Zenn
Open9

NASA NOS3 を使ってみた

宇宙
衛星
NASA
nos3
kannkyokannkyo

リポジトリを確認。

https://github.com/nasa/nos3

NASA Operational Simulator for Small Satellites (NOS3)は、NASAのKatherine Johnson Independent Verification and Validation (IV&V) Facilityによって開発されたツール群で、ソフトウェア開発、統合・試験(I&T)、ミッション運用・訓練、検証・妥当性確認(V&V)、ソフトウェアシステムチェックアウトなどの分野を支援します。 NOS3は、ソフトウェア開発環境、マルチターゲット・ビルド・システム、オペレーター・インターフェース/地上ステーション、ダイナミクスおよび環境シミュレーション、宇宙船ハードウェアのソフトウェアベースのモデルを提供します。

kannkyokannkyo

インストール手順

インストール手順は２つ。

  1. Option A, you already use Linux
  2. Option B, deployment of a virtual machine (VM)

2.が簡単そう。

kannkyokannkyo

Option Bのrequirementsを確認する。

  • Option B, deployment of a virtual machine (VM)
    • Git 2.36+
    • Vagrant 2.3.4+
    • VirtualBox 7.0+
PS > git --version
git version 2.45.2.windows.1
PS > vagrant --version
Vagrant 2.4.2
PS > .\VBoxManage.exe --version
7.1.4r165100

満たしていそう。

kannkyokannkyo

VM起動

Windows上で手順通りにコマンドを実行する。

gh repo clone nasa/nos3
cd .\nos3\
git submodule update --init --recursive
vagrant up

VBoxGuestAdditions更新

wget http://download.virtualbox.org/virtualbox/7.1.4/VBoxGuestAdditions_7.1.4.iso
sudo mkdir /media/VBoxGuestAdditions
sudo mount -o loop,ro VBoxGuestAdditions_7.1.4.iso /media/VBoxGuestAdditions
sudo sh /media/VBoxGuestAdditions/VBoxLinuxAdditions.run
rm VBoxGuestAdditions_7.1.4.iso
sudo umount /media/VBoxGuestAdditions
sudo rmdir /media/VBoxGuestAdditions

再起動

vagrant reload
kannkyokannkyo

インストール

VMへログイン

vagrant ssh

インストール実行

vagrant@itc:/home$ su jstar
Password:
jstar@itc:/home$ cd /home/jstar/Desktop/github-nos3/
jstar@itc:~/Desktop/github-nos3$ make prep

make

インストール時にやっていること

make prep

make prepはprepare.shを実行している。

https://github.com/nasa/nos3/blob/main/scripts/prepare.sh

prepare.shでは次のことを実行している。

  1. openc3-nos3.git リポジトリを clone
  2. ballaerospace/cosmos:4.5.0 イメージを pull
  3. ivvitc/nos3-64:20240618 イメージを pull
  4. 42.git リポジトリを clone
  5. ivvitc/nos3-64:20240618 イメージのコンテナを起動
  6. pyside6 xmltodict モジュールをinstall

make

makeはFSW, GSW, and SIMSのビルドを実行している。

https://github.com/nasa/nos3/blob/main/Makefile#L43-L47

kannkyokannkyo

起動確認

ログイン

jstar / jstar123! でログインします。

NOS3起動

ターミナルで以下のコマンドを実行します。

jstar@itc:~$ cd /home/jstar/Desktop/github-nos3/
jstar@itc:~/Desktop/github-nos3$ make launch

GUI上にいくつかウィンドウが表示され起動したらしいことを確認します。

NOS3起動時にやっていること

make launch

make launchはdocker_launch.shを実行しています。

https://github.com/nasa/nos3/blob/main/scripts/docker_launch.sh

docker_launch.shは衛星内のコンポーネントごと？に仮想化された多数のコンテナを起動します。

jstar@itc:~/Desktop/github-nos3$ docker ps
CONTAINER ID   IMAGE                        COMMAND                  CREATED         STATUS         PORTS     NAMES
aa7ce2a9250b   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   4 minutes ago   Up 4 minutes             nos_time_driver
242475ad8a90   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_thruster_sim
f04f5b23313d   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_torquer_sim
8b02bc595d5e   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_startrk_sim
71df74d4b1d8   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_sample_sim
7facfd835101   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_radio_sim
2d89faf5fa30   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_rw_sim2
ed40e908f7dc   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_rw_sim1
e02653cb6cf1   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_rw_sim0
a61e15107241   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_mag_sim
01174f312f11   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_imu_sim
893f88d68b9d   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_gps_sim
7823609969fb   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_fss_sim
8db5458593fd   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_eps_sim
0e016a560526   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_css_sim
b323b6ec6e25   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_cam_sim
09b4cc95a925   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             sc_1_truth42sim
e045ca9df4d4   ivvitc/nos3-64:20240618      "/usr/bin/nos_engine…"   5 minutes ago   Up 5 minutes             sc_1_nos_engine_server
a29378f1e299   ivvitc/nos3-64:20240618      "/home/jstar/Desktop…"   5 minutes ago   Up 5 minutes             sc_1_nos_fsw
486b14dc8809   ivvitc/nos3-64:20240618      "./support/standalone"   5 minutes ago   Up 5 minutes             sc_1_cryptolib
80eebc3f65ba   ivvitc/nos3-64:20240618      "/home/jstar/.nos3/4…"   5 minutes ago   Up 5 minutes             sc_1_fortytwo
e0714a5f2d01   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             nos_udp_terminal
dbce93587567   ivvitc/nos3-64:20240618      "./nos3-single-simul…"   5 minutes ago   Up 5 minutes             nos_terminal
45ccdc1d616e   ballaerospace/cosmos:4.5.0   "/bin/sh -c 'ruby La…"   5 minutes ago   Up 5 minutes             cosmos_openc3-operator_1

これらは、同時に作成されたdocker networkで接続されています。

jstar@itc:~/Desktop/github-nos3$ docker network ls
NETWORK ID     NAME        DRIVER    SCOPE
c3d5dee402e2   bridge      bridge    local
e9080f666a17   host        host      local
26f343a41328   none        null      local
01e7057ff75a   nos3_core   bridge    local
5a019a3f5687   nos3_sc_1   bridge    local

docker-network-graphを使って可視化してみます。

vagrant@itc:~$ sudo docker run --rm -v /var/run/docker.sock:/var/run/docker.sock leoverto/docker-network-graph > docker-graph.dot

thanks: https://dreampuf.github.io/GraphvizOnline

nos3_sc_1 というネットワークは、衛星（sc: Spacecraft）内のバスを模擬しているようです。
コンテナの名称から察するにそれぞれのコンテナは以下のように衛星内のコンポーネントに対応しているようです。

  • cam: camera
  • fsw: flight software
  • gps: gps
  • torquer: magnetic torquer
  • startrk: star tracker
  • rw: reaction while
  • css: coarse sun sensor
  • cryptolib: cryptolib
  • fss: flight system
  • thruster: thruster
  • truth42sim: ????
  • mag: ????
  • fortytwo: ????
  • imu: inertial measurement unit
  • eps: electrical power system

小型衛星のシミュレーターのわりには、モリモリな衛星ですね・・・。大型衛星なのでは・・・。

一方で、nos3_core というネットワークは、地上システム内のネットワークを模擬しているようです。

kannkyokannkyo

Legal Agreement

しきりにでてくるので、Update Project CRCsボタンを押した。

kannkyokannkyo

シミュレーターが起動しないことがあります。

地上側シミュレーターについては、サポート終了したcosmosの代わりにnos3を使用するように変更したら改善した。

<?xml version="1.0" encoding="utf-8"?>
<nos3-mission-cfg>
	<start-time>814048200.0</start-time>
	<gsw>openc3</gsw>
	<number-spacecraft>1</number-spacecraft>
	<sc-1-cfg>sc-full-config.xml</sc-1-cfg>
</nos3-mission-cfg>

衛星側シミュレーターは不明。NOS3 Flight Software のウィンドウは起動するのだが、その後CAMなどのウィンドウが表示されない。

OS_BSP_Initialize():Maximum user msg queue depth = 10000
   *                                      *                    *
       *                                                  *                *             
            ]]]]]]]]]]]]  ]]]]]]]]]]]]]]]]]  ]]]]]]]]]]]]]]]]            ]]]]]]
          ]]]]]]]]]]]]]  ]]]]]]]]]]]]]]]]]  ]]]]]]]]]]]]]]]]            ]]]]]] 
    *    ]]]]]]]]]]]]]  ]]]]]]]]]]]]]]]]]  ]]]]]]]]]]]]]]]]            ]]]]]]  
         ]]]]]]              ]]]]]]       ]]]]]]]                     ]]]]]]   
         ]]]]]]]]       *   ]]]]]]       ]]]]]]]]]]]]]]   ]]]]]]]]   ]]]]]]    
 *        ]]]]]]]]         ]]]]]]       ]]]]]]]]]]]]]]   ]]]]]]]]   ]]]]]]     
             ]]]]]]      ]]]]]]]  *    ]]]]]]]                     ]]]]]]      
   ]]]]]]]]]]]]]]]      ]]]]]]]       ]]]]]]]   FLIGHT SOFTWARE   ]]]]]]     *  
  ]]]]]]]]]]]]]]]      ]]]]]]]       ]]]]]]]                     ]]]]]]        
 ]]]]]]]]]]]]]]       ]]]]]]]       ]]]]]]]                     ]]]]]]
      *                        *                        *                         *
 *                                     *                                *               *
                *

CFE_PSP: Reset Type: PO
CFE_PSP: Default Reset SubType = 1
CFE_PSP: Default CPU ID = 1
CFE_PSP: Default Spacecraft ID = 42
CFE_PSP: Default CPU Name: cpu1
OS_Posix_GetSchedulerParams():191:Policy 1: available, min-max: 1-99
OS_Posix_GetSchedulerParams():191:Policy 2: available, min-max: 1-99
OS_Posix_TaskAPI_Impl_Init():377:Selected policy 2 for RT tasks, root task = 99
initializing nos engine link...
CFE_PSP: initializing module 'eeprom_notimpl' with ID 0110ff00
CFE_PSP: EEPROM access not implemented
CFE_PSP: initializing module 'port_notimpl' with ID 0110ff01
CFE_PSP: I/O Port access not implemented
CFE_PSP: initializing module 'ram_notimpl' with ID 0110ff02
CFE_PSP: Physical RAM access not implemented
CFE_PSP: Starting the cFE with a POWER ON reset.
CFE_PSP: Clearing out CFE CDS Shared memory segment.
CFE_PSP: Clearing out CFE Reset Shared memory segment.
CFE_PSP: Clearing out CFE User Reserved Shared memory segment.
2000-001-00:00:00.00000 CFE_ES_SetupResetVariables: POWER ON RESET due to Power Cycle (Power Cycle).
2000-001-00:00:00.00000 CFE_ES_Main: CFE_ES_Main in EARLY_INIT state
CFE_PSP: CFE_PSP_AttachExceptions Called
2000-001-00:00:00.00000 CFE_ES_Main: CFE_ES_Main entering CORE_STARTUP state
2000-001-00:00:00.00000 CFE_ES_CreateObjects: Starting Object Creation calls.
2000-001-00:00:00.00000 CFE_ES_CreateObjects: Calling CFE_Config_Init
2000-001-00:00:00.00000 CFE_ES_CreateObjects: Calling CFE_ES_CDSEarlyInit
2000-001-00:00:00.00000 CFE_ES_CreateObjects: Calling CFE_EVS_EarlyInit
2000-001-00:00:00.00000 CFE_EVS_EarlyInit: Event Log cleared following power-on reset
2000-001-00:00:00.00000 CFE_ES_CreateObjects: Calling CFE_SB_EarlyInit
2000-001-00:00:00.00000 CFE_ES_CreateObjects: Calling CFE_TIME_EarlyInit
2000-001-00:00:00.00000 CFE_ES_CreateObjects: Calling CFE_TBL_EarlyInit
2000-001-00:00:00.00000 CFE_ES_CreateObjects: Calling CFE_FS_EarlyInit
EVS Port1 42/1/CFE_EVS 1: cFE EVS Initialized:  cFE DEVELOPMENT BUILD v7.0.0-rc4+dev246 (Codename: Draco), Last Official Release: cfe v6.7.0
2000-001-00:00:00.16000 CFE_SB_AppInit: Registered 4 events for filtering
EVS Port1 42/1/CFE_SB 1: cFE SB Initialized:  cFE DEVELOPMENT BUILD v7.0.0-rc4+dev246 (Codename: Draco), Last Official Release: cfe v6.7.0
EVS Port1 42/1/CFE_SB 14: No subscribers for MsgId 0x808,sender CFE_SB
EVS Port1 42/1/CFE_ES 1: cFE ES Initialized:  cFE DEVELOPMENT BUILD v7.0.0-rc4+dev246 (Codename: Draco), Last Official Release: cfe v6.7.0
EVS Port1 42/1/CFE_SB 14: No subscribers for MsgId 0x808,sender CFE_ES
EVS Port1 42/1/CFE_ES 2: cFS Versions: cfe v7.0.0-rc4+dev246, osal v6.0.0-rc4+dev183, psp v1.6.0-rc4+dev67. cFE chksm 14633
EVS Port1 42/1/CFE_SB 14: No subscribers for MsgId 0x808,sender CFE_ES
EVS Port1 42/1/CFE_ES 91: Version Info: Mission NOS3, version git:v1_07_01-dirty
EVS Port1 42/1/CFE_SB 14: No subscribers for MsgId 0x808,sender CFE_ES
EVS Port1 42/1/CFE_ES 91: Version Info: Module CORE_API, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module ES, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module EVS, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module FS, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module SB, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module TBL, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module TIME, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module OSAL, version git:draco-rc4-17-g9c9b9f6d-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module PSP, version git:draco-rc4-25-gcd5546b-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module MSG, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module SBR, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module RESOURCEID, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 91: Version Info: Module CONFIG, version git:draco-rc4-2-g79c22d9e-dirty
EVS Port1 42/1/CFE_ES 92: Build 202411171532 by jstar@a7a7e745df52, config ../cfg/build/nos3
EVS Port1 42/1/CFE_TIME 1: cFE TIME Initialized:  cFE DEVELOPMENT BUILD v7.0.0-rc4+dev246 (Codename: Draco), Last Official Release: cfe v6.7.0
EVS Port1 42/1/CFE_TBL 1: cFE TBL Initialized:  cFE DEVELOPMENT BUILD v7.0.0-rc4+dev246 (Codename: Draco), Last Official Release: cfe v6.7.0
2000-001-00:00:00.53000 CFE_ES_CreateObjects: Finished ES CreateObject table entries.
2000-001-00:00:00.53000 CFE_ES_Main: CFE_ES_Main entering CORE_READY state
2000-001-00:00:00.53000 CFE_ES_StartApplications: Opened ES App Startup file: /cf/cfe_es_startup.scr
2000-001-00:00:00.53000 CFE_ES_ParseFileEntry: Loading shared library: /cf/crypto.so
2000-001-00:00:00.54000 CFE_ES_ParseFileEntry: Loading shared library: /cf/hwlib.so
HWLIB Initialized. Version 2.0.0.0 
2000-001-00:00:00.54000 CFE_ES_ParseFileEntry: Loading shared library: /cf/io_lib.so
2000-001-00:00:00.55000 CFE_ES_ParseFileEntry: Loading file: /cf/sch.so, APP: SCH
2000-001-00:00:00.55000 CFE_ES_ParseFileEntry: Loading file: /cf/ci.so, APP: CI
2000-001-00:00:00.55000 CFE_ES_ParseFileEntry: Loading file: /cf/to.so, APP: TO
2000-001-00:00:00.55000 CFE_ES_ParseFileEntry: Loading file: /cf/ci_lab.so, APP: CI_LAB_APP
2000-001-00:00:00.55000 CFE_ES_ParseFileEntry: Loading file: /cf/to_lab.so, APP: TO_LAB_APP
2000-001-00:00:00.55000 CFE_ES_ParseFileEntry: Loading file: /cf/cf.so, APP: CF
2000-001-00:00:00.55000 CFE_ES_ParseFileEntry: Loading file: /cf/ds.so, APP: DS
2000-001-00:00:00.56000 CFE_ES_ParseFileEntry: Loading file: /cf/fm.so, APP: FM
2000-001-00:00:00.56000 CFE_ES_ParseFileEntry: Loading file: /cf/lc.so, APP: LC
2000-001-00:00:00.56000 CFE_ES_ParseFileEntry: Loading file: /cf/sc.so, APP: SC
2000-001-00:00:00.57000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_adcs.so, APP: ADCS
2000-001-00:00:00.57000 CFE_ES_ParseFileEntry: Loading file: /cf/arducam.so, APP: CAM
2000-001-00:00:00.57000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_css.so, APP: CSS
2000-001-00:00:00.57000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_eps.so, APP: EPS
2000-001-00:00:00.58000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_fss.so, APP: FSS
2000-001-00:00:00.58000 CFE_ES_ParseFileEntry: Loading file: /cf/novatel_oem615.so, APP: NAV
2000-001-00:00:00.58000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_imu.so, APP: IMU
2000-001-00:00:00.58000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_mag.so, APP: MAG
2000-001-00:00:00.58000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_radio.so, APP: RADIO
2000-001-00:00:00.59000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_rw.so, APP: RW
2000-001-00:00:00.59000 CFE_ES_ParseFileEntry: Loading file: /cf/sample.so, APP: SAMPLE
2000-001-00:00:00.59000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_st.so, APP: ST
2000-001-00:00:00.59000 CFE_ES_ParseFileEntry: Loading file: /cf/syn.so, APP: SYN
2000-001-00:00:00.60000 CFE_EVS_Register: Filter limit truncated to 8
2000-001-00:00:00.60000 CI_LAB listening on UDP port: 5012
EVS Port1 42/1/CI_LAB_APP 3: CI Lab Initialized. CI Lab App DEVELOPMENT BUILD v2.5.0-rc4+dev43, Last Official Release: v2.3.0
2000-001-00:00:00.60000 CFE_EVS_Register: Filter limit truncated to 8
EVS Port1 42/1/TO 2: Application initialized
EVS Port1 42/1/CF 20: CF Initialized. Version 3.0.99.0
EVS Port1 42/1/TO_LAB_APP 1: TO Lab Initialized. TO Lab DEVELOPMENT BUILD v2.5.0-rc4+dev45, Last Official Release: v2.3.0, Awaiting enable command.
EVS Port1 42/1/LC 56: WDT verify results: good = 0, bad = 0, unused = 176
EVS Port1 42/1/DS 10: Destination file table verify results: good entries = 6, bad = 0, unused = 10
EVS Port1 42/1/FM 97: Free Space Table verify results: good entries = 3, bad = 0, unused = 5
EVS Port1 42/1/DS 12: Filter table verify results: good entries = 15, bad = 0, unused = 241
EVS Port1 42/1/DS 1: Application initialized, version 2.6.99.0, data at 0x7fd66cdab480
EVS Port1 42/1/LC 66: ADT verify results: good = 0, bad = 0, unused = 176
EVS Port1 42/1/LC 23: LC use of Critical Data Store disabled, activity mask = 0x00991990
EVS Port1 42/1/LC 2: LC Initialized. Version 2.2.99.0
EVS Port1 42/1/SCH 13: OS Timer Accuracy (10000 > reqd 101 usec) requires Minor Frame MET sync
EVS Port1 42/1/SCH 1: SCH Initialized. Version 2.2.1.0
EVS Port1 42/1/CI 2: Application initialized
EVS Port1 42/1/FM 1: Initialization complete: version 2.6.99.0
2000-001-00:00:00.61000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_thruster.so, APP: THRUSTER
2000-001-00:00:00.61000 CFE_ES_ParseFileEntry: Loading file: /cf/generic_torquer.so, APP: TORQUER
EVS Port1 42/1/CSS 1: GENERIC_CSS App Initialized. Version 1.0.0.0
EVS Port1 42/1/CAM 1: CAM App Initialized. Version 1.0.0.1
EVS Port1 42/1/FSS 1: GENERIC_FSS App Initialized. Version 1.0.0.0
EVS Port1 42/1/ADCS 1: Generic_ADCS App Initialized. Version 1.0.0.0
EVS Port1 42/1/MAG 1: GENERIC_MAG App Initialized. Version 1.0.0.0
EVS Port1 42/1/NAV 12: NOVATEL_OEM615: RESET counters command received
EVS Port1 42/1/NAV 1: NOVATEL_OEM615 App Initialized. Version 1.0.0.0
EVS Port1 42/1/SAMPLE 1: SAMPLE App Initialized. Version 1.0.0.0
EVS Port1 42/1/ST 1: GENERIC_STAR_TRACKER App Initialized. Version 1.0.0.0
EVS Port1 42/1/RADIO 1: GENERIC_RADIO App Initialized. Version 1.0.0.0
EVS Port1 42/1/TORQUER 1: GENERIC_TORQUER App Initialized. Version 1.0.0.0
EVS Port1 42/1/THRUSTER 1: GENERIC_THRUSTER App Initialized. Version 1.0.0.0
EVS Port1 42/1/FM 89: Child Task initialization complete
** SYNOPSIS REQ Bytes: 0
** SYNOPSIS PTASDS SETUP SUCCESSFUL!
EVS Port1 42/1/SC 21: RTS table files not loaded at initialization = 0 of 64
EVS Port1 42/1/SC 9: SC Initialized. Version 3.1.99.0
** SYNOPSIS APP INIT SUCCESSFUL!
EVS Port1 42/1/SYN 1: SYN App Initialized. Version 1.0.0.0
EVS Port1 42/1/EPS 1: GENERIC_EPS App Initialized. Version 1.0.0.0
EVS Port1 42/1/IMU 1: GENERIC_IMU App Initialized. Version 1.0.0.0
EVS Port1 42/1/NAV 46: NOVATEL_OEM615: child task started, runStatus = 1
EVS Port1 42/1/CAM 28: CAM child task initialization complete
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x808,pipe TO_LAB_TLM_PIPE,sender CAM.CAM_CHILD_TASK
EVS Port1 42/1/RADIO 51: GENERIC_RADIO: Device task registration complete
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x808,pipe TO_LAB_TLM_PIPE,sender RADIO.GENERIC_RADIO
EVS Port1 42/1/RW 1: GENERIC_RW App Initialized. Version 0.1.0.0
2000-001-00:00:00.81000 CFE_ES_Main: CFE_ES_Main entering APPS_INIT state
2000-001-00:00:00.81000 CFE_ES_Main: CFE_ES_Main entering OPERATIONAL state
EVS Port1 42/1/CFE_TIME 21: Stop FLYWHEEL
EVS Port1 42/1/EPS 31: GENERIC_EPS: Request device HK reported error -1
EVS Port1 42/1/SC 73: RTS Number 001 Started
EVS Port1 42/1/DS 35: APP STATE command: state = 1
EVS Port1 42/1/SCH 21: Major Frame Sync too noisy (Slot 1). Disabling synchronization.
EVS Port1 42/1/TO_LAB_APP 3: TO telemetry output enabled for IP cosmos
EVS Port1 42/1/SC 121: Enable RTS group: FirstID=3, LastID=64, Modified=62
EVS Port1 42/1/LC 28: Set LC state command: new state = 1
EVS Port1 42/1/SC 86: RTS 001 Execution Completed
EVS Port1 42/1/SC 73: RTS Number 003 Started
EVS Port1 42/1/CSS 13: GENERIC_CSS: Enable command received
EVS Port1 42/1/CSS 14: GENERIC_CSS: Device enabled
EVS Port1 42/1/FSS 13: GENERIC_FSS: Enable command received
EVS Port1 42/1/FSS 14: GENERIC_FSS: Device enabled
EVS Port1 42/1/FSS 31: GENERIC_FSS: Request device data reported error -1
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/IMU 13: GENERIC_IMU: Enable command received
EVS Port1 42/1/IMU 14: GENERIC_IMU: Device enabled
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/CFE_SB 17: Msg Limit Err,MsgId 0x1921,pipe FSS_CMD_PIPE,sender SCH
EVS Port1 42/1/MAG 13: GENERIC_MAG: Enable command received
EVS Port1 42/1/TORQUER 13: GENERIC_TORQUER: Enable command received
EVS Port1 42/1/TORQUER 14: GENERIC_TORQUER: Device enabled
EVS Port1 42/1/NAV 13: NOVATEL_OEM615: Enable command received
EVS Port1 42/1/NAV 14: NOVATEL_OEM615: Device enabled
EVS Port1 42/1/SC 86: RTS 003 Execution Completed
EVS Port1 42/1/ADCS 20: ***ADCS*** Changed mode to: 2