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).     

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.     

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.     

Results from the Huygens probe on Titan

The Cassini–Huygens mission, comprising the NASA Saturn Orbiter and the ESA Huygens Probe, arrived at Saturn in late June 2004. The Huygens probe descended under parachute in Titan’s atmosphere on 14 January 2005, 3 weeks after separation from the Orbiter. We discuss here the breakthroughs that the Huygens probe, in conjunction with the Cassini spacecraft, brought to Titan science. We review the achievements ESA’s Huygens probe put forward and the context in which it operated. The findings include new localized information on several aspects of Titan science: the atmospheric structure and chemical composition; the aerosols distribution and content; the surface morphology and composition at the probe’s landing site; the winds, the electrical properties, and the implications on the origin and evolution of the satellite.     

Huygens’ entry and descent through Titan's atmosphere—Methodology and results of the trajectory reconstruction

The European Space Agency's Huygens probe separated from the NASA Cassini spacecraft on 25 December 2004, after having been attached for a 7-year interplanetary journey and three orbits around Saturn. The probe reached the predefined NASA/ESA interface point on 14 January 2005 at 09:05:52.523 (UTC) and performed a successful entry and descent sequence. The probe softly impacted on Titan's surface on the same day at 11:38:10.77 (UTC) with a speed of about 4.54 m/s. The probe entry and descent trajectory was reconstructed from the estimated initial state vector provided by the Cassini Navigation team, the probe housekeeping data, and measurements from the scientific payload. This paper presents the methodology and discuss the results of the reconstruction effort. Furthermore the probe roll rate was reconstructed prior to the main entry phase deceleration pulse and throughout the entire descent phase under the main and drogue parachute.     

Odyssey: a solar system mission

The Solar System Odyssey mission uses modern-day high-precision experimental techniques to test the laws of fundamental physics which determine dynamics in the solar system. It could lead to major discoveries by using demonstrated technologies and could be flown within the Cosmic Vision time frame. The mission proposes to perform a set of precision gravitation experiments from the vicinity of Earth to the outer Solar System. Its scientific objectives can be summarized as follows: (1) test of the gravity force law in the Solar System up to and beyond the orbit of Saturn; (2) precise investigation of navigation anomalies at the fly-bys; (3) measurement of Eddington’s parameter at occultations; (4) mapping of gravity field in the outer solar system and study of the Kuiper belt. To this aim, the Odyssey mission is built up on a main spacecraft, designed to fly up to 13 AU, with the following components: (a) a high-precision accelerometer, with bias-rejection system, measuring the deviation of the trajectory from the geodesics, that is also giving gravitational forces; (b) Ka-band transponders, as for Cassini, for a precise range and Doppler measurement up to 13 AU, with additional VLBI equipment; (c) optional laser equipment, which would allow one to improve the range and Doppler measurement, resulting in particular in an improved measurement (with respect to Cassini) of the Eddington’s parameter. In this baseline concept, the main spacecraft is designed to operate beyond the Saturn orbit, up to 13 AU. It experiences multiple planetary fly-bys at Earth, Mars or Venus, and Jupiter. The cruise and fly-by phases allow the mission to achieve its baseline scientific objectives [(1) to (3) in the above list]. In addition to this baseline concept, the Odyssey mission proposes the release of the Enigma radio-beacon at Saturn, allowing one to extend the deep space gravity test up to at least 50 AU, while achieving the scientific objective of a mapping of gravity field in the outer Solar System [(4) in the above list].      

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.     

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.     

Huygens Probe descent dynamics inferred from Channel B signal level measurements

The signal strength of the Huygens Probe Channel B transmission to the Cassini Orbiter was monitored during the Probe descent through Titan's atmosphere on 14 January 2005. A model of the Probe motion during the mission was constructed to include Probe spin, coning motion and tilt caused by varying wind speeds. This simple model is sufficient to reproduce the most prominent features seen in the signal level measurements. It provides estimates of the coning and tilt angles as well as the direction of the Huygens coordinate axes over extended time intervals in the mission.     

Cassini/VIMS hyperspectral observations of the HUYGENS landing site on Titan

Titan is one of the primary scientific objectives of the NASA–ESA–ASI Cassini–Huygens mission. Scattering by haze particles in Titan's atmosphere and numerous methane absorptions dramatically veil Titan's surface in the visible range, though it can be studied more easily in some narrow infrared windows. The Visual and Infrared Mapping Spectrometer (VIMS) instrument onboard the Cassini spacecraft successfully imaged its surface in the atmospheric windows, taking hyperspectral images in the range 0.4–5.2 μm. On 26 October (TA flyby) and 13 December 2004 (TB flyby), the Cassini–Huygens mission flew over Titan at an altitude lower than 1200 km at closest approach. We report here on the analysis of VIMS images of the Huygens landing site acquired at TA and TB, with a spatial resolution ranging from 16 to14.4 km/pixel. The pure atmospheric backscattering component is corrected by using both an empirical method and a first-order theoretical model. Both approaches provide consistent results. After the removal of scattering, ratio images reveal subtle surface heterogeneities. A particularly contrasted structure appears in ratio images involving the 1.59 and 2.03 μm images north of the Huygens landing site. Although pure water ice cannot be the only component exposed at Titan's surface, this area is consistent with a local enrichment in exposed water ice and seems to be consistent with DISR/Huygens images and spectra interpretations. The images show also a morphological structure that can be interpreted as a 150 km diameter impact crater with a central peak.     

Giant magnetospheres in our solar system: Jupiter and Saturn compared

We review the current knowledge about the two biggest magnetospheres in our solar system based on the significant progress made with data from the Cassini spacecraft in orbit around Saturn since 2004, and based on the last mission to Jupiter by the Galileo spacecraft between 1995 and 2003. In addition we take into account new observations of the Hubble Space Telescope and other telescopes as well as the latest computer simulation efforts.     

Coupling photochemistry with haze formation in Titan's atmosphere, Part II: Results and validation with Cassini/Huygens data

The new one-dimensional radiative-convective/photochemical/microphysical model described in Part I is applied to the study of Titan's atmospheric processes that lead to haze formation. Our model generates the haze structure from the gaseous species photochemistry. Model results are presented for the species vertical concentration profiles, haze formation and its radiative properties, vertical temperature/density profiles and geometric albedo. These are validated against Cassini/Huygens observations and other ground-based and space-borne measurements. The model reproduces well most of the latest measurements from the Cassini/Huygens instruments for the chemical composition of Titan's atmosphere and the vertical profiles of the observed species. For the haze production we have included pathways that are based on pure hydrocarbons, pure nitriles and hydrocarbon/nitrile copolymers. From these, the nitrile and copolymer pathways provide the stronger contribution, in agreement with the results from the ACP instrument, which support the incorporation of nitrogen in the pyrolized haze structures. Our haze model reveals a new second major peak in the vertical profile of haze production rate between 500 and 900 km. This peak is produced by the copolymer family used and has important ramifications for the vertical atmospheric temperature profile and geometric albedo. In particular, the existence of this second peak determines the vertical profile of haze extinction. Our model results have been compared with the DISR retrieved haze extinction profiles and are found to be in very good agreement. We have also incorporated in our model heterogeneous chemistry on the haze particles that converts atomic hydrogen to molecular hydrogen. The resultant H₂ profile is closer to the INMS measurements, while the vertical profile of the diacetylene formed is found to be closer to that of the CIRS profile when this heterogenous chemistry is included.     

Saturn lightning recorded by Cassini/RPWS in 2004

During 2004 the Cassini/RPWS (Radio and Plasma Wave Science) instrument recorded about 5400 SEDs (Saturn Electrostatic Discharges), which were organized in 4 storm systems and 95 episodes. A computer algorithm with different intensity thresholds was applied to extract the SEDs from the RPWS data, and a statistical analysis on the main characteristics of these SEDs is performed. Compared to the SEDs recorded by the Voyagers in the early 1980s, some characteristics like SED rate, intensity, signal duration, or power spectrum are similar, but there are also remarkable differences with regard to time occurrence and frequency range: The first appearance of SEDs (storm 0) was recorded by RPWS from a distance of more than 300 Saturn radii at the end of May 2004, followed by storm A in mid-July, storm B at the beginning of August, and the most prominent storm C throughout most of September. There were also significant intervals of time with no detectable SED activity, e.g., SEDs were practically absent from October 2004 until June 2005. No clear indication for SEDs below a frequency of 1.3 MHz could be found. We suggest that the SED storms A, B, C, and possibly also storm 0 originate from the same storm system residing at a latitude of 35° South, which lasted for several months, waxed and waned in strength, and rotated with the Voyager radio period of Saturn. The SED source might be located in the updrafting water clouds beneath the visible cloud features detected in the Cassini images.     

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.     

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.     

An Evolutionary Turbulent Model of Saturn's Subnebula: Implications for the Origin of the Atmosphere of Titan

We have elaborated an evolutionary turbulent model of the subnebula of Saturn derived from that of Dubrulle (1993, Icarus106, 59-76) for the solar nebula, which is valid for a geometrically thin disk. We demonstrate that if carbon and nitrogen were in the form of CO and N₂, respectively, in the early subnebula, these molecules were not subsequently converted into CH₄ and NH₃ during the evolution of the disk, contrary to the current scenario initially proposed by Prinn and Fegley (1981, Astrophys. J., 249, 308-317). However, if the early subnebula contained some CH₄ and NH₃, these gases were not subsequently converted into CO and N₂. We argue that Titan must have been formed from planetesimals migrating from the outer part of the subnebula to the present orbit of the satellite. These planetesimals were relics of those embedded in the feeding zone of Saturn prior to the completion of the planet and contained hydrates of NH₃ and clathrate hydrates of CH₄. It is shown that, for plausible abundances of CH₄ and NH₃ in the solar nebula at 10 AU, the masses of methane and nitrogen trapped in Titan were higher than the estimate of masses of these components in the primitive atmosphere of the satellite. If our scenario is valid and if our turbulent model properly describes the structure and the evolution of the actual subnebula of Saturn, the Xe/C ratio should be six times higher in Titan's atmosphere today than in the Sun, while the current scenario would probably result in a quasi solar Xe/C ratio. The mass spectrometer and gas chromatograph instrument aboard the Huygens Titan probe of the Cassini mission has the capability of measuring this ratio in 2004, thus permitting us to discriminate between the current scenario and the one proposed in this report.