Data Set Overview
  =================
    This shape model of Phoebe is based on 208 Cassini Imaging Science
    Subsystem narrow and wide angle camera (ISSNA and ISSWA) images. The shape
    model was prepared by Robert Gaskell on August 4, 2012.
 
    Coordinate system:
 
    BODY609_POLE_RA   = (  356.90      0.         0.  )
    BODY609_POLE_DEC  = (  +77.88      0.         0.  )
    BODY609_PM        = (  178.58   +931.639  0.  )
 
    (For help in interpreting the values of the SPICE assignments above, see
    the document 'PCK Required Reading' (PCK.REQ), available at NAIF and in
    the document directory of this data set.)
 
    The parameters of the model are as follows:
 
    Number of landmarks:  522
    RMS position uncertainty:  147 m/dof (degree of freedom)
    Pointing uncertainty:  .045 mrad
    Pointing residual:  .275 mrad
    Number of observations:  22555
    Observations per landmark:  43.2
    RMS landmark location residual:  184 m/dof
 
    The models were originally prepared in the Implicitly Connected
    Quadrilateral (ICQ) format.  Vertex-facet format versions, derived from
    the ICQ versions, are also provided.  The filenames are
    phoebe_quad512q.tab and phoebe_ver512q.tab, where 512 is the value
    of Q (an indicator of the resolution).  See below for the full
    definition of Q and the ICQ format.  For additional information about the
    shape models, see Gaskell et al. (2008).
 
    The file 'phoebeimagelist.tab' is a list of the Cassini ISSNA and ISSWA
    images used to generate this model.  These images are archived in PDS
    under the data set ID CO-S-ISSNA/ISSWA-2-EDR-V1.0.
 
    A text file, 'icqmodel.asc' is provided in the 'document' directory
    which describes the ICQ format and the derivation of the
    vertex-facet versions.
 
    Modification History
    ====================
 
    Version 1.0 of this model was archived in 2011.  For V1.0, all images were
    converted to 8-bit before processing.  For V2.0, the processing code had
    been updated to handle 16-bit, so the 12-bit Cassini images were left
    as-is for the processing.  Version 2.0 was archived in 2013.
 
    References
    ==========
 
    Gaskell, R.W., O.S. Barnouin-Jha, D.J. Scheeres, A.S. Konopliv, T. Mukai,
    S. Abe, J. Saito, M. Ishiguro, T. Kubota, T. Hashimoto, J. Kawaguchi, M.
    Yoshikawa, K. Shirakawa, T. Kominato, N. Hirata, and H. Demura,
    Characterizing and navigating small bodies with imaging data, Meteoritics
    and Planetary Science, vol. 43, Issue 6, p. 1049-1061, 2008.

Confidence Level Overview
  =========================
    Note that the vertex-facet versions of the model have some duplicate
    vertices on the edges and corners of the cube.  The duplicate vertices are
    not used in the facet table, resulting in the presence of some vertices in
    the vertex table which do not appear in the facet table.  This does not
    affect the correctness of the vertex-facet version.