Abstract. On 5 September 2002 the Geotail satellite observed the cone angle of the Interplanetary Magnetic Field (IMF) change to values below 30° during a 56 min interval between 18:14 and 19:10 UT. This triggered the generation of upstream waves at the bow shock, 13 RE downstream of the position of Geotail. Upstream generated waves were subsequently observed by Geotail between 18:30 and 18:48 UT, during times the IMF cone angle dropped below values of 10°. At 18:24 UT all four Cluster satellites simultaneously observed a sudden increase in wave power in all three magnetic field components, independent of their position in the dayside magnetosphere. We show that the 10 min delay between the change in IMF direction as observed by Geotail and the increase in wave power observed by Cluster is consistent with the propagation of the IMF change from the Geotail position to the bow shock and the propagation of the generated waves through the bow shock, magnetosheath and magnetosphere towards the position of the Cluster satellites. We go on to show that the wave power recorded by the Cluster satellites in the component containing the poloidal and compressional pulsations was broadband and unstructured; the power in the component containing toroidal oscillations was structured and shows the existence of multi-harmonic Alfvénic continuum waves on field lines. Model predictions of these frequencies fit well with the observations. An increase in wave power associated with the change in IMF direction was also registered by ground based magnetometers which were magnetically conjunct with the Cluster satellites during the event. To the best of our knowledge we present the first simultaneous observations of waves created by backstreaming ions at the bow shock in the solar wind, the dayside magnetosphere and on the ground.