzers. In the normal mode of operation the frequency resolution is about 10%, and the time resolution for a complete set of electric and magnetic field measurements is 37.33 s. High time-resolution spectrums are provided by a wideband receiver. The wideband receiver provides waveform measurements over bandwidths of 1, 10, and 80 kHz. These measurements can be either transmitted to the ground in real time, or stored on the spacecraft tape recorder. On the ground the waveforms are Fourier transformed and displayed as frequency-time spectrogams. Compared to previous measurements at Jupiter this instrument has several new capabilities. These new capabilities include (1) both electric and magnetic field measurements to distinguish electrostatic and electromagnetic waves, (2) direction finding measurements to determine source locations, and (3) increased bandwidth for the wideband measurements.Deceased     

The Search Coil Magnetometer for THEMIS

THEMIS instruments incorporate a tri-axial Search Coil Magnetometer (SCM) designed to measure the magnetic components of waves associated with substorm breakup and expansion. The three search coil antennas cover the same frequency bandwidth, from 0.1 Hz to 4 kHz, in the ULF/ELF frequency range. They extend, with appropriate Noise Equivalent Magnetic Induction (NEMI) and sufficient overlap, the measurements of the fluxgate magnetometers. The NEMI of the searchcoil antennas and associated pre-amplifiers is smaller than 0.76 pT $/\sqrt{\mathrm{Hz}}$ at 10 Hz. The analog signals produced by the searchcoils and associated preamplifiers are digitized and processed inside the Digital Field Box (DFB) and the Instrument Data Processing Unit (IDPU), together with data from the Electric Field Instrument (EFI). Searchcoil telemetry includes waveform transmission, FFT processed data, and data from a filter bank. The frequency range covered depends on the available telemetry. The searchcoils and their three axis structures have been precisely calibrated in a calibration facility, and the calibration of the transfer function is checked on board, usually once per orbit. The tri-axial searchcoils implemented on the five THEMIS spacecraft are working nominally.     

2001 Mars Odyssey Mission Summary

The 2001 Mars Odyssey spacecraft, now in orbit at Mars, will observe the Martian surface at infrared and visible wavelengths to determine surface mineralogy and morphology, acquire global gamma ray and neutron observations for a full Martian year, and study the Mars radiation environment from orbit. The science objectives of this mission are to: (1) globally map the elemental composition of the surface, (2) determine the abundance of hydrogen in the shallow subsurface, (3) acquire high spatial and spectral resolution images of the surface mineralogy, (4) provide information on the morphology of the surface, and (5) characterize the Martian near-space radiation environment as related to radiation-induced risk to human explorers. To accomplish these objectives, the 2001 Mars Odyssey science payload includes a Gamma Ray Spectrometer (GRS), a multi-spectral Thermal Emission Imaging System (THEMIS), and a radiation detector, the Martian Radiation Environment Experiment (MARIE). THEMIS and MARIE are mounted on the spacecraft with THEMIS pointed at nadir. GRS is a suite of three instruments: a Gamma Subsystem (GSS), a Neutron Spectrometer (NS) and a High-Energy Neutron Detector (HEND). The HEND and NS instruments are mounted on the spacecraft body while the GSS is on a 6-m boom. Some science data were collected during the cruise and aerobraking phases of the mission before the prime mission started. THEMIS acquired infrared and visible images of the Earth-Moon system and of the southern hemisphere of Mars. MARIE monitored the radiation environment during cruise. The GRS collected calibration data during cruise and aerobraking. Early GRS observations in Mars orbit indicated a hydrogen-rich layer in the upper meter of the subsurface in the Southern Hemisphere. Also, atmospheric densities, scale heights, temperatures, and pressures were observed by spacecraft accelerometers during aerobraking as the spacecraft skimmed the upper portions of the Martian atmosphere. This provided the first in-situ evidence of winter polar warming in the Mars upper atmosphere. The prime mission for 2001 Mars Odyssey began in February 2002 and will continue until August 2004. During this prime mission, the 2001 Mars Odyssey spacecraft will also provide radio relays for the National Aeronautics and Space Administration (NASA) and European landers in early 2004. Science data from 2001 Mars Odyssey instruments will be provided to the science community via NASA’s Planetary Data System (PDS). The first PDS release of Odyssey data was in October 2002; subsequent releases occur every 3 months.     

First Results of the THEMIS Search Coil Magnetometers

We present the first data from the THEMIS Search Coil Magnetometers (SCM), taken between March and June 2007 while the THEMIS constellation apogee moved from the duskside toward the dawnside. Data reduction, especially the SCM calibration method and spurious noise reduction process, is described. The signatures of magnetic fluctuations in key magnetospheric regions such as the bow shock, the magnetopause and the magnetotail during a substorm, are described. We also discuss the role that magnetic fluctuations could play in plasma transport, acceleration and heating.