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The Joint Tactical Radio System (JTRS) aimed to replace existing radios in the American military with a single set of software-defined radios that could have new frequencies and modes (“waveforms”) added via upload, instead of requiring multiple radio types in ground vehicles, and using circuit board swaps in order to upgrade. JTRS has seen cost overruns and full program restructurings, along with cancellation of some parts of the program. JTRS is widely seen as one of the DoD's greatest acquisition failures, having spent $6B over 15 years without delivering a radio. JTRS HMS (Handheld, Manpack & Small Form-Fit (SFF)) radios are jointly developed and manufactured by Thales and General Dynamics Mission Systems. These software-defined radios are designed as successors to the JTRS-compatible CSCHR (Consolidated Single Channel Handheld Radios, ie. AN/PRC-148 and AN/PRC-152), securely transmitting voice and data simultaneously using Type 2 cryptography and the new Soldier Radio Waveform. The Army announced in June 2015 a Request for Proposal (RFP) for full-rate production of the HMS program. Goal was set for assessment in 2015-2016 and for full rate production in 2017.