ODTK 6.0 Release Notes

Instant and finite maneuver lists on the satellite object now automatically sort their elements using the following criteria:

1. Maneuver Time
2. Maneuver Type
3. Enabled / Disabled status
4. Name

For instant maneuvers, maneuver time is a centroid time, i.e. the time when Delta-V is applied.

Scripts that manage maneuver lists can no longer use push_back() operations, they should use insert() operations instead. New elements added to the list will be placed into the correct sorted position and not at the end of the list as they were previously.

If a new maneuver has all four fields equal to those of the existing maneuver it will replace the old. This is not a bug but a standard behavior consistent with STL set implementation. To avoid replacing existing maneuvers each new element should be given a unique name.

The ability has been added to create custom data editing which includes new attributes at the filter and least squares levels:

     CustomDataEditing.Enabled
     CustomDataEditing.Schedule

The following attributes are duplicated under the scenario object. These attributes do not globally affect measurement processing. They are only applied to raw measurement reporting and saving.

     Measurements.ViewAndSave.CustomDataEditing.Enabled
     Measurements.ViewAndSave.CustomDataEditing.Schedule

The following scenario attributes were removed:

     Measurements.EditingMethods.ThinningTime
     Measurements.EditingMethods.InclusionTimes
     Measurements.EditingMethods.ExclusionTimes

If a scenario is loaded with any of the above deleted attributes set, they will be automatically incorporated into the new Measurements.ViewAndSave.CustomDataEditing schedule. However, scripts setting these values will be broken.

We also modified the Simulator's Schedule, changing the first two columns to say "PrimaryObjects" and "SelectedObject", to match the custom data editing schedule.

We also added ability to select specific (or all) emitters and specific GPS Satellites (as a subset of GPSConstellation) in the simulator's schedule.

We also moved definitions of residual editing sigmas and dynamic data editing to the filter object, using the new attributes:

     SigmaEditing.Defaults.NominalSigma
     SigmaEditing.Defaults.Dynamic.Enabled
     SigmaEditing.Defaults.Dynamic.HighSigma
     SigmaEditing.Defaults.Dynamic.NumRejectToStart
     SigmaEditing.Defaults.Dynamic.NumAcceptToStop
     SigmaEditing.Defaults.Dynamic.InitialHighSigmaDuration
     SigmaEditing.CustomSigmas.Enabled
     SigmaEditing.CustomSigmas.Schedule

Since least squares also used residual editing sigmas, the sigma value is now part of the stages list and is named sigma.

The simulator will output a generic obs (.gobs) file as the default tracking data format. The choice of output format is now configurable via the preferences file and via the scripting interface.

Before selecting a new measurement format make sure it is able to handle the desired measurement types. If there are any measurement types a particular format can't handle then these types will be written out in the file Simulated_Excess_Measurements.gobs.

Note that if none of the simulated measurement types can be saved to the specified format, the simulator will not run.

ODTK uses a third party graphing package to create graphs. ChartFX has been replaced with a new package called ProEssentials. This change provides better support for the display of dates and times on the X axis. The graphs now automatically sense the time and date ranges and adjust accordingly, even when zooming in and out. Resolution is limited to a precision of 1 millisecond. All graph styles have been updated slightly to accommodate the new capabilities.

Users may want to examine their custom graph styles that they have created and change the X axis title from "Minutes after Midnight" to "Time".

The least squares objects can now write out a complete satellite state as part of the .lsrun file. Added new attribute under LeastSquares to allow writing of satellite state during a given LS iteration:

     Output.OutputStateHistory = { "First Iteration", "Last Iteration", "false" }

The "Model Atm Density" and "Total Atm Density Est" parameters in the SatelliteState database have been rescaled. In previous versions the actual values (in kg/m^3) were multiplied by 1.0e12 to rescale them so that the values could be reported without having an inordinate number of leading zeros while using standard floating point notation. This was done because the reports did not support scientific notation. Subsequently, we updated the reports to display in scientific notation, but then the reports and graph styles had to undo the scaling.

The scaling has been removed within ODTK and the standard "Atmospheric Density Total" graph and report styles updated to remove the reverse scaling. Any user specific reports or graphs that use these parameters should be edited to remove the scaling as well.

The graph styles listed below were updated to use the improved exponential scaling on the Y axis. The units are now consistent with the units in the equivalent report style.

	Clock Aging - Satellite
	Clock Aging
	Clock Freq - Satellite
	Clock Freq
	Clock Phase - Satellite
	Clock Phase
	Differenced Clock Aging - Satellite
	Differenced Clock Aging
	Differenced Clock Freq
	Differenced Clock Frequency - Satellite
	Differenced Clock Phase - Satellite
	Differenced Clock Phase
	

If users created a custom HTML utility based on one of the utilities shipped with ODTK 5 and it has embedded AgUiDatePickerCtrl control they have to change its GUID from:

     <OBJECT id="Time1" classid="CLSID:6434FE55-4F36-431A-A934-3BAD3BB18317" VIEWASTEXT>
          to
     <OBJECT id="Time1" classid="CLSID:1770C669-2CC4-4964-9128-CF69586225E3" VIEWASTEXT>

The GPS Catalog has been updated to the constellation status as of 07/22/2008. Changes include:

1. Added SVN48/PRN07
2. Added reassigned SVN23/PRN32
3. Decommissioned SVN32/PRN01 and SVN37/PRN07
4. Changed clock type for SVN40/PRN10 from RB to Cs
5. Added SV Antenna offsets for SVN's 48, 57, 58
6. Updated group delays using 7/22/08 broadcast message data

The user has several ways to bring up the "Properties" of an object as follows:

1. In the object browser window right-click on an object and choose "Object Properties"
2. In the object browser window double-click on an object. This will create equal widths for column "Name" and "Value" in the properties window
3. In the object browser window click on an object and hit <Enter>
4. In the object browser window click on a three-tab yellow icon
5. In the ODTK window click on View -> Object Properties. Note that the user can bring up multiple properties windows for different objects but ODTK doesn't allows multiple properties windows for the same object.

A new application has been added to the ODTK suite, called "AGI ODTK Data Update 6" (ODTK DUU). This application is launched from the Utilities menu. ODTK DUU l allows Windows XP and Windows Vista users to update dynamic files available from the agi.com ftp site. ODTK DUU replaces the former HTML utility: UpdateDataFiles.htm.

DUU provides the ability to manually update selected dynamic files, or to enable an AGI developed system service which will check for updates on a daily, weekly or monthly basis at a time of the users preference.

File update preferences for the various ODTK DUU files are saved out to a file.

To fix a problem with URE calculations, a SaveCrossCorrelations parameter has been added to the CreateDifference functional attribute parameter list:

Example VBS call:
bSuccess = ODTK.CreateDifference(outputfile, referencefile, targetfile, bLastMeasOnly, ddate1, ddate2, saveCrossCorrelations)

Scripts containing a call to this attribute need to be updated. The saveCrossCorrelations parameter should be set to true when URE calculations are needed. If URE calculations are not needed this parameter should be set to false to save storage space and speed up reporting and graphing.

Finite and instant maneuver lists have two new methods:

	InsertNew("ByManeuverTypeName")

and

	find("ByManeuverName")

Refer to the ODTK Scripting Guide for more details and usage examples.

The capability to identify components of NAVSOL residuals in graphs and reports has been provided.

The IOD object's GPSNavSolution method can now use CA Nav Sol measurement types directly. Set the IOD attribute Method.GPSObsType to "CA Nav Sol". This assumes the scenario is using a measurement file which contains GPS Navigational solutions.

Users can now specify the Min/Max for the secondary Y axis in their graph styles.

During a Least Squares run we can now output ephemeris during every iteration, the final iteration or the initial and final iterations, and include predicted ephemeris.

Users can now select multiple rough files at once when configuring the smoother input.

Writing of ephemeris data in the CCSDS 502 Orbit Ephemeris Message format is now supported.

The initial state tool now loads states from CCSDS OPM files.

The lower limit for Facility minimum elevation has been set to -90 deg.

As of version 6.0.1 we support a subset of the data types provided by the CCSDS TDM format, consisting of azimuth, elevation, right ascension, declination, range, Doppler (file keyword DOPPLER_INTEGRATED), and DSN Doppler (file keyword RECEIVE_FREQ).

New dynamic graph styles were added for new measurement types.

New facilities now have unique tracking IDs when added to any tracking system.

The property page now allows use of the return key to edit the selected field.

When first opened, the static product builder will automatically look for a Data Product List (*.dpl) file with the same name and location as the scenario. If found, it will load it as the default .dpl.

The Custom Data Edit UI Plugin has been updated to allow copying of residual editing schedules.

The capability to specify the coordinate frame for the output ephemeris file for Filter, VLS, Smoother, LeastSquares, and Simulator has been added.

ODTK will now automatically detect when duplicate measurement files are loaded into a scenario and display a dialog prompting to delete them.

The Scenario measurement files list can now be sorted in the GUI by clicking on the column headings. This makes it easier to organize your input files.

The filter-smoother consistency test may fail (i.e. show large inconsistencies) when running the filter past the time of the last measurement. The consistency test is defined in section 6.4 of the equation report. Note that this test becomes undefined when the smoother covariance is equal to the filter covariance. Formally this is the case during the filter prediction interval after the last measurement. Practically, however, differences occur between propagating the smoother state and covariance backwards from the end of the prediction interval vs propagating the filter state forwards. These differences include the accumulation of round error and the forward/backward non-transitivity of the Gauss-Markov state parameters (see section 10.1 of the equation report). These differences, though small, may result in a large test value. This behavior is discussed further in the ODTK math specification document ODTK Orbit Determination: Theorems & Equations.

The ability to report Finite Maneuver history for non-estimated maneuvers has been added.

Sigma editing codes are no longer applied to measurements that are only being modeled (e.g. set to Force Reject) during a filter run.

The user can now sort the SelectedObject and SelectedTrackingStrand columns in the Simulator's CustomTrackingIntervals schedule.

The GPSSatellite object has two new functional attributes: ReplaceICRFWithJ2000() and UpdateCentralBody(). See functional attribute documentation for details.

When using the GPSSource_To_SimRun.htm tool the overridden start time is used if it has been set.

Checking of data validity in the IRI2001 directory, which is used for ionosphere modeling, is now more robust.

A new built-in tracking data provider has been added to read the Consolidated Laser Ranging Data Format (CRD). Currently, only 2-way passive (retroreflector) range (and normal point) is supported.

ODTK now verifies that a Restart directory exists in the directory where the scenario will be saved, allowing the current Filter and Simulator restart records to be saved to the new location.

If an entered satellite ID is in use by another satellite, the error message now indicates the name of that other satellite.

The instant maneuver tool has been updated to include J2000 and ICRF as available coordinate frames for the maneuvers.

The Scripting Guide has been converted to HTML format for ease of use in cutting and pasting example code.

The HTML server and the installed HTML utilities have been updated to use an API consistent with STK's HTML server. The following methods have been renamed:

Users should review any HTML utilities that they have written and update them with the new method names.

Two new reference frames have been added for the specification of optical measurements. "MEME Of UTC 00:00" is defined by the mean equator and mean equinox at zero hours on the UTC day of the observation epoch. "TETE Of UTC 00:00" is defined by the true equator and true equinox at zero hours on the UTC day of the observation epoch. Both reference frames are based on FK5.

The issue has been corrected in which the scripting interface did not return the correct time for the stop time of a smoother's input rough file unless the user had previously queried the start time as well. The stop time will always be valid regardless of whether the start time has been queried or not.

The IOD transfer function now returns True if it completes successfully. It was previously returning False.

A minor error which resulted in maneuvers based on acceleration history files for non-Earth orbiting spacecraft to potentially show an incorrect maneuver reference frame in the object properties has been corrected. This error did not affect the actual execution of the maneuver.

Binary files version stamped prior to 4.1 will no longer be supported in ODTK. This includes run files, generic observation measurement files, rough files and restart files.

The RunSTK and RunSTKX HTML utilities have been updated to create STK satellites using ephemeris from the least squares and variable lag smoother objects.

The Smoother now displays in the message viewer the correct runfile name when the scenario OverrideNameOption is selected.

Graphical residual editing now works for a satellite named "Satellite".

A problem copying and pasting ODTK objects in which if the object you were copying had children and grandchildren, the grandchildren would be attached to the wrong objects, has been fixed.

A problem in which cancelling graph generation caused the application to crash has been fixed.

ODTK html pages now show object names sorted alphabetically.

The ability to output accelerations for non-inertial coordinate frames to the ephemeris files was added.

The FilePath HTML utility has been updated to also display input files used by the Static Product Builder. User's can now easily update the locations of the input files used in their data product list.

If a workbook has the message viewer column width set to zero then it will appear as if the message viewer is not updating as the filter runs. ODTK will now detect the invalid column width and force it to be a minimum of 3 pixels wide. The user can then adjust the width as necessary.

A least squares fit over a period containing an instantaneous maneuver would fail to model the maneuver correctly. This has been corrected.

A typo in Eq. 25.56 for the 'RC Tropo model has been fixed in the ODTK math specification document ODTK Orbit Determination: Theorems & Equations.

The default for the Filter ProcessNoiseTimeInterval was changed from 2 minutes to 1 minute to ensure accurate interpolation of LEO ephemeris files.

The ability to read the CCSDS 502.0-B-1 OEM ephemeris message has been added.

The smoother was not generating a "double point" at the time of a instantaneous maneuver when the output ephemeris was set to use a Uniform Time Grid.

It is now possible to turn off the automatic backing up of restart records by setting the filter or simulator attribute Restart.BackupRestartRecords to false. This will improve run times when using very large restart directories.

The user interface for editing lists of items has been improved to make it easier when working with long lists (such as maneuvers). The following enhancements were made:

1. The list editing dialog box will now size it self automatically to try to accommodate the entire list (up to 90% of the available vertical screen space).
2. The Element line in each list is now bold. This makes it easy to see where new items in the list begin as you scroll through a long list. It will only be bold if the list item has children underneath it.
3. If a list Element has a child called Name, then use its value in column 1 of "Element x" row. Most importantly, this will display the Name of each of the maneuvers as the first line in each maneuver in the list. This makes it easier to find a maneuver when you are scrolling through the list, especially if the list has been collapsed.
4. The list will obey the "Start Expanded" flag from the white panel. If set, the list dialog will show the list as collapsed.
5. If the list is collapsed and the user edits a combo box, the list is will not automatically expand the entire tree. It will remember which items are collapsed and keep them that way when redrawing the list.

It is now possible to add rejected residuals to a filter or LS ResidualEditing schedule. This can be used to remove bad measurements by changing the Action from "ForceReject" to "Ignore".

The instantaneous and finite maneuver lists now have a copy button. Users can create copies of existing maneuvers by selecting the maneuver and pressing copy.

The unsupported measurement types "DF Phase Range" and "DF SD Phase Range" are no longer available as measurement types for GPS satellites.

The following graph styles have been added to the install:

• Measurement Summary by Altitude
• Satellite Classical Element Uncertainties (i)
• Finite Mnvr Thrust Magnitude Pct and Direction
• Finite Mnvr Thrust Magnitude Pct
• Tracker Bias Consistency
• Finite Mnvr RIC Thrust States

Position and velocity 1 and 3 sigma uncertainty graph styles have been added.

The UI Plugins documentation has been added to the ODTK Help.

A laser retro reflector tracking id has been added to the Retroreflector object. This id has been connected to the LaserRetroIDs list property of the IAgODGenericObs interface. In addition, a ModelCM property has been added to the IAgODGenericObs interface to tell the laser ranging measurement models if CM offset has already been applied to the measurement.

The ability to limit a static product to only use a Nav Sol measurement type now works.

An error in the computation of a coordinate transformation involved in the modeling of finite maneuvers has been corrected. The error occurred for the case where the nominal maneuver was in the purely -Z direction in the user selected maneuver frame, maneuver corrections were being estimated and the uncertainty in the maneuver was specified in terms of magnitude or percent magnitude and direction. This error resulted in the state corrections to the finite maneuver acceleration being applied in the wrong direction during orbit propagation. The nominal maneuver acceleration was applied properly.

An error in the computation of a coordinate transformation involved in the modeling of instant maneuvers has been corrected. The error occurred for the case where the nominal maneuver was in the purely -Z direction in the user selected maneuver frame and the uncertainty in the maneuver was specified in terms of magnitude or percent magnitude and direction. This error resulted in the velocity change due to the maneuver being applied in the wrong direction during orbit propagation.

When a satellite with a transponder is being tracked by a facility (or another satellite) using the Skin Track ranging method, the transponder bias will no longer be applied to that measurement model.

When a satellite with a transponder is being tracked by a facility using the Retroreflector ranging method, the transponder bias estimate will no longer be updated using that measurement.

If you have an old scenario which processes NP Range measurements, and it is using a transponder and antenna to mimic a retroreflector, you will need to replace them with a retroreflector object. The NP Range model only looks for valid retroreflectors, ignoring the tracker's ranging method.

An issue was fixed so that histograms are now available when running the filter in simultaneous mode with NAVSOLs.

The CustomDataEditUiPlugin solution has been upgraded to open with VS2008.

An issue was fixed in which graphs that were zoomed in on and then exported to .emf format became corrupted.

ODTK automation (scripting) interface was returning "C++" style constants for boolean values: 0 for false and 1 for true. This works fine for most of the scripting languages like JavaScript and Perl where false is defined as 0 and true is defined as anything not 0.

However, in VBScript "false" is 0 and "true" is -1 and comparing the boolean result with the literal constant "true" will always result in false.

For example:

if ODTK.SomeObject.SomeBoolean then ' Always works correctly
....
else
....
end if

if ODTK.SomeObject.SomeBoolean = true then ' DID NOT work correctly - would always evaluate to false - now fixed and works correctly
....
else
....
end if


if ODTK.SomeObject.SomeBoolean = 1 then ' Erroneously used to work but will not work anymore
....
else
....
end if

A problem with the UTDF tracking data reader has been fixed. Tracker IDs in the data files were interpreted as a signed byte rather than unsigned. This caused the wrong tracker ID to be reported to ODTK whenever the ID was greater than 128.

A display problem where dynamic graphs would not necessarily show a valid time scale for some period of time at the start of a filter run, has been corrected.

Space-Based Doppler has been added as a measurement type.

The Data Update Utility has been updated to show the actual date/time of the user's files if they are newer than the ones on the AGI web site. It also allows users to force an update from the AGI web site and overwrite their local files, even if the local files are newer.

The GPS Catalog has been updated through Sep 01, 2009 and includes the launch of SVN/PRN 50/05 and the decommission of 25/25.

ODTK Java Automation Sample files have been included in the ODTK install area.

The ability to generate and process double differenced LA phase observations has been added.

The capability to write raw observations which were not used in the generation of the double differences during the generation of double differenced measurements to the double difference output file has been added.

A new dynamic graph style for GPS LA DD Phase residuals has been added.

The capability to associate space-based laser ranging observations with specific retroreflectors on the target satellite has been added. The retroreflector id has been connected to the LaserRetroIDs list property of the IAgODGenericObs interface. In addition a ModelCM property has also been added to the IAgODGenericObs interface to tell the laser ranging measurement models if CM offset has already been applied to the measurement.

A problem was corrected where a CustomTrackingIntervals schedule or a CustomDataEditing schedule would sometimes get corrupted when an object referred to by that schedule was removed from the scenario.

An error which resulted in the Z component of finite maneuvers which were input in the form of a Delta-V being set to the input value of the X component has been corrected. The previous error resulted in improper execution of maneuvers of this type where the X and Z components of the maneuver were intended to be different.

An issue in which graphs exported via scripting were created too small when ODTK was minimized has been corrected. The default size for graphs created this way is 700 x 400 pixels.

New covariance options have been added to Satellite.Ephemeris generation. An option to output the covariance as either a Position 3x3 or a Position Velocity 6x6 has been added. An option to disable Covariance output altogether has also been added. The ordering of the ephemeris generation controls within the white panel has been changed to follow that of the filter/smoother.

The capability to process FDOA Dot measurements from a space based emitter to two ground stations has been added.

The output size of an exported graph can now be specified.

Support for GFDOADot measurements has been added to the GEOLOC format.

An issue in which maneuvers were not being accounted for during generation of LS predicted ephemeris has been fixed.

LS ephemeris output has been improved as follows:

• LS ephemeris files no longer contain points prior to start of fit span when using Uniform output grid
• LS ephemeris files no longer contain duplicate points at measurement times when using Filter output grid
• LS ephemeris files now contain ephemeris points for all maneuvers, regardless of output grid

An error in the computation of the white noise variance for ephemeris position and velocity measurements has been corrected. The error occurred when the STK ephemeris file (.e) being used to specify the position/velocity information also contained covariance information. It was further required that the scenario level setting, Measurements.EmbeddedWNSigmas.Use, be set to true for the error to affect estimation results.

A problem which caused a memory leak when generating graphs or reports from runs that contain Atmospheric Density Estimates has been fixed.

A problem which caused the smoother to terminate ODTK abnormally has been fixed.

Emitter ID lists were not being reset properly in the report run files, so if emitters were renamed the reports may not have shown the current names. This has been corrected.

A correction to the construction of the estimation state space has been made to prevent the addition of measurement bias states for tracking facilities and satellites not identified in the TrackerList of the filter. The previous error resulted in an unnecessarily large state space under certain conditions but did not adversely affect numerical results.

The simulator now gracefully handles the condition when the orbit error scaling value is zero.

User can now Reject or Ignore points using graphical editing for Residuals.

The CAgODGenericObs Object and IAgODGenericObs Interface now have methods to save and load a range modulus to support ambiguous range measurements.

The capability to run an IOD GPSNavSolution using DF Nav Sol measurements was added.

A capability to adjust the white noise variance associated with navigation solution measurements based on dilution of precision has been added. A configured GPS constellation and knowledge of the GPS satellites used in the generation of the navigation solution are required. The white noise sigma used for measurement deweighting can be scaled individually for each component of the navigation solution or a common scaling for all components equal to the solution PDOP can be used.

The Measurement Residual report edit flag is now consistently set to "Invalid Tracker" when the filter detects that measurement statistics for the given tracker/measurement type are not entered. Previously, it sometimes would be set to "Unknown".

The random seed for the simulator needs to be a positive integer. Previous versions of ODTK allowed an input of 0, but would internally change the value to 1. With 6.0.3, a random seed input of 0 produces a validation error. For old scenarios that contain a random seed of 0, the 0 is changed to 1 on load and a warning message is printed.

The emitter frequency is now written to GEOLOC formatted tracking data files during the simulation of space based TDOA, FDOA and TDOA Dot observations. Previously, the emitter frequency was written as either -1 or 0 which resulted in the frequency from the emitter properties being used during processing of simulated measurements. An error would have occurred had the emitter frequency property been changed between the simulation and processing of measurements.

Ephemeris created from a TLE using ODTK.Application.InitialStateTool are now appended with the .e file extension.

GenerateNavSolution.html now allows *.yyo files as input in addition to *.RNX files (where "yy" represents a two-digit year).

Any satellite not being estimated is a candidate tracker satellite for Least Squares.

The SolarFlux method on the plugin light reflection interface was incorrectly calculating the solar flux at the satellite. Internally the correct flux value was used by HPOP, but the correct value was not being returned via the method.

There were problems when starting multiple copies of ODTK via the CreateObject COM interface. The second copy would not actually start up and you would instead have references to the first copy. This has been corrected and calls to CreateObject will instantiate a new copy of ODTK each time.

When running ODTK from scripts in automatic mode set "uiApp.UserControl = false" to prevent ODTK engine from displaying interactive message boxes. However, this will not control third-party modules and install related issues coming from operating system libraries (i.e. missing registry keys, missing DLLs, etc...)

When calling the state differencing tool via a script, the start and stop times of the difrun file may have been incorrect. This has been corrected.

An issue where if a satellite's NumForWarning = 0 and NumForAlert > 0, the number of rejected measurements counter would never be reset to zero, which could have resulted in the OnAlert script being called prematurely, has been fixed.

A problem was fixed to correctly allow for the changing of Gauss-Markov measurement bias states associated with TDRSS measurements at a Restart time.

An issue in which ODTK would crash if it couldn't open the Message Viewer log file for writing has been fixed.

The tracking data reader for DSN TRK2-34 format files has been updated to read data files which contain the primary label and K header information. Prior versions of ODTK could only read TRK2-34 files for which the header information had been removed.

An issue in which the stage epoch did not start at a grid time when outputting ephemeris in "Uniform" mode in Least Squares has been fixed.

An error in the construction of generic strand names for ground based right ascension and declination measurements has been corrected. The error resulted in the reporting of tracking strands using the numeric tracking id of the ground station instead of its name and resulted in the inability to graphically edit ground based right ascension and declination measurements.

Graphs now respect the flag in the graph style and don't display the Time of the First Point annotation if the style indicates it should not.

An issue in which FrequencyRampMaps may have been used incorrectly if files in the list were not in the ascending time order in scenarios using DSN tracking data with multiple measurement files in the list has been fixed.

An error in the Gauss-Markov parameter update algorithm for user specified changes in the constant bias term in the ballistic coefficient through the filter update Gauss-Markov parameter interface has been corrected. Prior to the correction, the value of the ballistic coefficient would remain unchanged when the filter was restarted.

The capability to simulate and process ground and space based right ascension and declination measurements has been added for cases where the target object is in orbit about either the Moon or the Sun.

A crash while displaying maneuver markers on a graph has been fixed. The problem occurred only if you had more than five satellites with maneuvers and at least one satellite had four or more maneuvers.

A time display issue for graphed measurements where measurement times were being displayed incorrectly when they had a small non-zero millisecond value has been fixed.

The Residuals Versus Reference utility now automatically sets the proper ephemeris file format according to the satellite ReferenceEphemeris.EphemerisFileFormat attribute.

An error in the data processing logic used by the filter while in simultaneous mode to Force Reject data via an operator entered interval in the Filter.CustomDataEditing list has been corrected.

An error in the Fixed Interval Smoother which could occur when smoothing over multiple filter outputs has been corrected. The error was limited to the case where multiple rough files were used, the filter was run with a StopMode of either StopTime or TimeSpan and the measurement time grid was such that one or more measurements were present on the next to final filter time and no measurements were present at the final time. When triggered, the error resulted in an incorrect smoother covariance result.

The consistency test formula format has been corrected in the Ballistic Coefficient Consistency graph style file.

An error with using the incorrect half-life value for plugin SRP parameters during measurement update modeling has been corrected. Originally the half-life of the internal SRP model was being used. The problem did not affect the half-life used during time updates.

An error in the handling of frequency information in the single differenced FDOA measurement model has been corrected. In prior releases, emitter frequency information supplied via the tracking data interface was ignored and the frequency specified in the emitter settings was used instead. The emitter frequency information supplied via the tracking data interface now properly overrides the emitter settings.

A problem has been corrected where the filter would crash while trying to process measurements for a satellite that had a reference ephemeris and was not being estimated. Now the measurements will be properly ignored.

The minimum elevation angle limits for the Herrick-Gibbs and Gooding Angles Only IOD methods can now go as low as -90 deg (the previous limit was -15 deg). This allows IOD's using space based angles to process measurements below the tracking satellite.

DSN Sequential Range measurement processing now respects the scenario level one-way/two-way representation flag. Previously it always assumed a two-way representation.

An issue was corrected where the wrong double smoother ephemeris point was written at the end of a maneuver end time when using an .accelhist file and writing the smoother ephemeris using the uniform grid option.

An error in the transformation of covariance information between inertial reference frames during the import of external ephemeris data has been corrected. The error was most noticeable for cases where the reference frame of the covariance differed significantly from the default inertial reference frame of the central body.

ODTK now supports angle measurements in DSN TRK 2-34 formatted files.

LS code now allows graphical residual editing of residuals with either the Edit or Ignore options.

Gauss-Markov states associated with finite maneuvers have been added to the restart GM lists in the filter and simulator. This allows for estimate sigma and half-life values to be updated at restart points.

An issue has been fixed in which Graphs/Reports that depended on SimPertSatelliteState table (like "Sim Sat Perts") would not work and could possibly cause the application to hang.

ODTK stores maneuvers (finite and instantaneous) as an ordered list sorted by Time, Type, Active Flag, and Name. If you have a script that changes any of these parameters for a maneuver then you must call the ReOrder() function on the list. Otherwise the functions that operate on the list such as FindByName() or RemoveByName() may not work correctly.

The Least Squares sigma editing capability was incorrectly using the residual standard deviation as it's editing criteria rather than the residual RMS. In some cases this prevented the least squares iterations from converging if the measurement residuals had a large mean value (for that iteration) resulting in a standard deviation that was much smaller than the RMS. The measurements could then be prematurely edited out.

An issue was corrected with the Least Squares white panel display when running a satellite with the sun specified as the central body. The LS Output.OrbitState.CentralBody display property and the CoordFrame CBName display property now correctly display the 'Sun' as the central body.

The Rinex reader was updated to parse the Antenna Id string in the header. If the string begins with a series of digits then those digits are converted into a numeric antenna id that is passed along in the measurements. This allows processing of GPS data from multiple antennas.

ODTK would try to check out both a multi-satellite license (ODMSS) and a single satellite license (ODSNGL). This problem affects users who have both licenses on the same PC or network licenses of each type. ODTK would check out more licenses than it needed, reducing the number of available licenses to the users.

ODTK will now look for a ODMSS license first. If it does not find an ODMSS license it will look for ODSNGL license.

An issue has been corrected in which when loading an HPOP satellite from STK into ODTK the X Position element of the state vector did not load properly and was set to zero.

ODTK can now import satellite files from STK 9 that use the 2-body, J2, or J4 propagators.

New TDOA and TDOA dot measurement models are provided for the case where two emitters transmit a signal through a common satellite to a single ground station.

An option to model a Ground FDOA bias was added. The option defaults to false.

An issue has been corrected in which ODTK would terminate while running simulator when specifying a measurement that did not apply to space based emitters.

Least Squares was modified to write out residuals and statistics when LS fails after the first iteration due to an unrealistic state solution.

An issue has been fixed in which a scenario with a simulator object in it and many possible tracking strands (many trackers defined in the scenario) would take a minute or longer to close the scenario or exit ODTK.