Galileo Magnetometer, Ida High-Resolution Data - Additional Documentation
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[These data were extracted from the separate catalog files originally
 provided with the HRSC and HRGEOPH data files.]


Dataset Overview
================

This dataset contains data acquired by the Galileo Magnetometer during the
Ida flyby on Aug 28, 1993. Limited space on the tape recorder forced the
magnetometer team to limit their highest time resolution observations to
a ~30 minute interval beginning after closest approach to Ida.

In order to acquire the high time resolution mag data at Ida necessary
to look for magnetic signatures similar to those observed at Gaspra,
a new method of using the instrument optimal averager section was tested.
This method used the spacecraft Command and Data System (CDS) computer to
sample the MAG data buffer memory to retrieve vectors every 4/3 second.
CDS stored the data in internal data buffers (DBUM1A and DBUM1B). The data
were downlinked back to earth in near real-time via CDS memory readouts
(MROs). The data were highly over-filtered by the instrument but many
of the effects of over-filtering could be removed in ground processing by
knowing the filter response function. Details of this process are described
below in the data processing section.

High resolution magnetometer data are provided in four coordinate systems.
Of the two data files included, one contains data in Inertial Rotor
Coordinates (IRC = despun spacecraft). This file includes the spacecraft
attitude and spin phase angles from the AACS system and the sensor zero
levels. The other data file contains magnetic field data in Ida-centric
Solar Ecliptic (IdaSE), Earth Mean Equatorial equinox 1950 (EME-50), and
Heliographic (RTN) coordinates.

Trajectory data are provided as a separate dataset for each of the geophysical
coordinate systems.


    Primary Dataset Reference:

    Kivelson, M.G., Z. Wang, S. Joy, K.K. Khurana, C. Polanskey, D.J.
    Southwood, and R.J. Walker, 'Solar Wind Interactions with Small Bodies: 2.
    What Can Galileo's Detection of Magnetic Rotations Tell Us About GASPRA
    and IDA', Advances in Space Research, 1994


    Primary Instrument Reference:

    Kivelson, M. G., K. K. Khurana, J. D. Means, C. T. Russell, and
    R. C. Snare, 'The Galileo magnetic field investigation', Space Science
    Reviews, 60, 1-4, 357, 1992.


 Data Columns (Spacecraft coordinates IRC):
 Fortran format (1X, A24, 11F11.3)

time    S/C event time (UT) given in PDS time format YYYY-MM-DDThh:mm:ss.sssZ
rotattt   Rotor twist angle (EME-50)
rotattd   Rotor attitude declination (EME-50)
rotattr   Rotor attitude right ascension (EME-50)
spinangl  Rotor spin angle - inertial S/C coordinates
spindelt  Rotor spin motion delta <radians/minor frame>
screlcon  Rotor-Platform relative cone angle
screlclk  Rotor-Platform relative clock angle
Bx_sc     Magnetic field X component in S/C (IRC) coordinates <nT>
By_sc     Magnetic field Y component in S/C (IRC) coordinates <nT>
Bz_sc     Magnetic field Z component in S/C (IRC) coordinates <nT>
Bmag      |B| Magnitude of B <nT>

 Data Columns (Geophysical Coordinates):
 Fortran format (1X, A24, 10F11.3)

time    S/C event time (UT) given in PDS time format YYYY-MM-DDThh:mm:ss.sssZ
Bx_IdaSE  X component of B in IdaSE coordinates (towards Sun) <nT>
By_IdaSE  Y component of B in IdaSE coordinates (towards dusk) <nT>
Bz_IdaSE  Z component of B in IdaSE coordinates (|| to ecliptic normal) <nT>
Bx_eme50  Magnetic field X component in EME-50 coordinates <nT>
By_eme50  Magnetic field Y component in EME-50 coordinates <nT>
Bz_eme50  Magnetic field Z component in EME-50 coordinates <nT>
Br        Magnetic field radial component in RTN coordinates <nT>
Bt        Magnetic field tangential component in RTN coordinates <nT>
Bn        Magnetic field normal component in RTN coordinates <nT>
Bmag      |B| Magnitude of B <nT>


 Missing data value = 99999.999

Data Acquisition:

The data for this dataset were acquired by the outboard magnetometer (flip
left position) in the low field (+/- 32 nT) mode (ULLR). This mode
has a digitization step size of 0.0625 nanoTesla. However, these data are
acquired at 30 vectors/second and then recursively filtered in the
instrument. The high rate data that are recorded to tape have a sample rate of
4.5 vectors/second. If there is sufficient variation in the 6-7 input samples
that make up a single output sample, then the effective digitization step size
becomes much smaller. The data are next passed to an onboard processing
algorithm which corrects the data for offsets, gains, and geometry. The
data can now be sent to the tape recorder or passed to the optimal averager
section of the instrument.

Optimal averager data are decimated to 1 vector every minor frame such that
only the first sample of the minor frame is retained. These data are then
despun into Inertial Rotor Coordinates (IRC) and passed to another
recursive filter operation. The filter used in the Ida high resolution (4/3
sec) data was:

 Bo(i) = (15/16) * Bo(i-1) + (1/16)*Bi(i)

where Bo(i) is the output of the i-th sample and Bi(i) is the new input vector
at the time of the i-th sample. Data were sampled by the CDS every 4/3 second.

Data are not averaged any further. The time tag associated with each data
record is the sample time (UT) on the spacecraft (SCET).

Coordinate System:

The Galileo magnetometer data are being archived in 4 coordinate systems.
The first coordinate system is referred to as inertial
rotor coordinates (IRC). This coordinate system has the Z axis along the
rotor spin axis, positive away from the antenna, and the X and Y axes in
the rotor spin plane. In a crude sense, when the spacecraft is far from Earth,
positive X points south, normal to the ecliptic plane, positive Y lies in the
ecliptic plane in the sense of Jupiter's orbital motion and positive Z is in
the anti-Earth direction. The spacecraft antenna (negative Z direction) is
kept earthward-pointing to about +/- 10 deg accuracy.

Ida-centric Solar Ecliptic (IdaSE) is an Ida-centered coordinate system
defined by the primary vector along the instantaneous Ida->Sun (GSun) line
with the Earth's ecliptic north pole (ENP) as the secondary vector. In this
coordinate system:
   X is the GSun unit vector taken to be positive towards the Sun.
   Y is the vector formed by the unitized cross product ENP x GSun
   Z completes the right-handed set (Z = X x Y)
such that the X-Z plane contains the ecliptic north pole.

The Earth Mean Equatorial equinox of 1950 (EME-50) coordinate system is
an inertial reference system. The primary vector in this system points
from the Earth towards Aries at the reference epoch. The secondary vector
is along the Earth's rotational axis positive towards its north pole. In this
coordinate system:
   X is a unit vector in the direction of Aries at the equinox of 1950
   Y is a unit vector in the direction of Z x X
   Z is a unit vector in the direction of the Earth's equatorial north pole
     at the equinox of 1950.
The EME-50 coordinate system is directly supported by SPICE as the 'FK4'
inertial reference frame.

The heliographic (RTN) coordinate system is centered at the Sun. The primary
vector in this system points from the center of the Sun to the spacecraft (R).
The secondary vector in this system is the Sun's north rotational axis
(Omega).
   R is along R, positive away from the Sun.
   T is along the cross product Omega x R
   N completes the right-handed set (R x T)

Data Processing:

The tape recorded portion of this dataset was processed according to the
standard methods employed for LRS data. These methods have been well described
in the Venus, Earth, and Gaspra documentation. A 1-D spacecraft interference
function was removed from the LRS data during their processing. The 1-D and
2-D methods and coefficients are described in the Earth 1 and 2 data
processing descriptions. Recorded data cover the time interval 16:53:20.026
through 17:21:36.691. Data sampling in this interval is the normal 3 vectors
per minor frame with sample times offset from the start of the minor frame
by (0.0, 0.2333, 0.2333) seconds.

The remainder of the dataset was acquired by using the optimal averager and
CDS in a special procedure used only at Ida. The highest normal data
acquisition rate of the optimal averager section of the instrument
is 1 vector per spacecraft frame (RIM). In order to achieve the higher desired
data rates, the spacecraft CDS reads out the instrument memory where the
recursive filter stores its vectors every other minor frame (4/3 sec). The
data were stored in CDS data buffers DBUM1A and DBUM1B and then returned by
CDS memory readouts (MRO). The readout of the CDS memory did not go smoothly
and had to be done several times due to telemetry errors. In the end, pieces
of memory were reconstructed by hand with various address ranges coming from
various MRO files. Even after hand splicing segments of data together, many
small segments of data contained dropouts and spurious values.

In order to recover from the effects of over-filtering of the data, the data
were deconvolved with the filter response function in the frequency domain.
This process is not tolerant of data spikes or gaps. In regions of lost or
contaminated data, data were interpolated from the nearest good values.
The interpolation scheme used was unable to seamlessly replace missing data.
The effect of this procedure is to introduce ringing in these areas during
the deconvolution.

Filter ringing also occurs at the ends of the interval in the FFT when the
data are transformed back to the time domain. The crossover from CDS DBUM1A
to DBUM1B occurred at closest approach. At the crossover, a minor frame timing
shift occurred. In other words, even though all of the data in DBUM1A and
DBUM1B are sampled at 4/3 second, the separation between the two buffers is
2 seconds. The FFT method does not tolerate uneven sampling. In order to get
around this problem, and not have FFT edge effects at closest approach, the
entire dataset was resampled to 2/3 second by linear interpolation for the
filter recovery and the data from both buffers were deconvolved together.

After the proper signal amplitude and phase were recovered, the offsets were
removed. The instrument removes the best guess of the sensor zero levels
prior to despinning the data and passing it to the optimal averager. Any
residual DC offset is then spun up to the spin frequency by the despinning
process. In order to remove the offsets from the despun data, the spin plane
components were notch filtered in the frequency domain. The data were
Fourier transformed and the background spectra was determined. In the
frequency band affected by spin tone, the real and imaginary components of
the transform were separately set to match background levels. The data were
then transformed back into the time domain. The spin aligned sensor offset
was determined and removed using the values determined from the cruise data.

After the data were transformed back into the time domain, the data that were
added during the interpolation to even 2/3 second sampling were removed. Only
values at times when data were actually take remain in the dataset. Data at
the ends of the dataset where strong FFT ringing occurs have been excluded.

Attitude control data necessary to transform the magnetometer data into
geophysical coordinates were acquired only for the few seconds during the
taking of each of the Ida images. These very sparse AACS data were linearly
interpolated between values. Since the data were already despun, spin phase
information was not required.




CONFIDENCE_LEVEL_NOTE


These data have been highly processed to obtain the final dataset. Both the
magnetometer data and the AACS data required to transform the mag data into
geophysical coordinates are of lower than average quality. The dataset should
not be used in wave studies. Much of the processing has been done in the
frequency domain and the spectra clearly show the effects. Overall, the field
values are probably correct to 0.01 nT and the AACS angles to better than
a degree. The segment of data that were recorded to tape (16:53 ->17:22) do
not carry as strong a warning but users should be wary of power at the spin
period or its harmonics. The recorded data interval provided a mechanism for
verifying the filter recovered data properly reflect the source signal at the
sampling resolution. Both types of data were simultaneously acquired for about
30 minutes. When superimposed on each other, the filter recovered data
accurately trace the high resolution data but they appear to have a high
frequency cutoff that is less than would be expected from 4/3 second samples.