Saturn Satellites as Seen by Cassini Mission

In this paper we will summarize some of the most important results of the Cassini mission concerning the satellites of Saturn. The Cassini Mission was launched in October 1997 on a Titan IV-Centaur rocket from Cape Canaveral. Cassini mission was always at risk of cancelation during its development but was saved many times thanks to the great international involvement. The Cassini mission is in fact a NASA-ESA-ASI project. The main effort was made by NASA, which provided the launch facilities, the integration and several instruments; ESA provided the Huygens probe while ASI some of the key elements of the mission such as the high-gain antenna, most of the radio system and important instruments of the Orbiter, such as the Cassini Radar and the visual channel of the VIMS experiment. ASI contributed also to the development of HASI experiment on Huygens probe. The Cassini mission was the first case in which the Italian planetology community was directly involved, developing state of the art hardware for a NASA mission. Given the long duration of the mission, the complexity of the payload onboard the Cassini Orbiter and the amount of data gathered on the satellites of Saturn, it would be impossible to describe all the new discoveries made, therefore we will describe only some selected, paramount examples showing how Cassini’s data confirmed and extended ground-based observations. In particular we will describe the achievements obtained for the satellites Phoebe, Enceladus and Titan. We will also put these examples in the perspective of the overall evolution of the system, stressing out why the selected satellites are representative of the overall evolution of the Saturn system. Cassini is also an example of how powerful could be the coordination between ground-based and space observations. In fact coordinated ground-based observations of Titan were performed at the time of Huygens atmospheric probe mission at Titan on 14 January 2005, connecting the in situ observations by the probe with the general view provided by ground-based measurements. Different telescopes operating at different wavelengths were used, including radio telescopes (up to 17-tracking of the Huygens signal at 2040 MHz), eight large optical observatories studying the atmosphere and surface of Titan, and high-resolution infrared spectroscopy used to observe radiation emitted during the Huygens Probe entry (Witasse et al. J. Geophys. Res. 111:E07S01, 2006).     

The Huygens Probe Descent Trajectory Working Group: Organizational framework,goals, and implementation

Cassini/Huygens, a flagship mission to explore the rings, atmosphere, magnetic field, and moons that make up the Saturn system, is a joint endeavor of the National Aeronautics and Space Administration, the European Space Agency, and Agenzia Spaziale Italiana. Comprising two spacecraft—a Saturn orbiter built by NASA and a Titan entry/descent probe built by the European Space Agency—Cassini/Huygens was launched in October 1997. The Huygens probe parachuted to the surface of Titan in January 2005. During the descent, six science instruments provided in situ measurements of Titan's atmosphere, clouds, and winds, and photographed Titan's surface. To correctly interpret and correlate results from the probe science experiments, and to provide a reference set of data for ground-truth calibration of orbiter remote sensing measurements, an accurate reconstruction of the probe entry and descent trajectory and surface landing location is necessary. The Huygens Descent Trajectory Working Group was chartered in 1996 as a subgroup of the Huygens Science Working Team to develop and implement an organizational framework and retrieval methodologies for the probe descent trajectory reconstruction from the entry altitude of 1270 km to the surface using navigation data, and engineering and science data acquired by the instruments on the Huygens Probe. This paper presents an overview of the Descent Trajectory Working Group, including the history, rationale, goals and objectives, organizational framework, rules and procedures, and implementation.     

Earth-Based Support for the Titan Saturn System Mission

The Titan Saturn System Mission (TSSM) concept is composed of a TSSM orbiter provided by NASA that would carry two Titan in situ elements provided by ESA: the montgolfière and the probe/lake lander. One overarching goal of TSSM is to explore in situ the atmosphere and surface of Titan. The mission has been prioritized as the second Outer Planets Flagship Mission, the first one being the Europa Jupiter System Mission (EJSM). TSSM would launch around 2023–2025 arriving at Saturn 9 years later followed by a 4-year science mission in the Saturn system. Following delivery of the in situ elements to Titan, the TSSM orbiter would explore the Saturn system via a 2-year tour that includes Enceladus and Titan flybys before entering into a dedicated orbit around Titan. The Titan montgolfière aerial vehicle under consideration will circumnavigate Titan at a latitude of ~20° and at altitudes of ~10 km for a minimum of 6 months. The probe/lake lander will descend through Titan’s atmosphere and land on the liquid surface of Kraken Mare (~75° north latitude). As for any planetary space science mission, and based on the Cassini–Huygens experience, Earth-based observations will be synergistic and enable scientific optimization of the return of such a mission. Some specific examples of how this can be achieved (through VLBI and Doppler tracking, continuous monitoring of atmospheric and surface features, and Direct-to-Earth transmission) are described in this paper.     

Huygens probe entry and descent trajectory analysis and reconstruction techniques

Cassini/Huygens is a joint National Aeronautics and Space Administration (NASA)/European Space Agency (ESA)/Agenzia Spaziale Italiana (ASI) mission on its way to explore the Saturnian system. The ESA Huygens Probe is scheduled to be released from the Orbiter on 25 December 2004 and enter the atmosphere of Titan on 14 January 2005. Probe delivery to Titan, arbitrarily defined to occur at a reference altitude of 1270 km above the surface of Titan, is the responsibility of the NASA Jet Propulsion Laboratory (JPL). ESA is then responsible for safely delivering the probe from the reference altitude to the surface. The task of reconstructing the probe trajectory and attitude from the entry point to the surface has been assigned to the Huygens Descent Trajectory Working Group (DTWG), a subgroup of the Huygens Science Working Team. The DTWG will use data provided by the Huygens Probe engineering subsystems and selected data sets acquired by the scientific payload. To correctly interpret and correlate results from the probe science experiments and to provide a reference set of data for possible “ground-truthing” Orbiter remote sensing measurements, it is essential that the trajectory reconstruction be performed as early as possible in the post-flight data analysis phase. The reconstruction of the Huygens entry and descent trajectory will be based primarily on the probe entry state vector provided by the Cassini Navigation Team, and measurements of acceleration, pressure, and temperature made by the Huygens Atmospheric Structure Instrument (HASI). Other data sets contributing to the entry and descent trajectory reconstruction include the mean molecular weight of the atmosphere measured by the probe Gas Chromatograph/Mass Spectrometer (GCMS) in the upper atmosphere and the Surface Science Package (SSP) speed of sound measurement in the lower atmosphere, accelerations measured by the Central and Radial Accelerometer Sensor Units (CASU/RASU), and the probe altitude by the two probe radar altimeters during the latter stages of the descent. In the last several hundred meters, the altitude determination will be constrained by measurements from the SSP acoustic sounder. Other instruments contributing data to the entry and descent trajectory and attitude determination include measurements of the zonal wind drift by the Doppler Wind Experiment (DWE), and probe zonal and meridional drift and probe attitude by the Descent Imager and Spectral Radiometer (DISR). In this paper, the need for and the methods by which the Huygens Probe entry and descent trajectory will be reconstructed are reviewed.     

THE ATMOSPHERES OF SATURN AND TITAN IN THE NEAR-INFRARED: FIRST RESULTS OF CASSINI/VIMS

The wide spectral coverage and extensive spatial, temporal, and phase-angle mapping capabilities of the Visual Infrared Mapping Spectrometer (VIMS) onboard the Cassini-Huygens Orbiter are producing fundamental new insights into the nature of the atmospheres of Saturn and Titan. For both bodies, VIMS maps over time and solar phase angles provide information for a multitude of atmospheric constituents and aerosol layers, providing new insights into atmospheric structure and dynamical and chemical processes. For Saturn, salient early results include evidence for phosphine depletion in relatively dark and less cloudy belts at temperate and mid-latitudes compared to the relatively bright and cloudier Equatorial Region, consistent with traditional theories of belts being regions of relative downwelling. Additional Saturn results include (1) the mapping of enhanced trace gas absorptions at the south pole, and (2) the first high phase-angle, high-spatial-resolution imagery of CH₄ fluorescence. An additional fundamental new result is the first nighttime near-infrared mapping of Saturn, clearly showing discrete meteorological features relatively deep in the atmosphere beneath the planet’s sunlit haze and cloud layers, thus revealing a new dynamical regime at depth where vertical dynamics is relatively more important than zonal dynamics in determining cloud morphology. Zonal wind measurements at deeper levels than previously available are achieved by tracking these features over multiple days, thereby providing measurements of zonal wind shears within Saturn’s troposphere when compared to cloudtop movements measured in reflected sunlight. For Titan, initial results include (1) the first detection and mapping of thermal emission spectra of CO, CO₂, and CH₃D on Titan’s nightside limb, (2) the mapping of CH₄ fluorescence over the dayside bright limb, extending to ∼ ∼750 km altitude, (3) wind measurements of ∼ ∼0.5 ms⁻¹, favoring prograde, from the movement of a persistent (multiple months) south polar cloud near 88° S latitude, and (4) the imaging of two transient mid-southern-latitude cloud features.     

Analytic theory of Titan’s Schumann resonance: Constraints on ionospheric conductivity and buried water ocean

This study presents an approximate model for the atypical Schumann resonance in Titan’s atmosphere that accounts for the observations of electromagnetic waves and the measurements of atmospheric conductivity performed with the Huygens Atmospheric Structure and Permittivity, Wave and Altimetry (HASI–PWA) instrumentation during the descent of the Huygens Probe through Titan’s atmosphere in January 2005. After many years of thorough analyses of the collected data, several arguments enable us to claim that the Extremely Low Frequency (ELF) wave observed at around 36 Hz displays all the characteristics of the second harmonic of a Schumann resonance. On Earth, this phenomenon is well known to be triggered by lightning activity. Given the lack of evidence of any thunderstorm activity on Titan, we proposed in early works a model based on an alternative powering mechanism involving the electric current sheets induced in Titan’s ionosphere by the Saturn’s magnetospheric plasma flow. The present study is a further step in improving the initial model and corroborating our preliminary assessments. We first develop an analytic theory of the guided modes that appear to be the most suitable for sustaining Schumann resonances in Titan’s atmosphere. We then introduce the characteristics of the Huygens electric field measurements in the equations, in order to constrain the physical parameters of the resonating cavity. The latter is assumed to be made of different structures distributed between an upper boundary, presumably made of a succession of thin ionized layers of stratospheric aerosols spread up to 150 km and a lower quasi-perfect conductive surface hidden beneath the non-conductive ground. The inner reflecting boundary is proposed to be a buried water–ammonia ocean lying at a likely depth of 55–80 km below a dielectric icy crust. Such estimate is found to comply with models suggesting that the internal heat could be transferred upwards by thermal conduction of the crust, while convective processes cannot be ruled out.     

A new numerical model for the simulation of ELF wave propagation and the computation of eigenmodes in the atmosphere of Titan: Did Huygens observe any Schumann resonance?

The propagation of extremely low frequency (ELF) electromagnetic waves in the Earth's ionospheric cavity and the associated resonance phenomena have been extensively studied, in relation with lightning activity. We perform a similar investigation for Titan, the largest moon of Saturn. There are important differences between Earth and Titan, as far as the cavity geometry, the atmospheric electron density profile, and the surface conductivity are concerned. We present an improved 3D finite element model that provides an estimate of the lowest eigenfrequencies, associated quality factors (Q-factors), and ELF electric field spectra. The data collected by the electric antenna of the Permittivity, Waves, and Altimetry (PWA) instrument reveals the existence of a narrow-band signal at about 36 Hz during the entire descent of Huygens upon Titan. We assess the significance of these measurements against the model predictions, with due consideration to the experimental uncertainties.     

Simulation and analysis of the revised Huygens probe entry and descent trajectory and radio link modelling

The Cassini spacecraft will arrive at Saturn in 2004 carrying the Huygens probe. The beginning of the Cassini tour at Saturn has been redesigned to achieve a different relative orbiter/probe geometry in order to compensate for the probe relay receiver design flaw that was discovered during tests in February 2000. This paper presents a numerical simulation of the Huygens atmospheric entry and descent trajectory and the Cassini flyby trajectory during the probe mission. A variety of parameters that are crucial for the probe system and its scientific payload have been calculated and analyzed together with an assessment of their uncertainties. Furthermore the orbiter/probe relay link was simulated in order to assess any potential data loss on the basis of an analytical model of the actual Huygens receiver onboard the Cassini spacecraft. The redesigned Cassini/Huygens mission satisfies all science and engineering requirements and assures the best possible radio link for the entire nominal mission duration.     

Descent motions of the Huygens probe as measured by the Surface Science Package (SSP): Turbulent evidence for a cloud layer

The Huygens probe underwent vigorous short-period motions during its parachute descent through the atmosphere of Saturn's moon Titan in January 2005, at least some of which were excited by the Titan environment. Several sensors in the Huygens Surface Science Package (SSP) detect these motions, indicating the transition to the smaller stabilizer parachute, the changing probe spin rate, aerodynamic buffeting, and pendulum motions. Notably, in an altitude range of about 20–30 km where methane drops will freeze, the frequency content and statistical kurtosis of the tilt data indicate excitation by turbulent air motions like those observed in freezing clouds on Earth, supporting the suggestion of Tokano et al. [Tokano, T., McKay, C.P., Neubauer, F.M., Atreya, S.K., Ferri, F., Fulchignoni, M., Niemann, H.B. (2006a). Methane drizzle on Titan. Nature 442, 432–435] that the probe passed through such a cloud layer. Motions are weak below 20 km, suggesting a quiescent lower atmosphere with turbulent fluctuations of nominally <0.15 m/s (to within a factor of ∼2) but more violent motions in the upper troposphere may have been excited by turbulent winds with amplitudes of 1–2 m/s. Descent in part of the stratosphere (150–120 km) was smooth despite strong ambient wind (∼100 m/s), but known anomalies in the probe spin prevent investigation of turbulence in the known wind-shear layer from 60 to 100 km.     

High altitude haze: Influence of monomer particles on Titan’s temperature profile

The present study investigates the role of high altitude monomer particles in the energy balance of Titan’s upper atmosphere above an assumed low and high aggregate formation altitude of 385 km and 535 km. A ‘single particle approach’ was applied, where the starting point is the energy balance of an individual aerosol. In our analysis 0.01–0.06 μm radius aerosol particles were chosen for the proposed monomer formation regions. These particles absorb solar radiation, emit in the infrared, and are energetically linked to the surrounding gas by thermal conduction. To compute the monomer particle heating effect, the aerosols are assumed to radiate directly to space. We found that high altitude monomers may affect the profile of Titan’s thermosphere from 2 to 20 K depending on the formation altitude of fluffy non-spherical aggregates, the monomer size and distribution. The actual Titan temperature profile in this altitude range including all heating effects will be measured by the HASI instrument during the descent of the Huygens probe.     

Penetrometry of granular and moist planetary surface materials: Application to the Huygens landing site on Titan

The Huygens probe landed on the then unknown surface of Titan in January 2005. A small, protruding penetrometer, part of the Surface Science Package (SSP), was pushed into the surface material measuring the mechanical resistance of the ground as the probe impacted the landing site. We present laboratory penetrometry into room temperature surface analogue materials using a replica penetrometer to investigate further the nature of Titan’s surface and examine the sensor’s capabilities. The results are then compared to the flight instrument’s signature and suggest the Titan surface substrate material consists of sand-sized particles with a mean grain size ～2 mm. A possible thin 7 mm coating with mechanical properties similar to terrestrial snow may overlie this substrate, although due to the limited data we are unable to detect any further layering or grading within the near-surface material. The unusual weakening with depth of the signature returned from Titan has, to date, only been reproduced using a damp sand target that becomes progressively wetter with depth, and supports the suggestion that the surface may consist of a damp and cohesive material with interstitial liquid contained between its grains. Comparison with terrestrial analogues highlights the unusual nature of the landing site material.     

Cassini-Huygens results on Titan's surface

Our understanding of Titan, Saturn's largest satellite, has recently been consid-erably enhanced, thanks to the Cassini-Huygens mission. Since the Saturn Orbit Injection in July 2004, the probe has been harvesting new insights of the Kronian system. In par-ticular, this mission orchestrated a climax on January 14, 2005 with the descent of the Huygens probe into Titan's thick atmosphere. The orbiter and the lander have provided us with picturesque views of extraterrestrial landscapes, new in composition but reassuringly Earth-like in shape. Thus, Saturn's largest satellite displays chains of mountains, fields of dark and damp dunes, lakes and possibly geologic activity. As on Earth, landscapes on Titan are eroded and modeled by some alien hydrology: dendritic systems, hydrocarbon lakes, and methane clouds imply periods of heavy rainfalls, even though rain was never observed directly. Titan's surface also proved to be geologically active - today or in the recent past - given the small number of impact craters listed to date, as well as a few possible cryovolcanic features. We attempt hereafter a synthesis of the most significant results of the Cassini-Huygens endeavor, with emphasis on the surface.     

TandEM: Titan and Enceladus mission

TandEM was proposed as an L-class (large) mission in response to ESA’s Cosmic Vision 2015–2025 Call, and accepted for further studies, with the goal of exploring Titan and Enceladus. The mission concept is to perform in situ investigations of two worlds tied together by location and properties, whose remarkable natures have been partly revealed by the ongoing Cassini–Huygens mission. These bodies still hold mysteries requiring a complete exploration using a variety of vehicles and instruments. TandEM is an ambitious mission because its targets are two of the most exciting and challenging bodies in the Solar System. It is designed to build on but exceed the scientific and technological accomplishments of the Cassini–Huygens mission, exploring Titan and Enceladus in ways that are not currently possible (full close-up and in situ coverage over long periods of time). In the current mission architecture, TandEM proposes to deliver two medium-sized spacecraft to the Saturnian system. One spacecraft would be an orbiter with a large host of instruments which would perform several Enceladus flybys and deliver penetrators to its surface before going into a dedicated orbit around Titan alone, while the other spacecraft would carry the Titan in situ investigation components, i.e. a hot-air balloon (Montgolfière) and possibly several landing probes to be delivered through the atmosphere.     

A fast tour design method using non-tangent v-infinity leveraging transfer

The announced missions to the Saturn and Jupiter systems renewed the space community interest in simple design methods for gravity assist tours at planetary moons. A key element in such trajectories are the V-Infinity Leveraging Transfers (VILT) which link simple impulsive maneuvers with two consecutive gravity assists at the same moon. VILTs typically include a tangent impulsive maneuver close to an apse location, yielding to a desired change in the excess velocity relative to the moon. In this paper we study the VILT solution space and derive a linear approximation which greatly simplifies the computation of the transfers, and is amenable to broad global searches. Using this approximation, Tisserand graphs, and heuristic optimization procedure we introduce a fast design method for multiple-VILT tours. We use this method to design a trajectory from a highly eccentric orbit around Saturn to a 200-km science orbit at Enceladus. The trajectory is then recomputed removing the linear approximation, showing a Δv change of <4%. The trajectory is 2.7 years long and comprises 52 gravity assists at Titan, Rhea, Dione, Tethys, and Enceladus, and several deterministic maneuvers. Total Δv is only 445 m/s, including the Enceladus orbit insertion, almost 10 times better then the 3.9 km/s of the Enceladus orbit insertion from the Titan–Enceladus Hohmann transfer. The new method and demonstrated results enable a new class of missions that tour and ultimately orbit small mass moons. Such missions were previously considered infeasible due to flight time and Δv constraints.     

Heat balance in Titan's atmosphere

The recent measurements of the vertical distribution and optical properties of haze aerosols as well as of the absorption coefficients for methane at long paths and cold temperatures by the Huygens entry probe of Titan permit the computation of the solar heating rate on Titan with greater certainty than heretofore. We use the haze model derived from the Descent Imager/Spectral Radiometer (DISR) instrument on the Huygens probe [Tomasko, M.G., Doose, L., Engel, S., Dafoe, L.E., West, R., Lemmon, M., Karkoschka, E., See, C., 2008a. A model of Titan's aerosols based on measurements made inside the atmosphere. Planet. Space Sci., this issue, doi:10.1016/j.pss.2007.11.019] to evaluate the variation in solar heating rate with altitude and solar zenith angle in Titan's atmosphere. We find the disk-averaged solar energy deposition profile to be in remarkably good agreement with earlier estimates using very different aerosol distributions and optical properties. We also evaluated the radiative cooling rate using measurements of the thermal emission spectrum by the Cassini Composite Infrared Spectrometer (CIRS) around the latitude of the Huygens site. The thermal flux was calculated as a function of altitude using temperature, gas, and haze profiles derived from Huygens and Cassini/CIRS data. We find that the cooling rate profile is in good agreement with the solar heating profile averaged over the planet if the haze structure is assumed the same at all latitudes. We also computed the solar energy deposition profile at the 10°S latitude of the probe-landing site averaged over one Titan day. We find that some 80% of the sunlight that strikes the top of the atmosphere at this latitude is absorbed in all, with 60% of the incident solar energy absorbed below 150 km, 40% below 80 km, and 11% at the surface at the time of the Huygens landing near the beginning of summer in the southern hemisphere. We compare the radiative cooling rate with the solar heating rate near the Huygens landing site averaging over all longitudes. At this location, we find that the solar heating rate exceeds the radiative cooling rate by a maximum of 0.5 K/Titan day near 120 km altitude and decreases strongly above and below this altitude. Since there is no evidence that the temperature structure at this latitude is changing, the general circulation must redistribute this heat to higher latitudes.     

A review of Titan’s atmospheric phenomena

Saturn’s satellite Titan is a particularly interesting body in our solar system. It is the only satellite with a dense atmosphere, which is primarily made of nitrogen and methane. It harbours an intricate photochemistry, that populates the atmosphere with aerosols, but that should deplete irreversibly the methane. The observation that methane is not depleted led to the study of Titan’s methane cycle, starting with its atmospheric part. The features that inhabit Titan’s atmosphere can last for timescales varying from year to day. For instance, the reversal of the north–south asymmetry is linked to the 16-year seasonal cycle. Diurnal phenomena have also been observed, like a stratospheric haze enhancement or a possible tropospheric drizzle. Furthermore, clouds have been reported on Titan since 1993. From these first detections and up to now, with the recent inputs from the Cassini–Huygens mission, clouds have displayed a large range of shapes, altitudes, and natures, from the flocky tropospheric clouds at the south pole to the stratiform ones in the northern stratosphere. It is still difficult to compose a clear picture of the physical processes governing these phenomena, even though of lot of different means of observation (spectroscopy, imaging) are available now. We propose here an overview of the phenomena reported between 1993 and 2008 in the low atmosphere of Titan, with indications on the location, altitude, and their characteristics in order to give a perspective of our up-to-date understanding of Titan’s meteorological manifestations. We shall focus mainly on direct imaging observations, from both space- and ground-based facilities. All of these observations, published in more than 30 different refereed papers to date, allow us to build a precise chronology of Titan’s atmospheric changes (including the north–south asymmetry, diurnal and seasonal effects, etc). Since the interpretation is at an early stage, we only briefly mention some of the current theories regarding the features’ nature.     

Electron conductivity and density profiles derived from the mutual impedance probe measurements performed during the descent of Huygens through the atmosphere of Titan

During the descent of the Huygens probe through the atmosphere of Titan, on January 14th, 2005, the permittivity, waves and altimetry (PWA) subsystem, a component of the Huygens atmospheric structure instrument (HASI), detected an ionized layer at altitudes around 63 km with two different instruments, the relaxation probe (RP) and the mutual impedance probe (MIP). A very detailed analysis of both data sets is required, in order to correct for environmental effects and compare the two independent estimates of the electrical conductivity. The present work is dedicated to the MIP data analysis. New laboratory tests have been performed to validate or improve the available calibration results. Temperature effects have been included and numerical models of the MIP sensors and electric circuitry have been developed to take into account the proximity of the Huygens probe body. The effect of the vertical motion of the vessel in the ionized atmosphere is estimated in both analytical and numerical ways. The peculiar performance of the instrument in the altitude range 100–140 km is scrutinized. The existence of a prominent ionized layer, and of enhancements in the conductivity and electron density profiles at 63 km, are discussed in the light of previous theoretical predictions.