Nimbus I High Resolution Radiation Data Catalog and Users' Manual

NIMBUS I HIGH RESOLUTION RADIATION DATA CATALOG AND USERS’ MANUAL

Volume 2 Nimbus Meteorological Radiation Tapes - HRlR

BY Staff Members of the Laboratory for Atmospheric and Biological Science Goddard Space Flight Center National Aeronautics and Space Administration

July 15, 1966

FOREWORD

This Volume, "Nimbus Meteorological Radiation Tapes - HRIR, " is the second of two volumes documenting the data from the High Resolution Infrared Radiometer (HRIR) experiment carried on the Nimbus I Meteorological Satellite. Volume I, "Photofacsimile Film Strips ,'' documented essentially the same data before reduction to a format suitable for automatic data processing on a digital c ompu t e r .

It is not feasible to list by name all of the many people who contributed to the success of the HRIR experiment, but their patience and tireless efforts are sincerely appreciated and gratefully acknowledged.

The special purpose equipment used to digitize the analog signal from the HRIR system was designed and constructed by the following members of the Information Processing Division, Goddard Space Flight Center. Mr. V. R. Colburn Mr. A. M. Demmerle Mr. R. L. Gibbs Mr. R. G. Holmes ' Mr. R. C. Lee Mr. P. J. McCeney Mr. R. H. Stagner

The development of computer programs to process digital HRIR data, the preparation of Nimbus Meteorological Radiation Tapes, and the assembling of information into a format suitable for publication were largely accomplished by the following persons.

Laboratory for Atmospheric and Biological Science, Goddard Space Flight Center Mr. W. R. Bandeen Mr. L. Foshee Mr. P. J. Heil Mr. R. T. Hite Mr. W. A. Musial Mr. 8. J. Woolfall

Consultants and Designers, Inc. (Contract No. NAS 5-9245) Mr. J. D. Barksdale Mr. D. A. Heller Mr. R. G. Schreitz Mr. A. F. Simmons Mr. R. N. Sipes

iii ABSTRACT

The Nimbus I Meteorological Satellite contained a High Resolution Infrared Radiometer (HRIR) designed to map nighttime cloud cover and measure surface temperatures from radiation emitted within the 3.5 to 4.1 micron atmospheric window. HRIR data were acquired from a near polar orbit during the period from August 28, 1964 to September 22, 1964, after which a spacecraft malfunction occurred and no usable data were obtained from the sensory subsystems.

This volume contains a discussion of the spacecraft performance, the HRIR subsystem, data acquisition and processing, and documentation of the available data. The successfully reduced data are documented in the "Index of Available Nimbus Meteorological Radiation Tapes - HRIR, " and are available in binary format on digital magnetic tapes.

iv TABLE OF CONTENTS

Page

FOREWORD ...... iii ABST.CT ...... iv I. INTRODUCTION ...... 1 11 . SPACECRAFT PERFORMANCE ...... 4 2.1 General ...... 4 2.2 Stabilization and Attitude Control Subsystems ...... 5 2.3 Telemetry Subsystems ...... 10 111 . HRIR SUBSYSTEM ...... 12 IV . DATA ACQUISITION AND PROCESSING ...... 15 4.1 General ...... 15 4.2 HRIR Analog Signal ...... 15 4.3 Telemetry and Attitude Data ...... 19 4.4 Spacecraft Position ...... 19 4.5 HRIR Data Processing ...... 20

APPENDIX A-Index of Available Nimbus Meteorological Radiation Tapes-HRIR (NMRT.HRIR) ...... 24

APPENDIX B-HRIR Radiometer Calibration ...... 43

APPENDIX C-Geographic Location of HRIR Data ...... 48 APPENDIX D-HRIR Raw Data Tape Format ...... 58

APPENDIX E-Selected Engineering Data Tape (SEDT) .IBM 7094 Format ...... 65

APPENDIX F-Nimbus Meteorological Radiation Tape .HRIR (NMRT- HRIR) Format ...... 77

V LIST OF FIGURES

Figure Page

1 Mercator Grid Print Map of HRIR Data...... 3 2 OrbitAxes ...... 6 3 Spacecraft Axes...... 7 4 Earth as Seen by Scanners in Stabilized Nimbus ...... 8 5 Roll and Pitch Error Computation From Front and Rear Scanners ...... 9 6 Nimbus HRIR Radiometer...... 12 7 System Flow Chart for Nimbus HRIR Digital Data Processing ... 16 8 Correction of Prelaunch Calibration Data by In-Flight Calibration ...... 22

LIST OF TABLES

Table Page

1 Mean Definitive Orbital Elements for Nimbus 1...... 4

vi I. INTRODUCTION

The Nimbus meteorological satellite was designed to provide both day and night global coverage of the earth's surface characteristics and cloud cover. The following three sensory systems were developed to accomplish this objective:

1. Advanced Vidicon Camera System (AVCS) 2. Automatic Picture Transmission System (APT) 3. High Resolution Infrared Radiometer System (HRIR)

The Advanced Vidicon Camera System and the Automatic Picture Transmission System and their data have been described and documented in Reference 1. A description of the High Resolution Infrared System and the documentation of the photofacsimile film strips have been reported in Reference 2. This volume documents essentially the same data included in Reference 2, but describes the reduction of data and the preparation of magnetic tapes for automatic processing on

The data documented in this catalog are available to the scientific community in the following formats:

1. Nimbus Meteorological Radiation Tape (NMRT) 2. Grid print maps based on a mercator or polar stereographic map projection 3. Listings of data

As resources permit, limited quantities of digitized HRIR data will be provided to scientific investigators without charge. Otherwise, data will be furnished for production costs or less. Whenever it is determined that a charge is required, a cost quotation will be provided to the requestor prior to filling the request.

All requests for digitized HRIR data should be mailed to:

Nimbus Data, Code 601 National Space Science Data Center Goddard Space Flight Center Greenbelt, Maryland 20771

Scientific investigators desiring limited quantities of digitized HRIR data are re- quested to include the information listed below in their requests. Some flexibility in the computer programs is possible, and investigators having requirements which are not satisfied by the standard formats listed below should write to the above address for further information.

1 A. Magnetic Tapes (NMRT-HRIR)

The NMR Tape is regarded as the basic repository of data from the HRIR system. These tapes are produced on the IBM 7094 computer in binary format, and are usable on electronic data processing equipment compatible with IBM format and having a storage capacity of at least 4096 36 bit words. The following information should be specified when requesting NMR Tapes:

1. Date and time of data desired 2. Data orbit number 3. NMRT-HRIR Reel Number 4. Data Block Number

B. Grid Print Maps

A series of computer programs produce printed and contoured data referenced to a square mesh grid on a polar stereographic or mercator map base. A mercator grid print map for data orbit 258 is illustrated in Figure 1. The following standard options should be specified when requesting grid print maps.

1. Date and time of data desired 2. Data Orbit Number 3. Polar Stereographic or Mercator Map Base 4. Projection Scale of Map 5. Geographic Region of Interest

C. Data Listings

A computer program is available which produces a printed listing of the calibrated radiation data for a specified time interval. Requests for these listings should include the following information.

1. Date and time of data desired 2. Data Orbit Number

2 ..".I .,.. .,., ".,.," ..., .I.. .I., .,', .",.,..."..".*".I" .I., .,.. .*.,.,.I .w ...... ".I.. ..".,., .z,, .... .I" ."I *.*.>*...... ""I ..I...... I .",...,.I.. ... I .... .11...... I .",.I. ... I ..,, .,a' .". .m *I. ."l .,a. 11.. .*I..E#, .e*. .I.. ..a. ."I .1" NIMBUS HRlR DATA ORBIT 258-2309Z FOR 8 MIN. SEPT 14. 1964

Figure 1-Mercator Grid Print Map of HRlR Data

c 11. SPACECRAFT PERFORMANCE

2.1 General

The Nimbus I meteorological satellite was injected into orbit at 0852 U.T. on August 28, 1964 from the Western Test Range in California. The nominal and actual mean definitive orbital elements as determined by the Goddard Space Flight Center are shown in Table I.

TABLE I Mean Definitive Orbital Elements for Nimbus I

Nominal Actual

Epoch Time Aug. 28, 1964; 0852 UT Semi-major axis 70 56.35 kilometers Eccentricity 0.0003 0.03 6 10 hclination 99.025 98.663 degrees Mean Anomaly 177.097 degrees Argument of Perigee 160.744 degrees Perigee Motion -3 .lo83 degrees/day R.A. of Ascending Node 150.201 degrees Motion of Node +1.0562 degrees/day Anomalistic Period 103.362 98.31401 minutes Period Motion -0.00012 minutes/day Height of perigee 915.32 423.22 kilometers Height of apogee 919.70 932.22 kilometers Velocity at perigee 28053 kilometers per hour Velcoity at apogee 26098 kilometers per hour Geocentric Latitude of perigee 19.028 degrees

A circular orbit near the apogee height had been planned, but an elliptical orbit re- sulted from a shortened Agena second stage burn. The retrograde near-polar orbit was designed to be sun-synchronous, and the eastward (+) motion of the line of nodes would equal the mean motion of the right ascension of the sun (0.9856 degrees per day). The launch was selected so that the ascending node would always occur at local noon and the descending node at local midnight.

These design objectives were not quite achieved as illustrated in Table I and by the occurrence of the ascending node at 11:34 a.m. local time at time of injection and the descending node at 11:34 p.m. The slight excess in the motion of the line of nodes caused the time of equator crossings to advance so that by orbit 368 on September 22,

4 1964 the ascending node occurred at 11:41 a.m. local time and the descending node at 11:41 p.m. local time.

The spacecraft performed successfully for 26 days until a mechanical malfunction of the solar paddles occurred on September 22, 1964. This unfortunately reduced the power available to the spacecraft to such a level that further useful operation of the attitude control and scientific sensor subsystem was impossible.

The Nimbus I spacecraft was interrogated throughout its active life (orbits 1 through 379) and 199 orbits of HRIR data were played back to the ground stations at Fairbanks, Alaska or Rosman, North Carolina. There was no communication with the spacecraft from orbit 380 to orbit 1231. Interrogation was resumed for selected orbits between orbit 1234 and orbit 1793; but no useful data were obtained from the experimental subsystems.

2.2 Stabilization and Attitude Control Subsystem

The primary function of the stabilization and attitude control subsystem is to orient and stabilize the spacecraft by constantly maintaining a fixed attitude with respect to the earth and the orbital plane. The orbit axes system is a set of three orthogonal axes centered at the center of gravity of the spacecraft and rotating in space so that the yaw axis coincides with the local vertical and is positive downward. The roll axis is orthogonal to the vertical axis and lies in the orbital plane with the positive sense in the direction of the velocity vector. The pitch axis is orthogonal to the local vertical and the orbital plane and positive to the right when looking in the direction of the velocity vector. The orbit axes are illustrated in Figure 2.

The spacecraft axes system, defined by the sensing elements of the control subsystem,isa set of three orthogonal axes having the same center and sense as the orbit axes, but fixed in the spacecraft. The spacecraft axes are illustrated in Figure 3.

1. The yaw axis coincides with the spacecraft local vertical with a positive direction pointing toward the center of the earth. A positive yaw error is a clockwise rotation about the axis when looking toward the earth.

2. The roll axis is orthogonal to the vertical axis and lies in the orbital plane with a positive sense in the direction of the velocity vector. A positive roll error is a clockwise rotation about the roll axis when looking in the direction of the spacecraft orbital movement.

3. The pitch axis is orthogonal to the roll and yaw axes with a positive direction to the right when looking forward along the spacecraft velocity vector. A positive pitch error is a clockwise rotation when looking in the direction of the positive pitch axis.

5 N

SPACECRAFT

EQUATOR

Figure 2-Orbit Axes

6 SUN

/ f

YAW AXIS J

EARTH

Figure 03-Spacecraft Axes

7 Under ideal conditions, the spacecraft vertical axis coincides with the local orbital vertical and roll, pitch, and yaw errors are zero. In actual telemetry data, attitude errors are measured by two infrared horizon scanners, one located at each end of the spacecraft along the roll axis (Figure 4). These scanners measure changes in radiation intensity (12-18 micron wavelength region) as they scan the earth and sky while rotating in the roll plane. The infrared energy is focused on a bolometer where changes in radiation intensity cause a corresponding change in the bolometer output signal. The pulses generated from the earth-sky scans are fed to the horizon attitude computer.

SCANNER ROTATION

Figure 4-Earth as Seen by Scanners in Stabilized Nimbus

8 When the spacecraft is properly stabilized both sensors provide earth signals of equal width. As the spacecraft pitches, these signals vary in width according to the amount of pitch error. The horizon attitude computer measures the pitch error by comparing the widths of the earth pulses (Figure 5).

The measurement of roll error is made with only one sensor. A bimetallic slug on the rotating scanner housing generates a zero reference pulse each time it crosses the satellite vertical. As the spacecraft rolls, the amount of earth pulse occurring on

FRONT SCANNER REAR SCANNER

RECONSTRUCTED PULSE

A- B FRONT SCANNER ROLL ERROR =- 2

0' 360'

c-0 REAR SCANNER PITCH ERROR =T

Figure 5-Roll and Pitch Error Computation from Front and Rear Scanners

9 either side of this reference will vary. The horizon attitude computer compares the two portions of this pulse to determine the roll error (Figure 5).

The horizon attitude computer is a special purpose digital computer consisting of control, counter, and memory logic. New pitch error information is available approximately four times per second. New roll error information is available approximately eight times per second. Corrections based on the attitude error computations are achieved by means of a cold gas jet stream for coarse control and variable speed flywheel system for fine control.

The yaw control loop can operate in two modes. The first is the coarse sun sensor mode in which yaw position with respect to the sun is determined by two yaw coarse sun sensors. These sensors have a field of view of 360 degrees in yaw and a +70 to -40 degree field of view in pitch. The response characteristic of the coarse sun sensor is such that it will attempt to drive the negative roll axis to point toward the sun. The error sensed by the coarse sun sensor is processed as an error signal through electronics, pneumatics, and flywheels similar to those used in the pitch and roll loops.

The second mode of control is an integrating gyroscope used in the rate mode to sense yaw error. An error signal is generated when the gyro's input axis is rotated. The input axis of the gyro is aligned in the roll-yaw plane so that it senses the components of orbital pitch due to yaw error.

The control subsystem can also be commanded from the ground to move large angles in yaw to compensate for orbits which differ from the nominal. Yaw bias commands in 6 degree increments from -30 to +30 degrees can be provided. This signal allows rotation of the spacecraft about the yaw axis to maintain the solar paddles perpendicular to the sun.

In practice, it has not been possible to apply yaw corrections routinely to these data. Therefore, yaw uncertainties of several degrees are inherent in the Nimbus I data.

2.3 Telemetry Subsystem

The Nimbus spacecraft must transmit a large volume of engineering type data (voltage, current, temperature, pressure, etc.) to permit accurate evaluation of its spacecraft subsystems and critical components in space and establish the validity of the scientific measurements. The Nimbus spacecraft is equipped with two PCM telemetry systems that can operate in three different modes and transmit telemetry data from the spacecraft to the ground when activated by specific commands.

A Real Time Mode-Information is transmitted at a rate of 500 bits per second and simultaneously recorded by an on-board tape recorder.

10 A Stored Mode-Information is recorded on board the spacecraft and transmitted to the ground upon command at 30 times the recording speed which results in a bit rate of 15,000 bits per second. The 220 foot storage tape loop contains 120 minutes worth of information and is played back to the ground in about 4 minutes.

B Real Time Mode-Information representing 62 key parameters from the A directory is transmitted at a rate of 10 bits per second yielding two samples for each function in 102 seconds.

An analog to digital converter samples signals delivered by transducers located throughout the spacecraft and converts each sample to a 7 bit binary word to which an eighth bit is added for sync. Both telemetry systems use pulse-code modulation because of the generally recognized advantages of digital systems. A telemetry word transmitted to the ground from the spacecraft contains eight bits. The sync word is all ones and the word sync bit is a zero.

In the A Stored Mode a 500 pulse per second bit rate is supplied by the clock (or a 500 cps tuning fork oscillator can be substituted by command from the ground). A master frame of telemetry data consists of 1024 words and is divided into 16 subframes of 64 words each. The first word of each subframe is a master frame sync word having a binary pattern of all ones. The second word identifies the subframe and the remaining 62 words represent values of specific functions.

Currently 338 distinct functions are recorded, some of which are sampled once per master frame, and others of which are sampled one or more times per subframe. The A telemetry system permits sampling a complete master frame in 16.384 seconds (1024 x 8/500) or at a rate of 1.024 seconds per subframe.

The A Real Time Mode differs slightly from the A Stored Mode because of a direct transmission to the ground station reflecting functional status at that very moment (simultaneously with the recording of identical values aboard the spacecraft). The rate of transmission cannot exceed the recording speed, therefore, the subcarrier that modulates the transmitter is not converted to 15 KC (as in the stored mode) but remains at 500 cps.

In the €3 telemetrysystem, a limited number of test points are encoded for direct transmission to the ground without attendant recording of the data aboard the spacecraft; and, therefore, there is no stored data capability. The I3 system can be commanded to transmit functional values (that accurately describe conditions at the moment) from the spacecraft to the ground at the slow rate of 10 bits per second in a single data frame comprising 128 time slots. The first three words are used for synchronization (first word all ones, second word all zeros, third word all ones). Transmission time is 102.4 seconds for one frame after which the system normally shuts itself off. The B telemetry directory currently contains 62 key functions each of which is to occupy two time slots spaced 51.2 seconds apart.

11 III. HRIR SUBSYSTEM

The High Resolution Infrared Radiometer (HRIR) is one of the primary sensory subsystems designed for the Nimbus spacecraft. The radiometer is a single channel scanning instrument designed to (1) provide information about the earth's cloud cover during the nighttime portion of the orbit when the AVCS coverage is not practical, and (2) measure the radiative temperatures of cloud tops and surface terrain features.

The HRIR subsystem consists of an optical system, infrared detector, electronics, and a magnetic tape recorder. The radiometer, pictured in Figure 6, contains a lead selenide photoconductive material which is sensitive to radiant energy in the 3.5 to 4.1

Figure 6-HRIR Radiometer

12 micron region of the infrared spectrum. The radiometer also contains a filter designed to minimize attenuation effects by water vapor and carbon dioxide.

The infrared detector is radiatively cooled to -75OC- Radiative cooling is accomplished by means of a highly reflective gold coated pyramidal horn containing a black cooling patch at the bottom. The pyramidal horn is oriented so that it views outer space throughout the entire orbit, and the patch is suspended by thin wires to reduce heat con- duction from the radiometer housing. The lead selenide detector is connected to the cooling patch by a high thermal conductive transfer bar.

The radiometer is attached to the earth oriented sensory ring of the Nimbus spacecraft in such a manner that an unobstructed view of the earth from horizon to horizon is obtained. In contrast to television techniques, the radiometer forms no image of the subject viewed but integrates the radiant energy received from the target. Composition of a picture is achieved by a scanning mirror technique. The mirror, located in the radiometer, is inclined 45 degrees to its axis of rotation which coincides with the spacecraft velocity vector assuming no attitude errors. The optical axis of the radiometer thus scans the earth in a plane perpendicular to the Spacecraft velocity vector as the spacecraft advances in orbit. The scanning mirror driven by a motor at 0.7453 revolu- tions per second rotates the field of view continuously from earth to sky, to spacecraft, to sky and earth again.

The radiometer has an instantaneous field of view of 7.9 x radians or about 0.5 degrees. The relative motion of the spacecraft with respect to the earth enables the optical axis to progress sequentially to new picture elements. The scan rate of the mirror was chosen to be one rotation every 1.3418 seconds, or the time required for the spacecraft to advance the distance of one resolution element along the subsatellite track. At a height of 930 kilometers, the HRIR scan rate, 290 cps bandwidth and optical system provide an earth resolution of approximately 5 miles (7.5 kilometers) at the nadir.

Under normal conditions the HRIR subsystem operates during “subpoint night” i.e., when the subpoint and the general area of observation are on the dark side of the earth. However, occassionally the HRIR subsystem was commanded on during the daylight portion of the orbit, and direct comparisons with the AVCS photographic data can be made in addition to observing the reflective characteristics of clouds and terrestrial surface features in the 3.5 to 4.1 micron region of the spectrum.

Prior to detection, the radiant energy is modulated by interrupting the reflected energy from the mirror with a mechanical chopper. This avoids the drift problems associated with D.C. amplifiers. The video signal varies from some finite amplitude during the horizon to horizon scan down to approximately zero when the sky is in the field of view. At the initiation of a sky sweep a permanent.magnet on the mirror axis triggers a gate and multivibrator thus generating seven pulses which are used to synchronize the equipment used to process and display the data.

13 Prior to tape storage on the spacecraft, the video signal from the radiomet& frequency modulates a 10 KC subcarrier oscillator. The signal is then recorded on tape at 3.75 inches per second. A four track recording combination is used. One track records the FM radiometer signal while a second track records a 10 KC carrier AM modulated by the spacecraft time code. Each track has sufficient capacity to record data from one orbit. When the end of tape is reached in the clockwise direction, the tape motion is reversed and runs in the counterclockwise direction. With the reversal in tape motion, the time and radiometer signals are switched to the remaining two tracks. The recorder continues to record in the reverse direction until end of tape at which time the tape again reverses direction and switches the signals back to the first two tracks.

Playback speed is eight times the record speed or 30 inches per second. Normally playback will be commanded before the second reversal in tape motion takes place. Dur- ing playback, the signal from each of the four recorded tracks is simultaneously trans- lated to a specific local oscillator frequency, multiplexed, and relayed to the ground via the "S" band transmitter.

The direction of tape transport rotation during playback depends upon the tape position when playback is commanded. If more than one minute of recording time has passed since the last tape directionchange, the tape transport will change direction at playback. If less than one minute has passed, the tape transport will continue in the same direction at playback.

The length of the HRIR tape is such that 57 minutes of data can be recorded in each direction. Thus, the system can record up to 114 minutes of data. Since playback speed is eight times the recording speed, the tape can be played back in a maximum of 7.25 minutes.

In normal operation, the HRIR subsystem will record about 51 minutes of data. Since this is less than the one-way length of the tape all data can be played back with only one command. If data are recorded for more than 57 minutes, but less than 114 minutes, two commands will be needed to retrieve all data.

14 IV. DATA ACQUISITION AND PROCESSING

4.1 General

The Nimbus spacecraft and the principal subsystems associated with the High Res- olution Infrared subsystem have been described in the previous sections of this Manual. This section describes the processing and archiving of the experimental sensory data after transmission to the ground.

The Nimbus I spacecraft was interrogated at either Fairbanks, Alaska or Rosman, North Carolina. The data received from each interrogation of the spacecraft were then transmitted to the Goddard Space Flight Center for final processing and archiving on the IBM 7094 computer. The final output from the data processing operation is the Nimbus Meteorological Radiation Tape (NMRT), which is considered to be the basic repository of experimental data from the High Resolution Infrared Radiometer. The following sources of experimental data are required in preparing the Nimbus Meteorological Ra- diation Tape :

1. The raw analog HRIR signal and its associated time code transmitted from the HRIR subsystem 2. Selected functions from the A stored telemetry data 3. Roll, pitch, and yaw attitude errors 4. Definitive orbital elements, or X, Y, Z position vectors at minute intervals 5. Prelaunch calibration data for the particular radiometer in orbit 6. Miscellaneous documentation data, including date and time of interrogation, CDA station, playback mode etc.

In addition to the above data soiirces, four computer programs are required on the IBM 7094 in producing the Nimbus Meteorological Radiation Tape. A system flow chart showing the interaction of these four computer programs, and the general flow of information is shown in Figure 7. Each component of this system is described in more detail in the following sections.

4.2 HRIR Analog Signal

The HRIR analog data and its related time code are transmitted from the CDA Sta- tion to the Goddard Space Flight Center and recorded on tape at the Nimbus Data Han- dling System (NDHS). These data are then input to the Nimbus HRIR data processing system which accomplishes an analog to digital conversion, edits, and formats the data for final processing on the IBM 7094 computer. The HRIR data processing system

15 ~1 HRlR ANALOG

TELEMETRY - PROCESSING

SUMMARY INFORMAT I ON PRELAUNCH

Figure 7-System Flow Chart for Nimbus HRlR Digital Data Processing

16 consists of special purpose equipment to provide analog to digital conversion, and a CDC 924 computer to provide editing and formatting of the digital data.

Optional operating modes for the special purpose digitizing equipment include (1) analog to digital sampling frequency, (2) vehicle time code flywheel bandwidth, (3) vehicle time code direction to be decoded, (4) tape track input, (5) tape or simulator input, and (6) operation of the oscillograph.

The special purpose equipment provides analog to digital conversion for both the time code and the radiation data. The time decoders detect synchronization patterns of the time code, extract the time information for each character, and transmit the time data, along with identification and status flags, to the computer through a time shared input channel. Both time codes have flywheels to maintain synchronization with the input signal through periods of short signal dropouts.

The data discriminator detects the frequency modulated HRIR data. The analog signal is provided to both the analog to digital converter for quantization and the data synchronizer for detection of the synchronizing pulses. The digital output of the analog to digital converter together with identification and status flags are transmitted to the computer for further processing.

The CDC 924 computer is a general purpose, stored program, digital computer with 32,768 words of random access storage. A word is 24 bits long and may be used as a 24 bit or a 48 bit operand (1604 mode). The cycle time for the storage unit is 6.4 microseconds.

The outputs of the system are a printed listing and a digital magnetic tape. One of each is produced for each pass of the analog magnetic tape. Since HRIR data can be transmitted from the Nimbus spacecraft in both forward and reverse modes with respect to time, two passes of the analog tape are frequently required to obtain all data. Therefore, when both forward and reverse data are processed from one analog tape, two listings and two digital magnetic tapes are produced. The data can also be output to the oscillograph. The oscillograph is not intended to provide a continuous output for every analog tape, but rather to provide an output only for selected segments of data.

The printed listing shows the quality of the data received from the spacecraft, and the performance of the system during processing. The printed information includes decoded ground and vehicle time, total number of records processed, and a quality analysis of the incoming time codes and data.

The digital magnetic tape contains one file of digital data with as many records as needed to record the digitized data, associated time codes, and status flags. All data records are of fixed length and compatible with both the CDC 924 and IBM 7094 formats. The tape is recorded with odd parity, binary format, and a density of 556 characters per inch.

17 T6e analog to digital converter samples the incoming analog data at rates of 2000, 4000, 8000, or 16,000 samples per second of playback time, or 250, 500, 1000, or 2000 samples per second of vehicle time. Normal operating procedure has been established at 1000 samples per second of vehicle time. Each data measurement consists of 12 binary bits. The HRIR data occupy 8 bits, and the remaining 4 bits are used to flag various conditions described below.

A HRIR DATA = 8 BITS FD Fc FB FA

FA is identifier for dropout of signal. In the normal case FA is zero when carrier signal is present. When absence of carrier signal is detected, FA is set equal to one.

FB is identifier for zero milliseconds in vehicle time. In the normal case FB is zero. Each time the vehicle time accumulates to an integral second, FB is set equal to one. This flag thus identifies each integral second in the data record. The time specified in word 4 of the data record refers to the first occurrence of this flag per record.

Fcis the sync pulse identifier. In the normal case Fc is zero. When the sync pulse is recognized, Fcis set equal to one. This flag will identify each sync pulse in the data record. The location specified in word 3 of the data record refers to the first occurrence of this flag in each word.

FDis unassigned at the present time and available for future use.

The individual data measurements, time code, and status flags are fed into the CDC 924 computer and formatted for output to magnetic tape. All data records written on magnetic tape are of constant size and contain 7248 characters, or 1208 words of 36 bits each. Forty-eight characters are reserved for data documentation, and the HRIR experimental data occupy 7200 characters in each record. In order to satisfy this requirement, the last record in each data file will be completed by inserting ones in all eight data positions of each measurement.

The first record in each file of HRIR data will be a documentation record. This record is binary and contains 48 characters or 8 words of 36 bits each. The last six characters of this record will contain 36 binary ones as an identifier for the documentation record.

The format of the raw HRIR data tape is summarized in detail in Appendix D.

18 4.3 Telemetry and Attitude Data

Upon command from the ground, the telemetry data is played back from the Nimbus spacecraft to the ground station, and then transmitted to the Nimbus Data Handling Sys- tem at the Goddard Space Flight Center. Here the telemetry data are input to unique electronic equipment and computer input circuitry consisting of (1) the A stored submodule, (2) the A real-time submodule, and (3) the B real-time submodule. One of the outputs from the A stored submodule during on-line data processing is the Cali- brated Attitude Data Tape (CADT) which contains calibrated attitude data and up to twenty selected-parameters from the A stored telemetry data. These data are then input to the pre-gridding module where AVCS shutter times are available. The output of the pre-gridding module is the Selected Engineering Data Tape (SEDT) which repre- sents the source of all attitude and telemetry data used for further processing on the IBM 7094 computer.

Since the SEDT is originally written in CDC 924 format, it is necessary to perform an additional editing and formatting of these data for input to the IBM 7094 computer. The format of this final tape is described in detail in Appendix E.

4.4 Spacecraft Position

The spacecraft position as a function of time can be computed from the mean orbital elements distributed from the Goddard Space Flight Center, or calculated from the X, Y, Z position vectors contained on the Minute Vector Tape at one minute intervals. Normal operating procedure has been based on the Minute Vector Tape.

The position vectors obtained from the Minute Vector Tape are measured in a geocentric equatorial coordinate system in which the X axis is directed toward the vernal equinox and lies in the equatorial plane. The Y axis lies in the equatorial plane 90 degrees east of the X axis. The Z axis is perpendicular to the equatorial plane and directed to the north pole. The position vector (R,) to the spacecraft is defined by

R, = ./X2 t Y2 t Z2

The geocentric latitude (4' 1 of the subsatellite point is defined by

= arc sin ($)

The geodetic latitude (4)of the subsatellite point and the altitude (h) above the computational ellipsoid are computed from the following equations.

19 A , A4, A6 , are coefficients determined by Morrison and Pines (Ref. 3). 2 4 The geodetic longitude of the subsatellite point is determined by first computing the right ascension (cp) of the subsatellite point from the following equations.

cos cp = X JX- JX-

4.5 HRIR Data Processing

The general flow of information during the processing and archiving of HRIR data on the IBM 7094 computer has been illustrated in Figure 7. The various data inputs have been described briefly in the previous sections. The various steps taking place in each of the computer programs will now be described.

Upon receipt of the HRIR raw data tape from the Nimbus Data Handling System, the first step is to conduct an initial examination of the raw data and prepare the intermediate data tape. Since HRIR data can be played back to the ground from the spacecraft in both forward and reverse modes with respect to time, two separate programs are employed at this point depending on the mode being processed.

The computer program employed in processing the reverse mode data was designed to accept reverse mode data as input and reorganize the data into forward mode with respect to time. The first step in this process is to recognize a particular pattern of bits representing the sync pulse. 0nce.the sync pulse is located, the height of the spacecraft is computed, and then the size of each space viewed portion, the earth viewed portion, and the housing viewed portion of this scan revolution are determined. Each of these segments is then examined, and the maximum, minimum, and average response for each of the space portions and the housing portion are recorded on the intermediate

20 tape along with the entire reorderea earth scan. The remaining portions of the space and housing segments and the sync pulse are discarded at this point.

The computer program employed to process the forward mode data accepts forward mode data as input and outputs an intermediate tape with format identical to the intermediate tape prepared from reverse mode data. The primary difference in these two programs is that forward mode data does not have to be reorganized with respect to time. The first step in this process is to recognize a particular pattern of bits representing the sync pulse. Once the sync pulse is located, the height of the spacecraft is computed, and then the size of each space viewed portion, the earth viewed portion, and the housing viewed portion of this scan revolution are determined. Each of these segments is then examined, and the maximum, minimum, and average response for each of the two space portions and the housing portion are recorded on the intermediate tape along with the entire earth scan. The remaining portions of the space and housing portions, and the sync pulse are discarded at this point.

The NMRT-HRIR program was designed to accept HRIR data from the intermediate data tape and produce the Nimbus Meteorological Radiation Tape (NMRT). Additional inputs to this program are the Nimbus Minute Vector Tape, the Selected Engineer- ing Data Tape, and the prelaunch calibration data. The minute vector tape provides position vectors at one minute intervals for computing subsatellite point and height of the spacecraft during the time interval on the intermediate data tape. The Selected Engineering Data Tape provides measurement of roll, pitch, and yaw, and the house- keeping functions for the HRIR subsystem for the same time interval.

The prelaunch calibration data for the HRIR radiometer are adjusted in this program by the in-flight calibration. Based on the original calibration data, the average radiometer response while viewing the housing is converted to degrees Kelvin ( TR ) , and then to effective radiance (ER).The average housing temperature, as measured through the telemetry system, (T,) is also converted to effective radiance (fiT). The ratio of ET /ER provides the adjustment factor for correcting the prelaunch cablibration data. Each temperature in the prelaunch calibration data is adjusted by converting to effective radiance, multiplying the effective radiance by the factor KT /RR, and then converting back to degrees Kelvin. All digital values in the original calibration data which fall below the average space viewed response from the radiometer are replaced by the average space viewed response. A typical calibration curve is shown in Figure 8 along with the corrected curve.

Each earth viewed swath of HRIR data is next processed sequentially from the intermediate data tape. The time, roll, pitch, yaw, height, HRIR detector cell temperature, HRIR electronics temperature, 24 volt supply, 20 volt supply, reference housing temperature A, reference housing temperature B, and the anchor mirror angles are determined and formatted in the documentation of each output record.

If the maximum mirror angle produces no earth intersection, the angle is moved in from the horizon in one tenth of a degree increments until earth intersection is

21 I I I I I I I

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22 achieved. The angle is then moved out in increments of one hundredth of a degree until there is no earth intersection. If the initial nadir angle produced an earth intersection, the angle is moved out toward the horizon in increments of one tenth of a degree until no intersection is found. It is then moved in from the horizon in increments of one hundredth of a degree until earth intersection is found. This process locates the outer- most mirror angle to within one hundredth of a degree. The family of mirror angles are selected such that they subtend equal distances on the surface of the earth.

The time, latitude and longitude of the substallite point, the number of data points in the swath, and the status flags are then output for the particular swath being processed. The latitude and longitude of the viewed point for each selected mirror angle is computed and output. All digital data are then converted to degrees Kelvin and formatted into the output record. This completes the processing of one individual swath, and other swaths are processed in the same manner until the output record is completed. The process continues until all data on the intermediate data tape are processed and archived on the Nimbus Meteorological Radiation Tape - HRIR.

REFERENCES AND BIBLIOGRAPHY

1. "Nimbus I Users' Catalog: AVCS and APT," 196% Goddard Space Flight Center, Greenbelt, Maryland.

2. "Nimbus 1 High Resolution Radiation Data Catalog and Users' Manual: Volume 1. Photofacsimile Film Strips," 1965: Goddard Space Flight Center, Greenbelt, Maryland.

3. Morrison, J., and Pines, S., "The Reduction from Geocentric to Geodetic Coordi- nates," The Astronomical Journal, Vol. 66, No. 1, p. 15-16, February 1961.

4. "Operation and Maintenance Manual for the Nimbus HRIR Digitizing System" 1965: Goddard Space Flight Center, Greenbelt, Maryland, (Report X-544-65-216).

5. Stampfl, Rudolph A., 1963: "The Nimbus Spacecraft and Its Communication System as of September, 1961," NASA Technical Note D-1422 (January).

6. Widger, W. K., Jr., P. E. Sherr, and C. W. C. Rogers, 1964: "Practical Interpreta- tion of Meteorological Satellite Data," Final Report, Contract No. AF 19 (628) - 2471, Aracon Geophysics Company, Concord, Mass. (September).

1. APPENDIX A

INDEX OF AVAILABLE NIMBUS METEOROLOGICAL RADIATION TAPES - HRIR (NMRT - HRIR)

The Index of Nimbus Meteorological Radiation Tapes tabulates the High Resolution Infrared data acquired during the active lifetime of the Nimbus I meteorological satellite, and processed through the digital data processing system. It has been pointed out in Section I11 that HRIR data can be played back to the ground from the spacecraft in both forward and reverse modes with respect to time. Furthermore, the same recorded data can be and often were read out several times. In order to identify particular segments of data, a sequential block number was assigned to each continuous, uninterrupted segment of data that was digitized and processed on the IBM 7094 computer.

During normal operating procedures, the HRIR subsystem recorded data only during the nighttime portion of the orbit. However, it was possible to command the system to record during the daylight portion of the orbit, and a few data blocks contain data recorded entirely during the daylight portion of an orbit. Usually the recording of HRIR data did not begin or end at exactly the time corresponding to a change between sunlight and darkness. Therefore, a data block representing the nighttime portion of an orbit often contains a small amount of daytime data at the beginning or end of the block. This explains why most data blocks are described in the Remarks column as "data partly in sunlight."

The Index contains two basic types of information. One type describes the orbit and time interval when the data were recorded on the spacecraft. The second type describes the readout of these data from the spacecraft to the ground. The nomenclature used in the Index is defined below.

1. Calendar Day-Calendar days are numbered consecutively from January 1, 1964.

2. Data Orbit Number-The data orbit number is the number of the orbit at the time the HRIR data were recorded on the spacecraft. The orbit number increases by one at each ascending node.

3. Longitude of Descending Node-The longitude on earth at which the spacecraft crossed the equatorial plane going from north to south. The longitude is measured from 0 to 180 degrees East or West.

4. Time of Descending Node-The Greenwich Mean Time of the occurrence of the descending node in hours, minutes, and seconds.

5. Data Block-A continuous and uninterrupted segment of data. These blocks of data are numbered secpentially for identification purposes.

24 6. HRIR Data Jnterval-The beginning and end of HRIRdata are described in terms of latitude and time. The latitude defines the location of the subsatellite point corresponding to the time given for each data block. Latitude is measured in degrees north, N, or south, S. The "A" or "D" following "N" or "S" indicates that the data began or ended while the satellite was on the ascending or descending leg of the orbit, respectively.

7. Playback Mode-The playback mode indicates the playback direction of the tape recorder. Forward (FWD) means the data were played back from the tape recorder in the same direction as that in which they were recorded. Reverse (REV) means the data were played back in the opposite direction from the direction in which they were recorded.

8. Readout Orbit Number-The readout orbit number is the number of the orbit at the time the data were readout from the satellite.

9. Data Acquisition Facility-The Data Acquisition Facility which readout the data. "G" is the Gilmore Creek, Alaska station, and "R" is the Rosman, North Carolina station.

10. NMRT Reel Number-The reel number is a sequential number which identifies each Nimbus Meteorological Radiation Tape - HRIR.

To illustrate the use of the tabulated material, the entry in the row for data block 21 indicates that data were recorded on the spacecraft on August 30, 1964 (day 243) during orbit 36. The descending node of orbit 36 was over longitude 65.83 when Nimbus I crossed the equatorial plane going from north to south at 19:11:53 GMT. The data began to be recorded when the satellite was over 75.2 North latitude on the descending leg of orbit 36. The beginning time of the data was 18:52 GMT to the nearest minute. The data ended when the satellite was over 76.5 South latitude on the ascending portion of the orbit at 19:39 GMT. These data were readout in the reverse mode when the satellite passed within range of the Gilmore Creek, Alaska, Data Acquisition Facility on orbit 37. The archived data are stored on NMR Tape number 12.

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APPENDIX B

RADIOMETER CALIBRATION

43 3SNOdS3M 1VlIBIQ

44 - -K W a 3 t a w P 2 W t- t 0 m0 Y Va -I m zt- W -I Q 1 3 U W

EQUIVALENT BLACKBODY TEMPERATURE, Tse (O K)

Figure B4-Effective Radiance versus Equi lavent Blackbody Temperature

47 APPENDIX C GEOGRAPHIC LOCATION OF HRIR DATA

LIST OF SYMBOLS FOR APPENDIX C

R,P,Y - Principal body axes of spacecraft (Figures 2 and 3)

X' ,Y' ,2' - Earth oriented orbit constrained coordinates (Figure C2)

X",Y",Z" - Geocentric orbit coordinates (Figure C2)

OR - Satellite roll error in radians (Figure 04)

% - Satellite pitch error in radians (Figure C4) Oy - Satellite yaw error in radians (Figure C4)

E - Vector from earth viewed point to origin of spacecraft axes (Figure C2)

v - Mirror rotation angle (Figure C3)

+s - Latitude of subsatellite point (Figure C2)

As - Longitude of subsatellite point (Figure 62)

+p - Latitude of earth viewed point (Figure C2)

xp - Longitude of earth viewed point (Figure C2) - M - Vector from center of earth to origin of spacecraft axes (Figure C2)

A - Angle between and X" axis (Figure C2)

i - Inclination of the orbit (Figure 62)

- Longitude of ascending node A AN0

a AN0 - Right ascension of ascending node

03 - Right ascension - - Radius vector of earth (Figure C2)

Y i H - Satellite height, where M = RE t H - 8 - Unit vector along L - m - Unit vector along B --- i,j ,k - Unit vectors along a set of coordinate axes in the order listed above, respectively. The number of superscripted prime marks indicate the corresponding coordinate set to which the unit vectors refer.

The mathematical procedure used in the NMRT-HRIR program to locate HRIR data on the earth's surface is described in this Appendix. An earth scan of radiation data is defined by a family of mirror nadir angles as illustrated in Figure C1. If the reader considers himself to be at the rear of the spacecraft, then the velocity vector points into the paper and the HRIR radiometer scans the earth in a clockwise direction from right to left.

Figure C1

For each mirror angle, the latitude and longitude of the corresponding point on the earth's surface are computed and recorded on the NMRT. The position of individual data samples falling between two anchor points is determined by interpolation.

In order to compute the latitude and longitude of a point on earth corresponding to a particular mirror angle, consider the situation illustrated in Figure C2.

0 From Figures 2 and 3, the principal body axes of the spacecraft are R, P, Y.

0 From Figure C2, the earth oriented orbit constrained coordinates are X', Y', Z'.

0 From Figure C2, the geocentric orbit coordinates are X",Y",Z"

49 Figure C2

50 e From Figure C3,

e From Figure C4, the order of attitude perturbations is

BP = satellite pitch error eR = satellite roll error By = satellite yaw error

Assuming small angles for attitude errors, 6 (radians) = sin 6.

Figure C4

51 Substituting the expressions for Ix;tY; and 4,' from equations 1, 2, and 3 into equations 4, 5, and 6 yields the following relationships

I," = - [IR-IpBy tIy$l sin A- [-.eRBP ttPBR tIyl COS A (7 )

Iy"= [IR- &,ey t tYep]COS A COS i + [&,ey t Ip- IyeR] sin i

- [ - IRBp t &,OR t /ey] sin A cos i (8)

I,'' = ItR- Ipeyt Iy~p]COS A sin i - [IReyt tp- Iy eRi cos i

- [ -tRBP +IpBR +Iy]sin A sin i (91

Finally, equations 7, 8, and 9 can be expressed as follows:

tx" = (By sin v - Bp cos v) sin A

- (eRsin v t cos v) cos A

4," = (-By sin v + Op cos v) cos A cos i

t (sin v - OR cos v) sin i

- (OR sin v t cos v) sin A cos i

52 4,. = (- Oy sin v + Op cos v) cos A sin i

- (sin v - OR cos v) cos i

- (OR sin v t cos v) sin A sin i - From equations 10, 11, and 12 the following expression is derived for .e -- .e = i”[(Oy sin v - eP COS V) sin A - (OR sin v t cos ~)COSAI

+j”[(-eysinv tepco~v)~~~~~~~i t(sinv-eRcosv) sini

- (OR sin v t cos v) sin Acos i]

- t k“ [( - By sin v + Op cos v) cos A sin i

- (sin v - OR COS V) COS i

- (OR sin v t cos v) sin A sin il (13)

Also, - - iii = i“cos A + 7 sin A cos i + k” sin A sin i

and

M=R+H

From Figure C5,

L.M=LMCOS N

where

sin2N + cos2N = 1

53 C

Figure C5

E=-R M sinN sinB

M sin B =- sin N RE

* L =- - RE sin (B tN) sin N

sin@ t N) = sin B cos N t cos B sinN

L = [sin B cos N t COS B sinN1 sin N

L = 3 [sin I3 ,/1 - sin2N t sin N J-1 sinN

If the expression under the radical in equation 22 is negative, there is no intersection with the earth. Furthermore,

From Figure C5 it can be seen that angle B is always equal to or greater than 90 degrees. Therefore cos B is always negative or zero. In equation 22 the second term is always subtracted from the first term. (The addition of the second term pertains to the intersection of the optical axis with the "other side" of the earth, a solution which is of no interest here .) From Figure C2, it follows that

4,nL II =MZ - RZ" where for clarity RZit is the 2 component of the radius of the earth (%).

55 Now

MZ = M sin +s

Equation 24 can now be written as

4z" L = M sin +s -%sin +p

% sin (pP = M sin +s - 4z" L

Finally, the equation for determining the latitude of the viewed point, +p , becomes

M sin q5s - 8z" L sin 6 = RE

The projection of % in the X" Y" plane is - i"(m:M - 4: L) +T(miM - 8; L)

The projection of @ in the X"Y" plane is

-i"m: M + ymtiM

m " I' I' - Y sinp= mY M - Mcosq&

R X M

Figure C6

56 m 'I M - $yt'L sin u = Y R cos &

mxn M - ~ZL cos u = R cos +p

sin(u-p)= sinucosp-cos u sinp

= sin(Ap - As)

I R cos +p cos +s

Finally, the equation for determining the longitude (positive east) of the viewed point, Xp , becomes

~(5"- mx" .ey") sin(Ap -As) = Rc~s~~cos~~

57 APPENDIX D

HRIR RAW DATA TAPE FORMAT

The format of the raw HRIR digitized data is described in detail in this section. This tape, produced on the CDC 924 computer in the Nimbus Data Handling System, has been described further in Section 4.2 of this Manual.

Documentation Record

IBM CDC Word Word Characters Quantitv

1 1 1-2 Satellite Identification 3 File Number 4 Total number of files obtained from this interrogation. 2 5 Blank

6 Zero = Backward Mode Data (77)8 = Forward Mode Data 7-8 Blank 3 9-12 Orbit Number 4 13-14 Year 15-16 Blank 5 17-18 Day of Interrogation (Day of year specified in characters 13-14) 19-20 CDA Station Identification 6 2 1-24 Data sampling frequency 7 25 Sync pulse count 26-27 Blank 28 Month (Date data is digitized) 8 29 Day (Date data is digitized) 30 Year (Date data is digitized)

58 c

IBM CDC Word Word Characters Quantity

6 31 Overflow Tape Flag-Normally this character will be binary zeroes. If the tape is an overflow tape, this character will be octal 77. 32 This field indicates the setting of the hardware flywheel bandwidth in cycles per second. (0 = 100 cps, 1 = 500 cps, 2 = 1000 cps). 9 33-36 The time correction factor in seconds to be added to the vehicle time. 7 10 37-39 The assigned digital tape number for each run. 11 40-42 The number of the analog tape from which the data were obtained 43-44 (7777), (Code) 8 12 45-48 (77777777), (Code)

59 Documentation Record Format

ANALOG DATA 1 SAT. 1. D. DATA ZERO D'RECTloNTHIS FILE DIRECTCODE ION BLANK OR (n)8 I 1 2 BLANK BLANK ORBIT NUMBER

A I 3 YEAR BLANK BLANK DAY OF YEAR I I I 4 STATION 1, D. DATA SAMPLING FREQUENCY ..

SYNC 5 I PULSE 1 BLANK 1 BLANK 1 MM 1 DD 1 YY I COUNT b I I I I I I

I DIGISAL TAPE NUMBER ANALOG TAPE N~MBER 71 I I I I

8 77 77 77 77 77 77

C Data Records

IBM CDC Word Word Character Quantity

1 1 1-4 Blank

2 5-6 Record Sequence counter

2 7-8 Day of Year (Ground Time)

3 9-12 Seconds of day (Ground Time)

3 4 13-14 Location of first Sync pulse in this record

15 Number of Sync pulses found in this record

16 Number of Sync pulses expected in this record

5 17 Number of Sync pulses which occurred where expected

18 F, = 0, sync pulse is satisfactory F, = 1, sync pulse is not satisfactory

19-20 Day of year (Vehicle Time)

6 21-24 Seconds of day (Vehicle Time)

7 25-28 Number times flywheel inserted consecutively in this record for vehicle time

8 29-30 Location in this record of the time specified in characters 21-24

6 31-32 F22 = 1 Summary bit. Vehicle time, ground time, sync and/or record conti- nuity not okay. F,, = 0 Summary bit. Vehicle time, ground time, sync okay.

F,, = 0 Vehicle time sampling rate consistent. F,, = 1 Vehicle time sampling rate not cons is tent.

61 IBM CDC Word Word Character Quantity

F20 = 0 FM data carrier always present Fz0 = 1 FM data carrier dropout occurred.

F,, = 0 Ground time is noisy = 1 Ground time has skipped F19

F18 = 0 Ground time as decoded Fl8 = 1 Ground time is discontinuous (noisy or skipped)

F17 = 0 Not end of satellite tape F17 = 1 End of satellite tape (tape track change)

not assigned at present time

F = 0 Jump in vehicle time is not 58 minutes1.1 F,, = 1 Approximately 58 minutes jump in vehicle time

9 33 Flo = number of words in which at least one invalid character detected in decoding time word

34 F, = Number of words in which character sync was not found for at least one character in time word

35 F8 = Number of words in which frme sync interrupt occurred, but not when expected

36 F7 = unassigned F6 = unassigned

Fs = 0, normal data F, = 1, no frame sync interrupt by hard- ward occurred in this record (if F2 = 1)

62 IBM CDC Word Word Character Quantity

F4 = 0, carrier present F4 = 1, carrier absent somewhere in this record (if F2 = 1)

F3 = 0, vehicle time is continuous F3 = 1, vehicle time has skipped in this record

F2 = 0, vehicle time is good throughout this record F, = 1, vehicle time is questionable in this record (Error has been detected 3 times)

10 37-40 Assigned for hardware testing

11 41-42 Assigned for hardware testing

43-44 Assigned for hardware testing

9 45-48 Assigned for hardware testing

10 49-50 HRIR Data

51-52 HRIR Data

11 53-54 HRIR Data

63 Data Record Format

1 BLANK BLANK BLANh BLANK RECORD COUNTER

r I 1 2 DAY OF YEAR (GT) SECONDS OF DAY (GROUND TIME) I

I NO. SYNCS NO. SYNCS NO. SYNCS LOCATION FIRST SYNC FOUND IN EXPECTED FOUND 3 PULSE THIS RECORD THIS IN THIS WHERE BLANK

I 1 I I 4 DAY OF YEAR (VT) SECONDS OF DAY (VEHICLE TIME) I RECORD ID 8 IBM WORDS NO. 0;TlMES I FLYWHEEL INSERTED LOCATION OF TIME CONSECUTIVELY I IN W?RD 4 I

15 FFFFFFFFFFFF FFFFFF 22 21 20 19 18 17 16 15 14 13 12 11 F’o F9 F8 765432

1 I LOCATION FIRST VT IN SAMPLES PER SYNC I I I I NEW TIME :EQUENCE 1

wwwwww 1 I I ’ 654321 IDLE TIME LOOP COUNTER I I 1 b

FFFF FFFF 1 9 DATA dcba DATA d c b a DATA dcba i WORDS

64 APPENDIX E

SELECTED ENGINEERING DATA TAPE (SEDT) IBM 7094 FORMAT

The Nimbus Selected Engineering Data Tape (IBM 7094 Format) will contain between 100 and 150 orbits of selected engineering data on each reel of magnetic tape. A detailed description of the format of this tape follows.

1. The tape will be high density, 556 bpi.

2. The first file contains one 453 word record which documents the contents of the entire reel of tape.

3. Each file after the first file contains the selected engineering data obtained upon interrogation of the spacecraft. The following three types of records are found within this file.

a. Type I records contain 27 words and are identified by the code word (OlOlOlOlOlOl), . This record is the first record of each file and documents the contents of that data file.

b. Type 11 rcords contain 281 words and are identified by the code word (O2O2O2O2O2O2), . These records contain the selected engineering data specified in the Type I record. Each record contains data from 9 major frames of telemetry data.

c. Type 111 records contain 281 words and are identified by the code word (030303030303),. These records contain roll, pitch, and yaw errors corresponding to shutter times.

4. In the event of bad data or poor transmission, the bad data will be omitted from this tape. In these cases, time will not be continuous in Type 11 records.

5. When the telemetry data is not a multiple of 9 frames, the last Type I1 record will contain zeros to maintain a constant record size of 281 words.

6. Type 111 records contain attitude errors associated with a maximum of 70 shutter times. Since the number of pictures per orbit will normally be less than 70, the unused words will contain zeroes. The attitude errors will begin with word number 72 for the first shutter time.

65 File I - Tape Documentation File

Word No. Quantity --units Scaling Remarks

1D Satellite --- B = 17 --- Identification

1A Number of _-- B = 35 Total number of data files re- data files corded on a particular reel of tape.

2D Orbit Number --- B = 17 Orbit number corresponding to first data file on this tape.

2A Date MMDDYY B = 35 Date of interrogation for this orbit, Le., February 5, 1964 would be (020564),, or (020504),. Only the last digit of the year is retained.

3D Orbit Number --- B = 17 Orbit number corresponding to last data file on this tape.

3A Date MMDDYY B = 35 Date of interrogation for this orbit, only the last digit of the year is retained.

4D Blank

4A Orbit Number --- B = 35 Readout orbit number for the first file of data

5D Date of --- B = 17 Day of year for interrogation of Interrogation this orbit

5A Hour Z Hour B = 35 Time of interrogation for 6D Minute Z Minute B = 17 this orbit 6A Seconds Z Seconds ~=35J

451D Blank

451A Orbit Number --- B = 35 Readout orbit number for a par- titular file of data

66 Word No. Quantity Units Scaling Remarks

452D Date of --- B = 17 Day of Year for interrogation of Interrogation this orbit

452A Hour Z Hour B = 35 7 Time of interrogation for 453D Minute Z Minute B = 17 this orbit 453A Seconds Z Seconds

67 P

File I - Tape Documentation File I 1 I t I t 1 1 S A T. I. D. N 0. DATA FILES I I I I I I

I 1 I I I 2 ORBIT NUMBER MM DD YY I I I I I

3 ORBIT NUMBER MM DD YY I I I I I L

I I I I I 1 c 4 ORBIT NUMBER

I I I I I J

5 DAY OF YEAR HOUR I I 1 I I

I I I I I B MINUTE SECONDS

I I f I I I I 45 1 ORBIT NUMBER I I I I I I I

I I I I I 452 DAY OF YEAR HOUR

J I I I I I

I I 4 I I 453 MINUTE SECONDS 1 i 1 I b

6 Selected Engineering Data File - Documentation Record

Word No. Quantity Units Scaling Remarks

1 Code ------(010101010101), . Code indicating this record is a documentation record for this file

2 Date MMDDYY B = 35 Date of interrogation for this orbit. Only the last digit of the year is retained

3 Day of year --- B = 35 Actual day of playback

4 Orbit number --- B = 35 Orbit number at time of interrogation

5 Hour Z Hour B = 35 Interrogation time

6 Minute Z Minute B = 35 Interrogation time

7 Seconds Z Seconds B = 35 Interrogation time

8 Function Fl B = 35 number 7 Selected function numbers for this orbit in the order they appear in the following data records

B = 35 27 Function Fzo i number J

69 Selected Engineering Data File - Documentation Record

I I I I I 1 01 01 01 01 01 01 t I I I I I

I I I I I I 1 2 MM DD YY I I I I I I I

I ! I I I 3 I 3 DAY OF YEAR I I I I I I

1 I I I I 4 ORBIT NUMBER

I I I I 1 I 5 HOUR I I I I I I I

I I I I I I I 6 MINUTE I I I I I I J

7 SECONDS I I I I i

1 I I I r I I 8 FUNCTION NO. I I I I I I I I I J I I I I 2; FUNCTION NO. Selected Engineering Data File - Data Records (Type 11)

Word No. Quantity Units Scaling Remarks

1 Code --- (020202020202), . Code indicating this record contains selected engineering data

2 Day B = 35 Actual day of year

3 Hour B = 35 Time of day, i.e. first time B = 35 4 Minute slot in this major frame 5 Seconds B = 35 1 6 Offset F1. Pt. Yaw Offset

7 Roll error F1. Pt. Attitude errors from minor Pitch error F1. Pt. 8 frames 1 - 8 9 Yaw error F1. Pt. i 10 Roll error F1. Pt. Attitude errors from minor F1. Pt. 11 Pitch error frames 9 - 16 12 Yaw error F1. Pt.

13 Function 1 F1. Pt. Value of functions

14 Function 2 F1. Pt. Value of functions

32 Function 20 F1. Pt.

33-63 --- Repeat of words 2-32 for next major frame

64-94 Repeat of words 2-32 for next major frame Word No. Quantity Units Scaling Remarks

95-125 ------Repeat of words 2-32 for next major frame

126-156 ------Repeat of words 2-32 for next major frame

157-187 ------Repeat of words 2-32 for next major frame

188-2 18 ------Repeat of words 2-32 for next major frame

219-249 ------Repeat of words 2-32 for next major frame

250-280 ------Repeat of words 2-32 for next major frame

281 Code word --- (252525252525), . Code word indicating end of record

72 b 1 1 I 1 1 1 02 02 02 02 02 02

1 I I I 1

2 DAY OF YEAR n I I I I I

I I I 1 I 3 HOUR

4 I I I I I

I I I I 1 I li 4 MINUTE I I I I I

I I I I I 5 SECONDS a I I I t

1 I I I I 1’ 6 OFFSET (F L. P T.) I I 1 I I 1

I I I I 1 1 I 7 ROLL ERROR (FL. PT.) I I I I I J

I I 1 I I I 1 8 PiTCH ERROR (FL. PT.) 4 1 I I I b

9 YAW ERROR (FL. P T.) I 1 1 I

73 Selected Engineering Data File - Data Records (Type 11) (Cont'd)

I 1 I I I 10 ROLL ERROR (FL. PT.) I I I I I

I I I I I 1 I 11 PITCH ERROR (FL. P T.) I I I I I J

I I I 1 I I I 12 YAW ERROR (FL. P T.) I I I I I I

1 I 1 1 I I I 13 1st FUNCTION I I I I I I I I 1 I I I I I 1 I I t I 32 20th FUNCTION 1 I -I I I 1 1 1 I I I i I 1 I I I I i 28 1 25 25 25 25 25 25 I I I I 1 I

74 Selected Engineering Data File - Data Records (Type 111)

Word No. Quantity Units Scaling Remarks

1 Code ------(030303030303)8. Code word indicating this is a type 3 record

2 Hour Z Hour B = 23 2 Minute Z Minute B = 29 Shutter time 2 Seconds Z Seconds B = 35

71 Hour Z Hour B = 23 71 Minute Z Minute B = 29 Shutter time 71 Seconds Z Seconds B = 35 I 72 Roll error --- F1. Pt. Attitude errors for first 73 Pitch error --- F1. Pt. shutter time 74 Yaw error --- F1. Pt, I 75 Roll error --- F1. Pt. Attitude errors for second 76 Pitch error --- F1. Pt. shutter time 77 Yaw error --- F1. Pt.

279 Roll error --- Attitude errors for 70th 280 Pitch error F1. Pt. shutter time

281 Yaw error ---

75 Selected Engineering Data File - Data Records (Type III)

I I I I r 1 03 03 03 03 03 03 , I I I I I

1 I I 1 I 2 HH MM ss I I I I I I .,

I I I I I I r I 71 HH MM ss t I I I I

I 1 I I I I 1 72 ROLL ERROR (FL. PT.) I #

1 I 1 I I I 73 PITCH ERROR (FL. PT.) I I I I I

c I 1 I I I 74 YAW ERROR(FL. PT.) I I I I P I I I t I I 279 ROLL ERR0 R (FL. PT.) I I I I I

I 1 I I J 280 PITCH ERROR (FL. PT.) I I I I -I

* I f I I 1 28 1 YAW ERROR (FL. PT.) ._ r 1 1 I 4 d APPENDIX F

NIMBUS METEOROLOGICAL RADIATION TAPE - HRIR (NMRT-HRIR) FORMAT

The Nimbus Meteorological Radiation Tape - HRIR will be the basic repository for radiation data from the Nimbus High Resolution Infrared Radiometer. This tape will contain data in binary mode at a density of 800 bits per inch.

The first file on this tape contains a BCD label. The label consists of fourteen words of BCD information followed by an end of file.

The remaining files on this tape contain HRIR data in the format described on the following pages. The first record in this data file is a documentation record which describes the data to be found in the succeeding records. This record contains seventeen words. The remaining records in the file will be of variable length, but this length will be consistent within the file. The length (L) of a data record can be computed as follows:

L = (SWATHS PER RECORD) x (WORDS PER SWATH) + (NUMBER OF NADIR ANGLES) + 7

Ninety degrees are added to all latitudes and attitude data to eliminate negative signs .

77 NMRT-HRIR Documentation Record Format

Word No. Quantity Units Scaling Remarks

1 Dref --- B = 35 Number of days between 0 hour on 9/1/57 and zero hour on day of launch.

2 Date MMDDYY B = 35 Date of interrogation for this orbit, i.e., 2/5/64 would be (020504),. Only the last digit of year is used.

3 Nimbus Day --- B = 35 Start time for this file of data

4 Hour Z Hour B = 35 5 Minute Z Minute B = 35 6 Seconds Z Seconds B = 35

7 Nimbus Day --- B = 35 End time for this file of data

8 Hour Z Hour B = 35 9 Minute Z Minute B = 35 10 Seconds Z Seconds B = 35

11 Mirror Rotation Deg/Sec B = 26 Rotation rate of radiometer Rate mirror

12 Sampling Frequency Samples/Sec B = 35 Digital sampling frequency per second of vehicle time

13 Orbit Number --- B = 35 Orbit Number

14 Station Code --- B = 35 CDA Station identification code

15 Swath Block Size --- B = 35 Number of 35 bit words per swath

16 Swaths/Rec ord --- B = 35 Number of swaths per record

17 Number of Locator --- B = 35 Number of anchor points per Points swath for which latitudes and longitudes are computed 78 NMRT-HRIR Data Record Format

Word No. Quantity Units Scaling Remarks

1D Nimbus Day --- Start time for this record of data

1A Hour Z Hour B = 35 2D Minutes Z Minute E3 = 17 2A Seconds Z Seconds B = 35 3D Roll Error Degrees B = 14 Roll error at time specified in words one and two.

3A Pitch Error Degrees B = 32 Pitch error at time specified in words one and two

4D Yaw Error Degrees B = 14 Yaw error at time specified in words one and two

4A Height Kilometers B = 35 Height of spacecraft at time specified in words one and two

5D Detector Cell Degrees K B = 17 Measured temperature of detector Temperature cell at time specified in words one and two 5A Electronics Degrees K B = 35 Measured temperature of elec- Temperature tronics at time specified in words one and two

6D 24 V Supply Volts B = 14 Measured voltage at time specified in words one and two 6A 20 v Supply Volts B = 32 Measured voltage at time specified in words one and two

7D Reference Degrees K B = 17 Temperature A 7 Measured temperature of housing at time specified in words one Reference Degrees K B = 35 7A and two Temperature B

8 Nadir Angle Degrees B = 29 Nadir angles corresponding to each locator point, and measured in the plane of the radiometer

N Nadir Angle Degrees B = 29

The above data constitutes what is essentially the documentation portion of a data record. This data will be followed by several blocks of data with each block representing a swath. The number of these blocks in a record as well as the size of each block is specified in the documentation record represented on the previous page.

79 NMRT-HRIR Data Record Format (Continued)

Word No. Quantity units Scaling Remarks

(N+l)D Seconds Z Seconds B = 8 Seconds past time in words 1A & 2D for beginning of this swath

(N+l)A Data Population --- B = 35 Number of data points in this swath

(N+2)D Latitude Degrees B = 11 Latitude of subsatellite point for this swath

(N+2)A Longitude Degrees B = 29 Longitude of subsatellite point for this swath, positive westward 0 to 360'

(N + 3) Flags ------Reserved for flags describing this swath

(N+4)D Latitude Degrees B = 11 Latitude of viewed point for the first anchor spot

(N +4)A Longitude Degrees B = 29 Longitude of viewed point for first anchor spot, positive westward 0 to 360'

MD Latitude Degrees B = 11 Latitude and longitude for MA Longitude Degrees B = 29 Mth anchor spot

(M+l)D HRlR Data --- B = 14 HRIR measurements. Tag (M+l)A HRIR Data --- B = 32 and prefix reserved for flags

K(A or D) HRIR Data --- B = 32-14 Last HRIR data measurement

All remaining or unused portions of a swath data block are set to zero, giving swath block size as specified in the documentation record. The above data on this page is repeated for the number of swaths in each record.

80 Definition of Flags Describing Each HRIR Swath

Flag -Bit Definition -Yes -No 1 35 Summary flag. All checks defined by flags 2 thru 12 0 1 are satisfactory. (Each flag is zero)

2 34 Consistency check between sampling rate, vehicle 0 1 time, and ground time is satisfactory

33 Vehicle time is satisfactory 0

32 Vehicle time has been inserted by flywheel 1

31 Vehicle time carrier is present 0

30 Vehicle time has skipped 1

29 Vehicle time frame sync interrupt by hardware did 1 not occur

8 28 Sync pulse recognition was satisfactory 0

9 27 Dropout of data signal was detected 1

10 26 Ground time has a new pattern 1

11 25 Ground time is discontinuous 1

12 24 Swath size is satisfactory when compared with the 0 theoretical swath size

13 23 End of tape was detected on the spacecraft 1 0

Flags for Individual Measurements

Prefix Definition -Yes -No

S 18 The particular measurement is below the earth-space 1 0 threshold

1 19 Unassigned

2 20 Unassigned