Data Set Overview
  =================
 
  This shape model of Tethys is based on 814 Cassini ISSNA and 6 Cassini ISSWA
  images taken in the years 2004-2010.
 
  Coordinate system:
 
  BODY603_POLE_RA      = (    40.66    -0.036      0.  )
  BODY603_POLE_DEC     = (   +83.52    -0.004      0.  )
  BODY603_PM           = (    10.45  +190.6979085  0.  )
  BODY603_LONG_AXIS    = (     0.                      )
  BODY603_NUT_PREC_RA  = ( 0. 0. 0.  +9.66   0.    0.  0.  0.  0. )
  BODY603_NUT_PREC_DEC = ( 0. 0. 0.  -1.09   0.    0.  0.  0.  0. )
  BODY603_NUT_PREC_PM  = ( 0. 0. 0.  -9.60  +2.23  0.  0.  0.  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:  2457
  RMS position uncertainty:  313 m/dof (degree of freedom)
  Pointing uncertainty:  .431 mrad
  Pointing residual:  .211 mrad
  Number of observations:  150361
  Observations per landmark:  61.2
  RMS landmark location residual:  618 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 tethys_quad512q.tab and
  tethys_ver512q.tab, where 512 is the value of Q (an indicator of the
  resolution).  Files with three selections of lower resolution are also
  provided for each format, with similar filenames but lower values of q.
 
  The file 'tethysimagelist.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.
  For additional information about the shape models, see Gaskell et al.
  (2008).
 
  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.