PDS_VERSION_ID = PDS3 LABEL_REVISION_NOTE = "2013-06-17" RECORD_TYPE = STREAM OBJECT = DATA_SET DATA_SET_ID = "CO-S-ISSNA/ISSWA-2-EDR-V1.0" OBJECT = DATA_SET_INFORMATION DATA_SET_NAME = "CASSINI ORBITER SATURN ISSNA/ISSWA 2 EDR VERSION 1.0" DATA_OBJECT_TYPE = IMAGE START_TIME = 2004-037T02:07:06.458 STOP_TIME = 2012-272T15:06:21.685 DATA_SET_RELEASE_DATE = 2013-07-01 PRODUCER_FULL_NAME = "CAROLYN C. PORCO" DETAILED_CATALOG_FLAG = "N" DATA_SET_COLLECTION_MEMBER_FLG = "Y" DATA_SET_TERSE_DESC = "Cassini Imaging Science Subsystem SATURN Experiment Data Record" ABSTRACT_DESC = "NULL" ARCHIVE_STATUS = "ACCUMULATING" CITATION_DESC = "Porco, C.P., CASSINI ORBITER SATURN ISSNA/ISSWA 2 EDR VERSION 1.0, CO-S-ISSNA/ISSWA-2-EDR-V1.0, 2005" DATA_SET_DESC = " Data Set Overview ================= The Cassini Orbiter Imaging Science Subsystem (ISS) archive datasets consist of the Cassini ISS raw, uncalibrated experiment data record image files, attached and detached label files (VICAR and PDS), helpful and required PDS files, including an index table containing a host of parameters for each image on the volumes, and related ISS instrument documentation. The volumes containing these products are referred to as the 'DATA' volumes. Additionally, the ISS datasets include both pre-launch ground camera calibration images,calibration data files, calibration algorithms, ISS calibration processing software, sample calibrated images (using the ISS-provided calibration software), and ISS instrument calibration documentation. These volumes are referred to as the 'CALIBRATION' volumes. The ISS archive collection is separated into DATA volumes and CALIBRATION volumes. Users wishing to perform calibration on the raw images will make use of both. NOTE: ISS in-flight calibration images are found on the DATA volumes, as sequenced in Spacecraft Clock (SCLK) order. Several hundred thousand Cassini ISS images were taken throughout the entire mission, including images taken during flybys of Earth, Venus, and Jupiter, and images taken of Saturn and Saturn's moons while in orbit around Saturn. In addition to imaging these targets, instrument calibration images were taken prior to launch and also while in-flight, as well as, support images for other Cassini instrument teams and images for optical navigation; all of which are contained within these datasets. Three separate datasets are generated by the ISS team: 1)Cassini Orbiter Earth/Venus/Jupiter ISSNA/ISSWA EDRs -- Contains all cruise phase imaging, including Earth, Venus and Jupiter flyby images, and in-flight calibration images. 2)Cassini Orbiter Saturn ISSNA/ISSWA EDRs -- Contains all Saturn Tour phase imaging, including Saturn, Saturn's Rings and Satellites, along with in-flight calibration images. 3)Cassini Orbiter Calibration ISSNA/ISSWA EDRs - Contains EDR calibration related files, including calibration data files (eg., dark currents) sample calibrated images, Cassini ISS calibration processing software, calibration documents and the collection of pre-launch ground calibration images. More information on the details of this volume can be found in the aareadme.txt file at the root level of this volume and in the document directory. Processing ========== Telemetry Processing -------------------- Once the spacecraft data are transmitted to the Deep Space Network (DSN) and sent electronically to JPL, it is reformatted by the Cassini Instrument Operations Team (IO) within the Multimission Image Processing System (MIPS) from a series of data packets into a two dimensional image. Unconverted, 12-bit images are converted to 16 bits. Images that have been compressed, either lossless or lossy, are automatically decompressed in the reconstitution process. These Experiment Data Records (EDR) images are then sent to the Cassini Imaging Central Laboratory for Operations (CICLOPS) where they are ingested into the ISS Archive Database for access by Imaging Team members and the archive generation process. Preliminary (quick-look) versions of the images are generated immediately and distributed for instrument performance analysis. In an attempt to make the most complete products, IO then performs reconciliation, if there is missing data in these preliminary versions. Once reconciliation is performed (within two weeks from downlink time), a final version of the image is produced and electronically provided to CICLOPS. Only the final image versions are archived on the ISS archive volumes. Some images have been converted down to 8-bits by the Lookup Table (LUT); in these cases, a reverse LUT can be applied to restore them to their approximate full 12-bit values. (This is an option in the Cassini ISS Calibration (CISSCAL) software that is supplied in this Archive.) There is no way to restore an 8LSB image back to its full 12-bit fidelity unless the original pre-converted DN values were all less than 255, or one is confident of smooth gradients across the image. Consult the calibration documentation for more information about converting image DN values to physical units. CICLOPS Processing ------------------ The EDR image files are housed within CILCOPS during the lifetime of the mission for ISS team access and archive volume assembly. They are stored in the ISS Archive Database as received from the JPL/IO team. No further modification, calibration, or processing is done to the images by CICLOPS. The EDR images are assembled onto the archive volumes exactly as they are received from IO/MIPS. CICLOPS performs two functions utilizing the EDR data files received from IO/MIPS: 1) auto navigation of the images, and 2) assemblage of the archive volumes. The ISS auto-navigation software provides for the refinement of geometric information for each image. Newly generated geometric information is captured for inclusion in the index.tab file. These are the collection of archive keywords for supporting search and query capabilities within the PDS. (The ISS Auto-Navigation software is described below.) The ISS archive generation software provides for the assemblage of the files being written to the archive volume. This software was produced by CICLOPS for selecting the appropriate range of images per volume, gathering the static archive files and generating the dynamic files being writing to the archive DVD volume. ISS Auto-navigation =================== The auto-navigation software (Autonav) was developed by the ISS team to perform the large task of image pointing refinement (c-smithing) for the hundreds of thousands of images taken by the ISS cameras. Autonav uses an array of object detection algorithms in conjunction with the most recent spacecraft position and orientation kernels to navigate the images. The output of Autonav for any particular navigated image is a single, discrete c-kernel for the image mid time. These c-smithed c-kernels are packaged up in larger time periods and delivered to the Cassini project's database and subsequently to the PDS NAIF node, and are maintained within the ISS Archive Database for use by ISS team members and by the ISS archive generation process. Though the success rate of Autonav is high, it is not 100%. The code was structured to minimize the number of false-positive navigations. So, in many cases, some images that seem navigable will fail to meet the success thresholds built into Autonav. In order to validate Autonav results, a tool was developed to allow a final reviewer to quickly visually scan through Autonav results and look for false-positive navigations and approve those that look correctly navigated. A c-kernel compare tool is also used to compare the auto-navigated c-kernels against the Attitude Control Subsystem (ACS) reconstructed c-kernels and flag large discrepancies between the two for further investigation. However, all of these thresholds and verification steps do not absolutely prevent Autonav from producing false results, so future users are warned to exercise caution with respect to these results. Autonav results, when accurate, will greatly improve the accuracy of the geometrical quantities calculated for the index.tab file. Data ==== Image VICAR Files ----------------- All ISS images are in JPL/MIPS VICAR (Video Image Communication And Retrieval) image format. More information about this format and software that can be used to view it can be found in the 'Software' section below. Each VICAR image file is accompanied by a detached ASCII PDS label file. The label consists of ASCII 'keyword=value' pairs describing the important characteristics of the image. Image Index Table ----------------- The image index table file, index.tab, contains keyword information about each image on the volume. Some of this information comes directly from the EDR detached PDS image label produced by IO; for example, keywords such as FILE_NAME, DATA_CONVERSION_TYPE, IMAGE_MID_TIME, FILTER_NAME, etc. The remaining keywords come from the Autonav software (as discussed above) which calculates many geometrical quantities and target information such as TARGET_DISTANCE, PIXEL_SCALE, PHASE_ANGLE, TWIST_ANGLE, etc. This file consists of fixed-length records in ASCII character format. Each line is a record containing all the keywords for a particular image on the volume. Fields in a record are delimited by commas. Non-numeric fields are enclosed in quotes and left-justified, whereas numeric fields are not enclosed by any characters and are right-justified. Multi-valued fields are enclosed in brackets and each item in that field is separated by a comma. The file index.lbl details the keyword name, data type, start byte, number of bytes, and format so that keywords can be easily referenced and the file can be properly read into a database. Ancillary Data ============== The Cassini Project produces SPICE files (spacecraft positions, planetary positions and constants, processed pointing geometry, spacecraft clock versus universal time, etc.) for use in observation planning and in calculating many of the image keywords populating the index.tab file on this volume. These Cassini SPICE files are not included in this ISS data archive but can be obtained from the PDS NAIF node. However, provided to support image searching and querying, the index.tab file contains over 100 keywords related to each image, including geometrically-oriented keywords. Some of these keywords are supplied by IO/MIPS as part of the EDR processing, others are generated by the ISS auto-navigation software. Other ancillary files include the collection of software interface specifications related to the production of the EDR data files and the archive volume DVDs, documents related to camera calibration and the calibration processing software, as well as a list of published references that can provide a thorough discussion of the ISS science goals and objectives and ISS camera instrument. Coordinate System ================= For proper interpretation of the image data, one should use a Cartesian coordinate system referenced to the Earth mean equator of J2000. There are two ISS coordinate systems in use: that officially used on the Cassini Project to describe camera orientation (X_cm, Y_cm), which is directly related to the readout directions of the CCD samples and lines, and that in general use by imaging scientists, (X_im, Y_im}, to describe images which are rotated from the target being imaged. There is also the spacecraft coordinate system {X_s/c, Y_s/c, Z_s/c}. The cameras, and other instruments on the RSP, are pointing in the Y_s/c direction. The positive Z_s/c axis points towards the spacecraft s main engines; the -Z_s/c points towards the High Gain Antenna; the +X_s/c axis is up. The CCD readout proceeds as follows. The bottom line of the CCD is shifted down (i.e., toward the remote sensing palette, toward -X_s/c)) into a vacant 1-line serial register. This line is shifted then to the left (in the +Z_s/c direction), pixel by pixel, to the signal chain until the entire line is read out. The pixels are numbered by the order in which they proceed to the signal chain. Thus, the first has sample = X_cm = 1, the last has sample = X_cm = 1024. That is, the readout proceeds in the X_cm direction. After this line is completely read out, the next line is shifted down into the serial register and read out, and so on until all 1024 lines have been shifted into the register and then along to the signal chain. This results in the following relationship between the spacecraft and the physical ISS/CCD coordinate systems: (sample, line) = {+X_cm, +Y_cm} = {-Z_s/c, +X_s/c}. The images of celestial bodies taken by the ISS are inverted up/down and flipped left/right (i.e., rotated 180 degrees) by the optics in both cameras. The relationships between targets and inertial space, as well as, the relationship between the target and the orientation of the Cassini spacecraft, are all maintained through this rotation. Thus, the image of a celestial target, as well as the image of the spacecraft coordinate system in the focal plane, are rotated from their physical orientations. A celestial target with its North pole aligned with the spacecraft +X_s/c axis would appear inverted and flipped on the CCD: that is, in the focal plane and display image plane, the North pole of the target and the +X_s/c axis would point in the direction of decreasing line (-Y_cm and -Y_im);the targets western limb (or, astronomical East) and the -Z_s/c axis would point towards decreasing sample (-X_cm and -X_im). The Cassini C-Kernel contains information that is used by the Navigational Ancillary Information Facility (NAIF) SPICE toolkit to derive a matrix which transforms a vector in inertial coordinates into the spacecraft coordinate system (X_s/c, Y_s/c, Z_s/c). The Cassini Frames kernel describes a transformation matrix that transforms a vector from the camera coordinate system (X_cm, Y_cm, Z_cm) into the spacecraft frame. The proper combination of the two describes the orientation of the physical camera/CCD system relative to inertial space. To compute the correct orientation of inertial space, and the targets in it, in the image plane, which is where anyone handling an image will work, one must apply an additional 180 degree rotation about the center of the image. Software ======== The image processing software used to create the EDR image files is called VICAR (Video Image Communication And Retrieval). VICAR is an entire system of software, formats, and procedures for image storage and processing and was developed and is maintained by JPL's MIPS. A full explanation of VICAR, its standards, software and reference information can be found at the website: http://www-mipl.jpl.nasa.gov/vicar/ Information on tools for visualizing VICAR images can also be found there. For example, the PDS-provided NASAview tool can be downloaded from the PDS site (http://pds.jpl.nasa.gov) and used to view the raw images. The 'CALIBRATION' volume contains the calibrated image and calibration data files, calibration processing software files, algorithms, pre-flight ground calibration images and related calibration documentation. These files together will facilitate processing of the raw ISS images to higher-level calibrated image products. Specifically, the Cassini ISS Calibration software (CISSCAL) is available in the EXTRAS directory on the calibration volume. It is to be used in conjunction with the files contained in the CALIB directory of the same volue. G-zipped TAR files containing the contents of both of these directories are also available to avoid any filename case issues that may arise when reading the DVD filesystems. The contents of these volumes will continue to evolve and improve as the knowledge of the mission parameters improves. As a result, these volumes are released periodically with the latest available calibration files and software. These updates are described in the errata.txt file. Media Format ============ This volume is being delivered to the Planetary Data System (PDS) using DVD media. Formats are based on standards for such products established by the PDS [PDSSR1992]. " CONFIDENCE_LEVEL_NOTE = " Confidence Level Overview ========================= The quality and completeness of the image data are determined in two phases. Firstly, within IO/MIPS, images are constructed from the raw data stream using automated MIPS-provided VICAR software. Verification software is used to generate product and quality reports that detail what data/images are missing or incomplete. Reconciliation, performed by IO/MIPS, is done by taking multiple passes over the data to obtain the best possible image products. For example, it may be necessary to replay telemetry from the DSN,eliminate station overlap and keep the 'best' available telemetry from either station and discard the remaining telemetry. Secondly, the ISS team routinely performs comparisons of the images returned versus what images were planned. Missing/incomplete images are confirmed by looking at the product and quality reports (more discussion on these reports is found below in this document). This is done as part of the ISS team's normal data usage and science analysis. However, not all missing/incomplete products are verified by the ISS team. CICLOPS-generated scripts are additionally run by team members to ensure all images posted by IO/MIPS to the server are indeed received by CICLOPS and are maintained in the ISS archive database. Keyword values are subject to inaccuracies; usage is cautioned. The accuracy of the index.tab keywords is dependent on the accuracy of the auto-navigation software and the accuracy of the various SPICE kernels used to calculate the keywords. This is discussed in further detail in other sections of this document. Generally, however, there are several sources of potential error in the processing results and the keywords should be used with caution; especially those calculated using the SPICE routines. Those keywords that come directly from the image label are included verbatim and are as reliable as the sources of those keywords (i.e. MIPS in the telemetry processing phase utilizing spacecraft and camera commanding software inputs). The quality and completeness of the archive volumes generation process are also determined by the accuracy of the archive generation software written and employed by the CICLOPS team. This archive generation software divides the images into correctly sized blocks for recording on the archive volumes and then copies the appropriate image files and static information files prior to creating the archive volume disk. An interface to the software allows a human user to choose which volume to generate. The dynamic information files are updated as needed. These files are stored in a CVS file repository and are reviewed as updated. An additional CICLOPS-generated script is then run on the final volumes to check for obvious mistakes or omissions. Additional validation software is run by PDS to ensure the disk conforms to PDS standards. Review ====== Validation is considered to have 2 aspects: 1) quality scientific usability and 2) technical compliance to PDS standards. In order to ensure PDS-compliant products, the archive volumes are validated by a collaborative effort between the ISS/CICLOPS team, the Imaging and Central Nodes of the PDS, and non-Cassini imaging scientists. The ISS/CICLOPS team is responsible for producing PDS-compliant archive volumes, while the PDS personnel are responsible for ensuring that the archive volume(s) meet PDS standards. Validation is performed on each volume by PDS using their validation tools. ISS/CICLOPS-developed operational volume verification tools and procedures are also utilized prior to delivery to PDS Imaging Node. Together these verification checks ensure PDS-compliant archive volumes. Scientific usability is assessed through the ISS science team's normal and routine use of the ISS datasets in their science analysis. Additionally, imaging scientists not associated with the Cassini project participate in the archive volume peer review process where they verify the 'science' content of the dataset, the completeness of the documentation, and the scientific validity (i.e., the integrity and usability) of the datasets. Several reviews on sample archive volumes and directory files are being performed prior to the start of volume production. The peer reviews of sample volumes is conducted by PDS. These reviews serve to validate the volume for proper structure, format, completeness, and science usability. Any deficiencies in the reviewed archive volume found are corrected and resolved. When all correctable errors have been resolved, production of the archive volumes proceeds and further validation is performed on a spot check basis by the both the PDS and the ISS/CICLOPS team. Non- correctable errors (e.g., an error in the downlink data file) is described in the evolving errata file, errata.txt, included on each archive volume in the Root Directory. Data Coverage and Quality ========================= Product and Quality Reports --------------------------- On the DATA volumes, the /document/report/ subdirectory contains product and quality reports detailing the status of the downlink, noting any missing or incomplete data products and the reason for the discrepancy. NOTE: no product and quality reports were generated for images prior to SCLK 1431917000. The quality report consists of one to three tables; depending on whether there are missing or incomplete products. The first table lists information about all the predicted products for the time range covered in the report. This information includes the following: FILENAME: Filename of the product. OBSERVATION_ID: Planned observation from which product originated. SEQUENCE_NUMBER: The order the image appears in the observation. COMMAND_FILE_NAME: Camera commanding file name for this product. ORDER_NUMBER: The order the image appears in the IOI file. SCETSTOP - The image stop time in UTC. If there are partial/incomplete products, a second table is given describing those products. This table consists of the following: FILENAME: Filename of the product. DATA_POL: Images truncated due to data policing. DSN_GAP: Images not received or partially received due to DSN issue. TRUNC_RO: Images truncated due to a short readout cycle. UNEXPLAINED: Incomplete images where the reason is unknown. The following columns are used to explain incomplete images: 'PARTIAL' means that an image was received, but is incomplete due to the problem at the top of that column. 'NO' means that while the image is incomplete, it is not caused by the problem characterized by that column. 'NULL' means that either analysis is not complete for that column/image, or an explanation has been given but further reconciliation will not be performed. If there are missing products, a third table is given describing those products. This table consists of the following: SCLKSTOP: Spacecraft clock time of image stop time. CAMERA: Camera taking this image, NAC or WAC. TRIGGER: Trigger number issued to camera for this image. TRIGGERTIME: Spacecraft clock of trigger execution time. OFFSET: Offset of image time from trigger execution time. PEF: Predicted Events File for this product. IOI: Filename of camera commanding file (IOI) for this product.. REASON: Reason for missing product if known. The Product Report contains statistical product generation information in paragraph form. The information includes the following: Number of FINAL and COMPLETE products Number of FINAL and INCOMPLETE products Number of incomplete products due to TRUNCATED READOUT Number of incomplete products due to DATA POLICING and DSN GAPS Number of PRELIMINARY and COMPLETE products Number of PRELIMINARY and INCOMPLETE products Number of preliminary and incomplete products due to DATA POLICING and DSN GAPS Number of MISSING products Number of missing products due to DATA POLICING and due to DSN GAPS Number of UNPREDICTED products A Quality and a Product report are generated for the NAC and WAC each for a total of four reports covering the images on the volume. The Product and Quality reports are labeled as follows: __.rpt Examples: COISS_2001_nac_quality.rpt COISS_2001_nac_product.rpt COISS_2001_wac_quality.rpt COISS_2001_wac_product.rpt Truncated Images ---------------- There are three possible causes of image truncation in the ISS cameras: 1) data loss during downlink caused by problems with the DSN (unrelated to the instrument), 2) even line truncation in lossless images in which individual lines are truncated, and 3) readout window truncation in which the entire remainder of an image is lost. The latter two, camera-related cases will be discussed here. In the lossless compression case, there is a software requirement that lossless data compress by a factor of two at minimum. The camera handles this by making sure that the compressed data for an odd/even pair does not exceed the data for a single uncompressed line. If it does, then the even line data is truncated such that the requirement is met, resulting in an image with an uneven right side, or occasionally, every other line completely missing. The other kind of truncation, readout window truncation, occurs when the time it takes to readout an image is longer than the readout time allowed for it. The camera stops transmitting data to the spacecraft when the time is up. When an image is planned, one of the camera parameters to be set is the Readout Index. Each index corresponds to an allowed readout window time. There are 4 time windows and two cameras, resulting in 16 possibile readout indices. The readout window must be adjusted for telemetry rate, of which the possible settings are as follows: Telemetry Rates Kbits/sec Packets/sec ------------------------------------------ S&ER5 356.6 48 S&ER6 203.1 32 S&ER3 182.8 24 S&ER1 121.9 16 S&ER2 60.9 8 For example, if you only look at the NAC times we have... NAC time in seconds for telemetry rate (packets/sec) Index 48pps 40pps 32pps 24pps 16pps 8pps -------------------------------------------------- 0-3 50 60 75 100 150 300 4-7 25 30 38 50 75 150 8-11 14 17 21 28 42 84 12-15 6 7 9 12 18 36 You could have a truncated image if, for example, you have a 1x1 uncompressed 12-bit image. The camera generates 2277 packets and at 24 packets per second takes about 95 seconds to readout. If you had chosen a readout index from 4 though 7, or 50 seconds, then the camera would only be half-way through the data when its readout window was up and the resulting image would be partial. So if you do not want truncation in this case, you must choose a readout index between 0 and 3. This also limits how quickly you can take images. One might want to image more quickly and accept the image truncation. It gets more complicated when images are read out in a compressed mode. There the amount of data to be transmitted from camera to spacecraft depends on how well it compresses (its compression ratio). Say you have a 1x1 12bit lossless image and you expect 5:1 compression. You would expect 461 packets and a readout time of 19.5 seconds, so ISSPT chooses readout index 8 (28 seconds). Now say the data was less compressible than you expected and only compressed at 3:1. The number of packets was actually 764 with a readout time of 32 seconds. The camera will stop at 28 seconds and you will not get the last 1/8 of the image. ISS Lossy Compression Camera Bug Anomaly ---------------------------------------- An anomaly in the NAC and WAC camera software (Flight Software Version 1.3) was discovered in April of 2004. This machine error is caused by the retrieval of extended and overclocked pixels in images in LOSSY compression mode. A fix was executed in September of 2004 to correct the problem. A significant number of images were lost due to this bug between the SCLK times 1462417483 thru 1481784349. These missing images are noted in the quality reports with the ISA number listed in the 'REASON' column. Cassini Incident Surprise Anomaly reports Z83951, Z83931 and Z84199 were filed to document the problem. These will be accessible only to operations personnel during the mission, and are listed here for convenience. NAC Haze Anomaly of 2001 ------------------------ In May 2001 (Day 150), in NAC images taken of the Pleiades, a diffuse circular halo appeared around the central peak of the image of Maia; WAC images were not likewise degraded. The apparent cause of this anomaly was the resumption of normally scheduled decontamination cycles after a 13-month hiatus. Additionally conservative decontamination cycles were performed and the haze disappeared leaving the point response function of NAC within pre-anomaly limits. See ISA #Z71910 for more detailed information on this NAC Haze Anomaly. Horizontal Banding ------------------ Both NAC and WAC images exhibit a low amplitude, coherent noise characterized by horizontal banding with significant power concentrated in a few spatial frequencies. The spatial frequencies present in the images depend on the read out rate from the CCD. The cameras did not show this problem until they were connected to the spacecraft in the Spacecraft Assembly Facility. The pattern is not fixed on the chip and is highly correlated with the overclocked pixel value, indicating a fluctuation in the video bias level of the CCD. The changing amplitude of the banding (measured in DN) in various gain states is consistent with a constant amplitude in electrons; the dependence of the frequency content on read out rate is consistent with a constant temporal frequency. The source is unknown but is likely a ground loop somewhere on the spacecraft. Measurements indicate that the banding in the NAC has an amplitude of ~2.5 DN in the 12 e-/DN gain state (Gain 3); Fourier analysis shows mainly two frequency components, with the secondary peak having 1/3 the power of the main peak. After correction for the CCD readout rate, the main peak occurs at 2.1 Hz; the secondary peak at 2.5 Hz. This produces a beating pattern with a combined frequency of 0.4 Hz. In the WAC, the amplitude is much smaller (~ 0.5 DN for the 12 e-/DN (Gain 3) state), with a dominant read-out corrected frequency of 4.0 Hz; two smaller peaks of 1/10th the power occur at 1.9 Hz and 5.9 Hz. Calibration software being developed by the Imaging Team and within the Cassini Imaging Central Laboratory for Operations will contain algorithms designed to reduce this coherent noise in Cassini images without unacceptable damage to the image data themselves. Vertical Banding ---------------- Irregular vertical banding is another type of coherent noise that has been seen in many images; it seems to be absent in images that are read out in telemetry mode S&ER5 (366 kb/sec). The source of the banding is presently unknown. Limitations =========== Geometric Accuracy ------------------ Software was developed by ISS/CICLOPS to calculate a large set of geometrical quantities for each image provided in the index.tab file, along with the keywords from the EDR PDS detached label. These geometrical quantities were computed using the most recent spacecraft position and orientation kernels. And, in cases where the auto-navigation software was successful for an image, the Autonav c-kernel was used instead of the reconstructed c-kernel provided by the Attitude Control Subsystem (ACS). The accuracy of the geometrical calculations is dependent on the accuracy of the kernels provided to CICLOPS and the correctness of the CICLOPS software. In order to validate the correctness of the software, representative random set of sample images were chosen and the results thoroughly inspected and verified for correctness. Additionally, the data has been used and verified through normal science analysis throughout the mission. However, there is a small chance that some special cases may produce inaccurate results. Which SPICE kernels were used by the software is indicated in the 'Spice_Product_ID' keyword found in the index.tab file. In some cases, spacecraft pointing information is not always available due to gaps in the c-kernel timeline. In these cases, no calculations are performed on these images, and thus some keywords may be set to 'NULL'. Unknown, null, or not-applicable keyword values are indicated as such according to current PDS standard values assigned for UNK, NULL, and N/A respectively. The index.lbl file contains the necessary information for interpreting the index.tab file, including keyword names, data types, start bytes, number of bytes, formats, and definitions. " END_OBJECT = DATA_SET_INFORMATION OBJECT = DATA_SET_TARGET TARGET_NAME = JUPITER END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = SATURN END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = SUN END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = PROMETHEUS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = CALYPSO END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = EPIMETHEUS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = ATLAS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = DIONE END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = PANDORA END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = ENCELADUS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = JANUS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = HELENE END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = PAN END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = TELESTO END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = MIMAS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = TETHYS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = RHEA END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = HYPERION END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = PHOEBE END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = IAPETUS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = TITAN END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = PALLENE END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = POLYDEUCES END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = METHONE END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = DAPHNIS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = MUNDILFARI END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = SKADI END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = KIVIUQ END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = IJIRAQ END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = S18_2004 END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = S8_2004 END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = SIARNAQ END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = PAALIAQ END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = S13_2004 END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = S14_2004 END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = TARVOS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = ERRIAPO END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = K07S4 END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = YMIR END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = ALBIORIX END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = ANTHE END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = SUTTUNG END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = LOGE END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = THRYM END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = SKOLL END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = AEGAEON END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = BESTLA END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = KARI END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = ERRIAPUS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = BEBHIONN END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = HYROKKIN END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = GREIP END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = BERGELMIR END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = SKATHI END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = SUTTUNGR END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = S12_2004 END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = JARNSAXA END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = TARQEQ END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = THRYMR END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = SURTUR END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = HATI END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = NARVI END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_TARGET TARGET_NAME = "S RINGS" END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_MISSION MISSION_NAME = "CASSINI-HUYGENS" END_OBJECT = DATA_SET_MISSION OBJECT = DATA_SET_REFERENCE_INFORMATION REFERENCE_KEY_ID = "N/A" END_OBJECT = DATA_SET_REFERENCE_INFORMATION OBJECT = DATA_SET_HOST INSTRUMENT_HOST_ID = CO INSTRUMENT_ID = ISSNA END_OBJECT = DATA_SET_HOST OBJECT = DATA_SET_HOST INSTRUMENT_HOST_ID = CO INSTRUMENT_ID = ISSWA END_OBJECT = DATA_SET_HOST END_OBJECT = DATA_SET END