Data Set Information
|
DATA_SET_NAME |
GALILEO ORBITER V MAG RDR VENUS HIGH RES V1.0
|
DATA_SET_ID |
GO-V-MAG-3-RDR-VENUS-HIGH-RES-V1.0
|
NSSDC_DATA_SET_ID |
|
DATA_SET_TERSE_DESCRIPTION |
Galileo Orbiter Magnetometer (MAG) calibrated high-resolution data
from the Venus flyby in spacecraft, VSO coordinates. These data
cover the interval 1990-02-09 03:07 to 1990-02-10 08:34.
|
DATA_SET_DESCRIPTION |
Data Set Overview
=================
This dataset contains data acquired by the Galileo Magnetometer
during the Venus flyby. The data have are given at the full sample
rate available from the 7.68 kB Low Rate Science (LRS) tape record
mode. The flyby data were recorded and later played back during the
early portion of the Earth 1 flyby. Limited space on the tape
recorder required the magnetometer team to limit their high time
resolution observations to a few short intervals in the
pre-encounter solar wind, a main record period near closest
approach, and then some post encounter solar wind data. Large gaps
in the high rate data were covered by 16 RIM (~ 16 minute) averages
from the optimal averager section of the instrument in another
dataset. These data have been fully processed to remove instrument
response function characteristics and interference from magnetic
sources aboard the spacecraft. The data are provided in both
Inertial Rotor Coordinates (IRC = despun spacecraft) and Venus Solar
Orbital (VSO) coordinates. The two different coordinate systems are
provided in a single ASCII file.
Primary Dataset Reference:
Kivelson, M.G., C.F. Kennel, R.L. McPherron, C.T. Russell,
D.J. Southwood, R.J. Walker, C.M. Hammond, K.K. Khurana, R.J.
Strangeway, and P.J. Coleman, 'Magnetic field studies of the
solar wind interaction with Venus from the Galileo flyby:
First Results', Science, 253, 5029, 1518, 1991.
[KIVELSONETAL1991]
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. [KIVELSONETAL1992]
Data
====
------------------------------------------------------------------
Table 1. Data record structure
------------------------------------------------------------------
Column Units Description
------------------------------------------------------------------
Time seconds spacecraft event time (UT)in the format
yyyy-mm-ddThh:mm:ss.sssZ
Bx_vso nT X component in VSO coordinates
By_vso nT Y component in VSO coordinates
Bz_vso nT Z component in VSO coordinates
Bx_sc nT X component in IRC coordinates
By_sc nT Y component in IRC coordinates
Bz_sc nT Z component in IRC coordinates
Bt nT |B| Magnitude of B
dqf n/a Data quality flag
Data Acquisition
----------------
The data for this dataset were all acquired in by the outboard
magnetometer sensors in the flip left mode in the high field mode
(ULHR). This mode has a digitization step size of 0.25 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.
Data Sampling
-------------
The Galileo magnetometer samples the magnetic field 30 times per
second. These highest rate samples are recursively filtered and
then resampled by the instrument at 4.5 vectors per second using
a 7,7,6 decimation pattern.
Recursive Filter:
B(t) = 1/4 Bs(t) + 3/4 B(t-1)
B = output field
Bs = input field measured by the sensor
t = sample time
The pattern is generated by doubling the spacecraft clock modulo
10 counter and then applying the decimation scheme. This gives 3
vectors every spacecraft minor frame (about 2/3 second) which are
sampled unevenly. The first vector in a minor frame is sampled
approximately 0.200 seconds after the last vector in the preceding
minor frame. The other two samples are taken approximately 0.233
seconds apart. The time tag associated with a sample is the
decimation time.
Coordinate Systems
==================
The Galileo magnetometer data are being archived in 2 coordinate
systems. The first coordinate system is referred to as Inertial
Rotor Coordinates (IRC) which are commonly called 'despun'
spacecraft coordinates. This coordinate system has the Z axis along
the rotor spin axis, positive away from the antenna and the X and Y
axes lies in the rotor spin plane. In a crude sense, when the
spacecraft is far from Earth, +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.
The second coordinate system is called Venus Solar Orbital (VSO)
coordinates. For those who familiar with the Geocentric Solar
Ecliptic (GSE) coordinates, this is the same basic system defined
using Venus and is orbital plane about the Sun. VSO X direction is
taken along the Venus-Sun line, positive towards the Sun. The Z
direction is parallel to the normal of the Venus orbital plane
(Venusian ecliptic), positive northward, and Y completes the
right-handed set (towards dusk).
Data Processing
===============
These data have been processed from the PDS dataset:
'GO-V/E/A-MAG-2-EDR-RAW-DATA-V1.0'
In order to generate the IRC processed dataset, the following
procedure was followed:
1) Sensor zero level corrections were subtracted from the raw
data,
2) Data were converted to nanoTesla,
3) A coupling matrix which orthogonalizes the data and corrects
for gains was applied to the data (calibration applied),
4) Magnetic sources associated with the spacecraft were
subtracted from the data,
5) Data were 'despun' into inertial rotor coordinates
6) Data were transformed into VSO coordinates
1) Zero level determination: The zero levels of the two spin plane
sensors were determined by taking averages over a large number
(about 50) of integral spin cycles. The zero level of the spin
axis aligned sensor was determined by a variety of means.
First, since the spin axis aligned sensor can be flipped into
the spin plane, the value of the zero level determined in the
spin plane can be used in the other geometry. This works well
if there are no spacecraft fields and the zero level is stable.
If there are spacecraft fields present which remain constant
over relatively long time periods (many hours), then another
method of zero level determination is used. The spacecraft spin
axis is along the Z direction, the data in the X and Y
directions have already had zero level corrections applied.
Bm(z) = B(z) + O(z)
|Bm|^2 = B(x)^2 + B(y)^2 + Bm(z)^2
= B(x)^2 + B(y)^2 + B (z)^2 + O(z)^2 + 2B(z)O(z)
= |B| ^2 + O(z)^2 + 2B (z) O (z)
= |B| ^2 + O(z)^2 + 2O (z)[Bm(z) - O(z)]
= |B| ^2 - O(z)^2 + 2O (z) Bm(z)
m = measured value - no subscript = true value
Now if |B| remains constant over a short interval and O(z)
remains constant over a much longer interval, we can take
averages and reduce this equation to:
|Bm|^2 - <|Bm|^2> = 2O(z)[Bm(z) - ]
<> indicates average value
Data can be processed using short averages of |B| until many
points are accumulated and then fit with a line in a least
squares sense. The slope of this line is twice the required
offset. The scatter in the data give an indication of the error
in the assumption the |B| and O(z) have remained constant.
Intervals with large rms errors are not retained. A file which
contains zero levels as a function of time has been provided as
an ancillary product with this dataset.
2) Conversion to nanoTesla simply requires dividing the instrument
data numbers by a constant scale factor. For the inboard high
range (low gain) mode the scale factor is 2. For the inboard
low range and outboard high range, the scale factor is 64. The
outboard low range data has a scale factor of 1024.
3) Calibration matrix applied: The determination of a calibration
matrix is too complex to describe here. The method employed has
been well described in [KEPKOETAL1996].
4) After the data were initially processed (calibrated and
despun), it was clear that there were still coherent noise
sources remaining in the data. Dynamic spectra of the
magnetometer data revealed coherent energy at high order (2nd,
3rd, 4th) harmonics of the spin period as well as some
subharmonic frequencies. High order harmonics of the spin
period can be generated by spinning about a fixed dipole source
such as a source on the despun platform. Subharmonic energy can
be created by a dipole source which spins with magnetometer but
changes orientation at a frequency which is near the spin
frequency. The source of the high order harmonics was modeled
using 2-D (clock and cone angle) Fourier transforms of high
pass filtered data. This allows us to resolve the source in
terms of the relative spin phase and look direction of the scan
platform. Model fields associated with this source
(approximately 0.15 nT at the inboard sensors in the lowest
harmonic) have been subtracted from the data. A similar
approach was taken for the isolation and removal of sources of
subharmonic energy. Data were band pass filtered to isolate the
source signature and then resolved into components as a
function of the Energetic Particle Detector (EPD) motor
position (look direction). EPD interference (at about 0.05nT)
has been removed from the data on Dec 8, 1990. Both sets of
interference coefficients were calculated using data from the
inboard sensors. When the outboard sensors are in use, these
values are extrapolated using the inverse power law appropriate
for the source of each term.
It should be noted here that both of these interference
corrections are less then the quantization level for the
inboard sensors. Data resolution coming out of the recursive
filter can actually be better than that coming out of the A/D
converter if there is sufficient noise at the single bit level.
5) Despinning: Data are despun and checked in inertial rotor
coordinates before transforming to geophysical coordinates. Any
errors in the processing will be most readily apparent in
inertial rotor coordinates. The nominal transformation to IRC
from SRC is
(Bx) ( cos(theta) -sin(theta) 0 ) (Bxs)
(By) = ( sin(theta) cos(theta) 0 ) (Bys)
(Bz) ( 0 0 1 ) (Bzs)
Where s denotes spinning coordinates and theta is the rotor
spin angle.
Frequency dependent phase delays associated with the analog
anti-aliasing filter and the digital recursive filter have been
removed during the despinning of the data. The dominant
frequency in the spinning data is at the spacecraft spin
frequency. The phase angle delay associated from all known
sources is computed at the spin frequency and removed from the
data during despinning.
Analog Filter: Digital Filter (Nyquist Freq Fn = 15Hz)
1543 1/3
------------------ ---------------------
s^2 + 55.5s + 1543 4/3 - exp(-PI*i*f/Fn)
s = 2*PI*i*f
Imaginary = 55.5s Imaginary = -sin(PI*f/Fn)
Real = 1543 + s^2 Real = 4/3 - cos(PI*f/FREQ_N)
f = frequency
delay = tan^-1(Im/Re)
In addition, there is an electrical delay associated with the
A/D conversion of about 1 millisecond. This delay is converted
to an angle using the instantaneous spin frequency. These 3
sources of delay are then summed in to the quantity 'delay' and
then the despinning matrix becomes:
(Bx) ( cos(theta - phase) -sin(theta - phase) 0 ) (Bxs)
(By) = ( sin(theta - phase) cos(theta - phase) 0 ) (Bys)
(Bz) ( 0 0 1 ) (Bzs)
In order to create the processed VSO dataset the following
procedure was used.
Data are transformed to geophysical coordinates: Data are
transformed from inertial rotor coordinates to the Earth Mean
Equatorial (equinox 1950) coordinate system. This system is
directly supported by the SPICE software provided by the
Navigation and Ancillary Information Facility (NAIF) at JPL as
inertial coordinate system 'FK4'. The angles required for this
transformation come directly from the Galileo Attitude and
Articulation Control System (AACS) data. The transformation
matrix for this rotation is:
-- --
|(cosTsinDcosR - sinTsinR) (-sinDsinTcosR - cosTsinR) cosDcosR|
| |
|(cosTsinDsinR + sinTcosR) (-sinDsinTsinR + cosTcosR) cosDsinR|
| |
|-cosDcosT sinTcosD sinD |
-- --
where
R = Rotor-Right Ascension
D = Rotor-Declination
T = Rotor-Twist - Rotor-Spin-angle (despun data)
6) Once in an inertial coordinate system, SPICE software provides
the subroutine which returns the transformation matrix to VSO
(G_GSETRN) The spacecraft/planet (SPK) , leap second (TS), and
planetary constants (PCK) kernels required for these
transformations have been archived in the PDS by NAIF. These
SPICE kernels are available on the CD_ROM which contains the
magnetometer data. The SPICE toolkit (software) can be obtained
from the NAIF node of the PDS for many different platforms and
operating systems.
|
DATA_SET_RELEASE_DATE |
1994-01-01T00:00:00.000Z
|
START_TIME |
1990-02-09T03:07:40.000Z
|
STOP_TIME |
1990-02-10T08:34:40.000Z
|
MISSION_NAME |
GALILEO
|
MISSION_START_DATE |
1977-10-01T12:00:00.000Z
|
MISSION_STOP_DATE |
2003-09-21T12:00:00.000Z
|
TARGET_NAME |
VENUS
|
TARGET_TYPE |
PLANET
|
INSTRUMENT_HOST_ID |
GO
|
INSTRUMENT_NAME |
TRIAXIAL FLUXGATE MAGNETOMETER
|
INSTRUMENT_ID |
MAG
|
INSTRUMENT_TYPE |
MAGNETOMETER
|
NODE_NAME |
Planetary Plasma Interactions
|
ARCHIVE_STATUS |
ARCHIVED
|
CONFIDENCE_LEVEL_NOTE |
Confidence Level Overview
=========================
The sources of error which are the most significant are those
associated with magnetic sources aboard the spacecraft, especially
those with temporal or spacecraft orientation variations. The next
greatest contributor of error is the data from the AACS which
affects our knowledge of the spacecraft orientation and hence
rotates the magnetic field vector. Lastly, telemetry or software
errors which produce 'spikes' or bit errors in the data are error
sources.
In regions where the magnetic sources associated with the spacecraft
are fairly constant, magnetic interference is probably reduced by
data processing to better than 0.05 nT at the inboard sensors. In
these same regions, sensor zero levels (offsets) are known equally
well. The data processing software does a fairly good job of
removing all currently identified sources of magnetic interference.
However, there are some time intervals when the zero levels of the
spin plane sensors show large variations (1-5 nT) on short time
scales (minutes to hours). After a while (hours usually) the offsets
return to their nominal levels. The source of these magnetic fields
has not yet been identified. The method of removing offsets from the
spin plane sensors does remove these effects, but the method of
determining the spin axis aligned sensor offsets does not. In
regions where large variations are detected in the spin plane
sensors it is reasonable to assume that similar variations are
taking place in the spin axis aligned sensor. Rapid variations in
the sensor zero levels were detected during the interval between Feb
10, 05:40 through 08:30. These data have been excluded from this
dataset for that reason.
Our data processing software creates a data quality flag (dqf) which
is an assessment of AACS and telemetry error source contamination of
a given data point. This number is binary integer where each bit
indicates the presence or absence of some error source. The number 0
represents the absence of all error sources which are tested. The
higher order bit (larger number) error sources are considered to be
more significant error sources. Data are examined for gradients in
the field which might be associated with telemetry bit errors, for
regions of bad AACS angles, and for completely missing data. If the
error is considered completely unrecoverable, the data values are
replaced with a missing data flag. In the case of a flag in the
rotor spin angle, the vector components may be flagged but the
magnitude is still valid. Here is a list of all of the error checks
and the bits they set in the dqf field.
DQF_GOOD_DATA 0 Good data
DQF_BX_GRAD_WARNING 2^0 Component gradient warning
DQF_BY_GRAD_WARNING 2^1 Component gradient warning
DQF_BZ_GRAD_WARNING 2^2 Component gradient warning
DQF_INTERP_ROTATTR 2^3 Missing rotor RA interpolated
DQF_INTERP_ROTATTD 2^4 Missing rotor DEC interpolated
DQF_INTERP_SPINDELT 2^5 Missing rotor Spin Delta
interpolated
DQF_INTERP_SCRELCON 2^6 Missing Relative Cone angle
interpolated
DQF_INTERP_SCRELCLK 2^7 Missing Relative Clock angle
interpolated
DQF_INTERP_ROTATTT 2^8 Missing rotor Twist interpolated
DQF_INTERP_SPINANGL 2^9 Missing rotor Spin interpolated
DQF_ROTATTR_FLAG 2^10 Missing rotor RA flagged
DQF_ROTATTD_FLAG 2^11 Missing rotor DEC flagged
DQF_SPINDELT_FLAG 2^12 Missing rotor Spin Delta flagged
DQF_SCRELCON_FLAG 2^13 Missing Relative Cone angle flagged
DQF_SCRELCLK_FLAG 2^14 Missing Relative Clock angle
flagged
DQF_ROTATTT_FLAG 2^15 Missing rotor Twist flagged
DQF_AACS_TELEMETRY_HIT_FLAG 2^16 Telemetry hit in AACS record
DQF_MAG_TELEMETRY_HIT_FLAG 2^17 Telemetry hit in mag record
DQF_SPINANGL_FLAG 2^18 Missing rotor Spin flagged
DQF_BX_GRAD_ERROR 2^25 Component gradient error
DQF_BY_GRAD_ERROR 2^26 Component gradient error
DQF_BZ_GRAD_ERROR 2^27 Component gradient error
DQF_BX_FLAG 2^28 Component flagged
DQF_BY_FLAG 2^29 Component flagged
DQF_BZ_FLAG 2^30 Component flagged
Magnetic field gradient warning or error levels are set during the
data processing according to expected variances depending on the
region of space. In the solar wind, gradient warnings are usually
issued at gradients of 10 nT/sec and errors at 15 nT/sec. In the
magnetosheath, these values may be 50 percent larger. In the inner
magnetosphere, these dqf flags may be completely turned off.
Similarly, AACS angles are interpolated across gaps during the
processing if the gap length is relatively short (less than 10
minutes typically). If the gaps in spacecraft attitude are long, the
AACS angles are flagged and not interpolated.
Errors associated with AACS angles have various effects on the data.
The rotor right ascension and declination are crucial to the
understanding of the spacecraft orientation. Fortunately, these
angles are slowly varying and can be interpolated to better than 1
degree of accuracy for long (many hour) time periods except near
major spacecraft maneuvers. The relative clock and cone angles are
used to remove scan platform interference. In their absence, no
interference is removed (+/- 0.15 nT error possible in each
component). The rotor motion spin delta is used to determine the
instantaneous spin frequency for the phase delay computation. In its
absence, the last known phase delay is applied to the current data
point. The rotor spin angle and twist angle must be present in order
to despin the data. These angles are generally not interpolated for
more than ten minutes because the rotor spin period drifts over time
periods on this order.
|
CITATION_DESCRIPTION |
Kivelson, M.G., Khurana, K.K.,
Russell, C.T., Walker, R.J., Joy, S.P.,Green, J.,
GALILEO ORBITER V MAG RDR VENUS HIGH RES V1.0,
GO-V-MAG-3-RDR-VENUS-HIGH-RES-V1.0, NASA Planetary Data System, 1994
|
ABSTRACT_TEXT |
Galileo Orbiter Magnetometer (MAG) calibrated high-resolution data
from the Venus flyby in spacecraft, VSO coordinates. These data
cover the interval 1990-02-09 03:07 to 1990-02-10 08:34.
|
PRODUCER_FULL_NAME |
STEVEN P. JOY
|
SEARCH/ACCESS DATA |
Planetary Plasma Interactions Website
|
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