Document version: 7 February 2005
Minor updates: 11 May 2005, 29 December 2005
2.0 Observations
3.0 Data reduction
4.0 Data products
Tables:
Other information:
Figures:
This document describes the first release of data products from the Great Observatories Origins Deep Survey (GOODS) Spitzer Space Telescope Legacy Science program.
This first data release (DR1) consists of "best-effort" reductions of data taken with the Infrared Array Camera (IRAC, Fazio et al. 2004) on-board Spitzer. These are images from the first epoch (out of two) of the "superdeep" IRAC observations for each of the two GOODS fields. The superdeep program is sometimes also described as the "deep" program in GOODS literature, and is to be distinguished from the "ultradeep" program that covers a small portion of the GOODS-N field.
The data products are described in detail below, and consist of mosaiced, co-aligned images in all four IRAC channels on both fields, plus associated exposure, weight and flag maps.
The GOODS team is writing a paper which will describe the observations and data (Dickinson et al., in preparation). Please reference this paper when using these data products in published research.
Here, we provide a brief description of the IRAC superdeep epoch 1 observations.
The GOODS Spitzer Legacy program observations cover two fields on the sky. One of these fields (GOODS-N) coincides with the historical Hubble Deep Field North (Williams et al. 1996), while the other (GOODS-S) coincides with the Chandra Deep Field South (Giacconi et al. 2001). These fields have extensive observations at virtually every wavelength accessible from major space- and ground-based observatories, including deep, multicolor data from the Advanced Camera for Surveys (ACS) on the Hubble Space Telescope (Giavalisco et al. 2004).
Generically, the GOODS fields consist of sky regions that are approximately 10 x 16.5 arcmin on the sky. The orientations of these fields were originally chosen to match scheduling constraints for Spitzer observing. Coordinates, position angles, and other important parameters for the epoch 1 IRAC observations of the GOODS fields are summarized in Table 1.
The Spitzer GOODS observations are divided into two separate observing programs, one for each field: program 169 for GOODS-N, and program 194 for GOODS-S. These program numbers cover both the IRAC and MIPS portions of the GOODS observing program.
2.2 IRAC observing strategy and AORs
The IRAC superdeep observations for each field were broken into a series
of Astronomical Observation Requests (AORs), each several hours long, that were
designed to enable efficient scheduling. 39 AORs were used for the CDF-S IRAC
epoch 1 superdeep observations. The HDF-N IRAC epoch 1 AORs were designed
to be somewhat longer each to improve scheduling efficiency, resulting in
33 AORs in total.
The AORs for the GOODS IRAC superdeep observations have two targets
(one per field), designated "HDF-N-CXO" and "CDF-S". (The "CXO"
designation for HDF-N indicates that the pointing was optimized for
overlap with the Chandra X-ray Observatory 2 Msec data on the HDF-N
field.) The pointing centers for the two fields are given in Table 1,
along with the mean position angle (east of north) of the long axis
of the field averaged over the duration of the IRAC epoch 1 observations.
Observations were executed over the course of several days, during IRAC
campaign 4 for GOODS-S, and campaign 8 for GOODS-N. The start and end times
for the epoch 1 observations are summarized in Table 1;
Table 2 gives a detailed list of the
AOR labels, AORKEY identifying numbers, and start dates/times for each
AOR. The telescope orientation rotates during this time, by approximately
1 degree per day, and hence so does the coverage of the GOODS field.
The field rotates around the pointing centers given in Table 1.
This rotation blurs the exposure map somewhat, but has useful consequences
for the data reduction. Some IRAC array effects are oriented along
rows or columns (e.g., "muxbleed" or "column pulldown" effects - see
below and the IRAC Data Handbook),
and the rotation makes it easier to ameliorate or remove some of these effects
over the course of the observing program. The rotation range for each field
is given in Table 1.
Within each AOR, the telescope was moved through a mapping pattern so
that each IRAC channel covers a mosaic of 2x2 pointings, with total extent
approximately 10 arcmin on a side (modulo dithering). IRAC observes
simultaneously in all four channels, with channels 1 and 3 (3.6 and 5.8
microns) covering one pointing on the sky, and channels 2 and 4 (4.5 and
8.0 microns) covering another pointing. The two IRAC fields of view are
separated by about 6.7 arcmin in the focal plane, and the long axes of
the GOODS fields are oriented along the direction separating the two IRAC
fields of view. The consequence of our 2x2 mapping pattern is that,
in a given observing epoch, the area covered by channels 1+3 and that
covered by channels 2+4 have a small region of overlap (about 3 arcmin,
modulo "softening" by the dithering pattern). The GOODS-S 4-channel
overlap region includes the Hubble Ultradeep Field, while the GOODS-N
overlap region partially includes the historical WFPC2/NICMOS Hubble Deep
Field North. Figure 1 illustrates the layout of
the CDF-S epoch 1 IRAC observations, while Figure 2
shows the same for HDF-N.
After approximately 6 months, when the telescope orientation
has rotated by 180 degrees, the fields are observed in a second epoch,
when the pointings for the two IRAC fields are swapped relative to the
first epoch. In this way, after two epochs, each GOODS field will have
complete coverage in all four IRAC channels, with an overlap strip
in the middle receiving twice the exposure time of the rest of the
field. The exposure time per channel per sky pointing is approximately
23 hours per epoch, and will be double that in the overlap strip.
The observations used a frame time of 200 seconds per exposure
in channels 1-3; channel 4 takes 4 x 50s frames in that interval.
Within each pointing in the 2x2 mapping pattern, the telescope was
dithered through a medium-scale cycling Gaussian random pattern,
described in the Spitzer Observer's Manual section 6.2.3.4.1.
The maximum extent of this dither pattern is approximately one half
the IRAC field of view, i.e., about 2.5 arcmin. Most CDF-S epoch 1
AORs used 11 dithers per map pointing, while most HDF-N epoch 1 AORs
used 13 dithers, resulting in 44 and 52 independent sky pointings
respectively over the whole map per AOR. For a few AORs, the number
of dithers was different, varying the AOR duration in order to
provide flexibility for telescope scheduling. The starting dither
index for each AOR was incremented by the number of dithers per map
pointing, so that each AOR used a different set of dither positions.
Because GOODS uses more than the 311 positions that are available
in the Gaussian random pattern, the starting index rolls over with
a stagger to avoid duplication of AORs' dither sets.
Parameter GOODS-S GOODS-N Spitzer program ID 194 169
Target name CDF-S HDF-N-CXO
RA (J2000) 03:32:30.37 12:36:54.87
Dec (J2000) -27:48:16.8 +62:14:19.2
Mean position angle -14 deg +48 deg
Range of PAs 5.5 deg 5.7 deg
Start date/time 2004-02-08 12:32:15 2004-05-19 14:20:52
End date/time 2004-02-16 05:15:13 2004-05-26 11:20:14
Here, we briefly describe the reduction of the GOODS IRAC superdeep data and the construction of the data products.
The GOODS team started reductions of the data using products generated by the Spitzer Science Center (SSC) Basic Calibrated Data (BCD) pipeline. The CDF-S IRAC epoch 1 BCD data that were initially delivered to the GOODS team were processed with pipeline version S9.1.0, and the GOODS team data products are based on that version. Those data were later re-processed by the SSC before they were placed in the public archive; the archived version was processed with pipeline version S10.5.0, but this was not used for the GOODS v0.21 data products. The HDF-N IRAC data used for the GOODS data products are, instead, identical to the version available through the SSC archive, and were processed by pipeline version S10.0.3. Significant differences between the GOODS-S and GOODS-N processing are discussed further in section 3.7.
A very small number of frames were not correctly processed by the SSC pipeline, and thus no BCD products were available. We hope to recover those frames for future data products when the IRAC data are reprocessed through the S11 pipeline later in 2004.
3.2 Frame-level post-BCD processing
In post-processing of the individual BCD frames, we applied the
following steps:
HDR-mode images: Each AOR begins with two short exposures observed
in "HDR-mode", with exposure times of 0.4 and 10.4 seconds.
These were discarded in all subsequent analysis.
Unit conversion: BCD products were converted from units of MJy/sr back to DN
by dividing by the conversion constant given in the FLUXCONV keyword in the BCD image
headers, and multiplying by the exposure time given in the EXPTIME header keyword.
Median image subtraction: Within each AOR, a median sky image was constructed from
the dithered exposures (typically 44 frames per AOR for the CDF-S,
and 52 frames per AOR for the HDF-N). This image was then
subtracted from each exposure within the AOR, in order to
remove (presumably) additive effects from (1) small residual
structure/gradients in the background level, that we presume
result, in part, from additive bias effects and/or possibly
illumination issues relative to the sky flats used for flatfielding
the data, and, (2) long-term persistent signal due to bright
sources observed prior to the GOODS AOR (see the
IRAC Data Handbook
section 4.5 for a discussion). Note that the persistence
signal can gradually change with time over the duration
of an AOR. In our current, best-effort reductions,
no further attempts were made to remove the time-varying
component of image persistence. To a large degree, this
will be eliminated, or its impact will at least be diluted,
by the combination (with outlier rejection) of many dithered
exposures. This can be improved in future versions of the GOODS
data products. However, we note that unremoved time-variable persistence
effects generally have quite low amplitude, and should not
significantly limit the data quality of the current generation
of GOODS data products.
Column pull-down correction: When a star or cosmic ray
in IRAC images for channels 1 and 2
produces a count level of approximately 35,000 DN, there is an
additive offset effect on pixels in the column or columns where
this occurs, known as "column pull-down" (see the
IRAC Data Handbook,
Section 4.11). The GOODS team has developed an empirical algorithm
for detecting this effect, measuring its amplitude, and applying
an additive correction to the affected columns. This was applied
to all images.
Note that there are also column- and row- effects in channels
3 and 4 that have smaller amplitudes and somewhat different
characteristics (probably the same as the "banding" described in the
IRAC Data Handbook,
section 4.9). We have not yet attempted
to make any such corrections in channels 3 and 4. As a result,
some elevated signal is seen along the row direction from bright
sources, most noticeably in some of the GOODS channel 4 data
(e.g., the "jets" that appear to radiate from the brightest,
low redshift galaxies in the CDF-S IRAC channel 4 images).
We hope to correct these in future data product releases.
Muxbleed: Another bright source effect is "muxbleed", described
in sections 3.2.2 and 4.8 of the
IRAC Data Handbook.
Muxbleed only affects
channels 1 and 2, and is strongest in channel 1. Although the BCD pipeline
has a muxbleed correction module, it does not currently do a good job of
removing this effect. We attempted to improve this situation by applying
a post-facto correction based on an improved algorithm to the data in
channel 1 (only), and by taking advantage of the fact that the Spitzer
position angle rotates with time over the course of the observations for
a given field. When the correction algorithm predicted a residual muxbleed
signal amplitude greater 10 DN, we simply masked out the effective pixels,
weighting them to zero when combining the dithered data (see below).
Because of the field rotation, different pixels relative to the source
position are affected in different AORs, and the masked muxbleed trail
should be eliminated from the final stack as it rotates off itself
from one AOR to another. For pixels where the muxbleed
amplitude falls below the specified threshold, the (small)
correction was applied without further consideration.
In practice, even this improved correction scheme
failed to remove a lot of the muxbleed signal in the
GOODS data. The SSC and the GOODS team are now investigating
improved muxbleed corrections, and we expect to apply these
to future releases of GOODS data products. The GOODS data
products released here include flag maps (described below)
that indicate the approximate locations of the strongest
residual muxbleed features in the images.
Background subtraction After the processing steps described above, a robust
modal sky estimator was applied to each BCD image, and
the net sky level was subtracted (as a constant) from
each image.
3.3 Astrometry and image registration
Next, we derived an internally consistent astrometric solution
for each IRAC image. The procedure was executed for each AOR
independently. Sources were detected in each IRAC image within
an AOR, using the pointing-refined world coordinate solution
generated by the BCD pipeline. The pixel positions of these
sources were cross-matched between IRAC frames, and were also
matched to external catalogs of objects in the GOODS fields,
using a catalog limited in the K-band from GOODS ground-based
data, and with positions determined to a high degree of
accuracy from the GOODS HST/ACS image mosaics. A global
astrometric solution for all frames in each AOR was then
derived, allowing for image translations, rotations,
and geometric distortion described by a cubic polynomial
equation.
3.4 Image combination
Images within each AOR were combined into a mosaic using
procedures akin to the
"multidrizzle"
method used for HST/ACS GOODS data processing.
The core routines for projecting pixels from the detector
plane to an output image plane use the "drizzle" method
of Fruchter & Hook (2002).
Using the astrometric solutions derived above, images in each
AOR were initially projected to a common tangent plane on the
sky to form a data cube, using a drizzle scale=0.7 and pixfrac=1.0
(see Fruchter & Hook 2002 for an explanation of the drizzle
parameters). At each sky pixel, a noise model was computed that
accounts for the photon statistics from the sky plus source signals
and the detector readout noise and dark current, as well as a local
gradient term that boosts the effective local variance in regions
(e.g., near the centers of bright sources) to account for the
possibility of small registration uncertainties or PSF variations
from frame to frame. These parameters were carefully tuned by
experimentation to optimize the rejection of outlier pixels,
e.g., cosmic rays and detector defects, while minimizing
over-rejection at the positions of sources. However, we still
experience a modest degree of over-rejection at the cores of very
bright objects (peak values greater than 20000 DN) in channels
1 and 2 in the GOODS-S v0.21 images. (Further refinements in the
processing for the GOODS-N v0.30 data have reduced the degree of
over-rejection.) The pixel values from each image were compared to the
median for all images at that sky position. The differences between
these values and the median were compared to the noise model, and
outliers beyond a specified threshold were masked, so that they
could be assigned zero weight in the final image combination.
Pixels that fall near the outskirts of the field covered by
a given AOR, where only a few frames contribute to
the sum, are automatically excluded because the outlier
rejection becomes ineffective when the redundancy is small.
After the outlier pixels have been identified, the images
are then re-drizzled to form a final mosaic image per AOR,
with the outliers identified above assigned zero weight in
the combination. The final mosaics were drizzled onto an
output grid of pixels with a uniform size of 0.600 arcsec/pixel,
oriented on the sky according to the world coordinate standards
defined for all GOODS data products (discussed in more detail
below). The drizzling was done using the "point kernel",
which ensures that each input detector pixel per
image contributes only to a single output pixel in
the drizzled mosaic. In this way, the noise values
in adjacent pixels in the GOODS IRAC data products
are uncorrelated with one another. This is different
from most other drizzled data products with which
users may be familiar, e.g., the Hubble Deep Field
WFPC2 and NICMOS data sets, or the GOODS ACS mosaics.
Those data products used finite drizzling kernels,
resulting in significant noise correlation between
adjacent pixels. The very large number of dithered
exposures for the GOODS IRAC data sets allow us to
take advantage of the point kernel, which ensures
uncorrelated pixels (simplifying data analysis),
and which maximizes the net angular resolution of
the final drizzled images.
Finally, the drizzled stacks per AOR were combined
together with exposure time weighting to produce the
final GOODS mosaics.
3.5 Exposure and weight map scaling
The output weight maps from the drizzling process used to
construct the science mosaics have units of exposure time
multiplied by the ratio of the drizzled pixel solid angle
(exactly 0.36 square arcsec) to the original detector pixel solid
angle (approximately 1.49 square arcsec). The exposure maps
that are provided with this data release have been rescaled
to remove this pixel solid angle ratio, so that they will
represent the actual IRAC integration time at each point
on the sky. Because of geometric distortion in the
IRAC images, the original detector pixel solid angle varies
slightly over the field of view, so a constant rescaling
factor is not strictly correct. However, this difference
is only a few percent at most over the field of view,
and has been neglected here.
The IRAC images are essentially background limited, and
therefore we would expect the RMS shot noise per
pixel should be inversely proportional to the square
root of the exposure time. We have conducted tests using
split data sets to verify that this is indeed the case to
a good degree of accuracy. We have therefore constructed
noise maps (provided here as inverse variance images) by
applying an empirical, constant multiplicative scaling factor
to the exposure map images. We compared image values from
subsets of the data at each sky pixel position, and measured
the statistics of their variance. Point kernel drizzling
was used in order to preserve the uncorrelated pixel statistics.
Regions around sources were excluded in order to avoid the shot
noise contribution from sources, as well as enhanced variance
due to small image misalignments and PSF under-sampling issues.
The resulting noise measurements were used to compute the rescaling
constant to normalize the weight maps to inverse variance.
It is important to note that the inverse variance maps
represent only the shot noise component of the image noise
at the sky background level of the images, i.e., the sky
noise per pixel that would be present if there were no
astronomical sources in the image. They do not include
the Poisson shot noise from the sources themselves, nor
any measure of photometric uncertainty due to image crowding
or "confusion noise".
3.6 Flag maps
We have constructed flag maps that may be useful when making
object catalogs and analyzing the GOODS IRAC images. These maps
identify regions where there are and are not data in a given
channel, where the exposure time is low (i.e., around the edges),
and (for channels 1 and 2) where there is significant residual
muxbleed in the images that may affect source photometry or
introduce spurious source detections. The regions flagged for
muxbleed were defined by visual inspection, and should be
considered indicative only.
The flag images are bit maps, i.e., integers that represent
the sum of bit values, each of which indicates a different
flag conditions. The flag maps are described in more
detail in section 4.6, and the flag
values are given in Table 4.
Note that regions with Flag = 2 (i.e. < 20% of the typical exposure time)
still have integration times up to 4.6 hours - hardly shallow
by Spitzer/IRAC standards! However, those regions will have a fairly
steep gradient in their exposure time and local noise amplitude.
We caution that the lower exposure regions of the images can suffer
from other cosmetic defects. In particular, a change in the
processing methodology for the GOODS-N v0.30 images compared
to that used for GOODS-S v0.21 led to some substantial improvements
in astrometry and alignment, but also to a mild degradation in cosmic
ray rejection in low-weight regions of the image. Therefore, some
residual cosmic rays appear in the GOODS-N images in the areas
with flag values = 1 and 2, and users should be aware of this when
analyzing the images. There are very few residual cosmic rays
in the GOODS-S data.
3.7 Differences between GOODS-S (v0.21) and GOODS-N (v0.30) processing
There are several subtle differences between the v0.21 processing of
the GOODS-S images, and the v0.30 processing used for the GOODS-N data.
For most users, these differences will be unimportant and can be neglected.
However, we summarize some of the main differences here.
4.0 Data Products
The first release of GOODS data products consists of FITS images
of the IRAC superdeep data for both GOODS fields. Our understanding
of IRAC instrument behavior and data processing is continuing to
evolve, as are the software pipelines and the calibration of the
instrument. This first release consists of "best-effort" data
products available at this time, and will eventually be superseded
by reprocessed versions in a future data release. The version numbers
for these data products, based on GOODS internal nomenclature, are
v0.21 for GOODS-S, and v0.30 for GOODS-N.
File names for these GOODS data products include the following
components, separated by underscores ("_"):
As an example, the GOODS-S IRAC channel 1 superdeep epoch 1 science image (version 0.21)
is named "s_irac_1_s1_v0.21_sci.fits".
4.2 World coordinate system
All GOODS imaging data products are generated using a common
scheme for world coordinates and pixel projection, which we briefly
describe here. The images are projected on a tangent plane, with a
the tangent point (CRVAL1,2) selected to be near the center of
each field (GOODS-N, GOODS-S). They are aligned with north
up (+y) and east left (-x). The pixel scales for GOODS imaging
data products from different telescopes and instruments are
always chosen to be integer multiples of one another. For
the IRAC GOODS images, this scale is 0".600/pixel, which is
approximately (but not exactly) half the native IRAC pixel
scale. (Other scales for GOODS public-release data sets include
0".15/pixel for the ESO/VLT ISAAC CDF-S data, and 0".03/pixel for
the HST/ACS Treasury Program images.) The pixel position (CRPIX1,2)
that corresponds to the tangent point (CRVAL1,2) is always set
to be a half-integer value. In this way, GOODS imaging data
products from different telescopes and instruments can always
be mapped to one another by simple integer rebinning, if desired.
Since the release of the GOODS HST/ACS v1.0 data products on
29 August 2003, we have found that the absolute astrometry
for the GOODS-N field is slightly offset
in declination from the reference frame defined by VLA 20 cm
source positions from
Richards (2000).
This difference is approximately
4.3 Science images
The pixel intensities for GOODS IRAC data products are given
in units of DN per second, derived from the original SSC
BCD products (which have units of MJy/sr) using the FLUXCONV
BCD header keyword (see section 3.2). The
IRAC Data Handbook,
version 1.0, Table 5.2, provides the best current determination of the flux
conversion factors for each channel as derived by the SSC. We summarize
this information here in Table 3,
providing the flux densities in micro-Janskys and the AB
magnitudes that correspond to a count rate of 1 DN/sec.
This information is also recorded in the image headers
in the keywords FLUXCONV and MAGZERO
(see section 4.7).
For reference, we also list the detector gain (electrons/DN)
in each channel; note that the effective gain for the GOODS
mosaics (which are normalized to DN/sec) varies with the exposure time
as a function of position.
Although the IRAC point spread functions have smaller FWHM, and hence
better angular resolution, than had been anticipated before launch,
they nevertheless place a substantial fraction of light at large radii
away from the center of a source. Careful attention to aperture corrections
is therefore needed in order to properly measure source fluxes from
any IRAC data set, particularly for extremely deep, crowded images
like those from GOODS. In a future data release, we will provide
object catalogs and discuss source photometry in detail.
4.4 Exposure maps
The exposure maps represent the IRAC integration time in seconds at each position
on the sky in the co-added image mosaics, after rejection and masking of outlier
pixels (e.g., cosmic rays, pixel defects, muxbleed, etc.). Fine-scale granularity
from pixel to pixel in the exposure maps is a consequence of the process of
drizzling the images onto a sub-sampled pixel grid using the point kernel, as
described in section 3.4.
4.5 Weight (inverse variance) maps
The weight maps represent the inverse square of the RMS pixel-to-pixel
noise (in DN/s) at the background level of the images. The construction
of these maps is described in section 3.5.
This represent the shot noise component due to the sky background
and instrument noise only, and does not include Poisson noise
from sources, nor any measure of photometric uncertainty
due to source crowding or confusion.
4.6 Flag maps
The flag maps identify regions of the images with and without
data in a given channel, with reduced exposure time, or where
there may be residual muxbleed that could affect source
detection or photometry. The flag images are bit maps, i.e.,
integers that represent the sum of bit values, each of which indicates
a different flag conditions.
Table 4 describes the flag values, where
the "bit number" starts at 0, and the "flag value" is the equivalent
integer value for that bit setting. Bits not described
in the table are currently unused for flag settings.
These bit values will often appear in combination. For example,
regions with < 20% of the modal exposure time (bit 1, flag value 2)
also have < 50% of the modal exposure time (but 0, flag value 1).
Therefore, those pixels will have flag values of 2 + 1 = 3.
Regions with no data will have flag values 64 + 2 + 1 = 67.
Regions with residual muxbleed (flag = 16) and also < 50% modal
exposure time (flag = 1) will have flag = 16 + 1 = 17.
Note that the regions flagged for muxbleed were defined by eye,
and should not be regarded as definitive or complete, but may serve
as a useful warning in regions where muxbleed could affect object catalogs.
We hope to improve muxbleed removal and flagging in future data releases.
4.1 File names
1) GOODS field ("n", "s")
2) Instrument (here, always "irac")
3) Channel (here, "1", "2", "3", "4")
4) Data set and epoch (here, always "s1" for "superdeep epoch 1")
5) Release version (here, "v0.21" for GOODS-S, "v0.30" for GOODS-N)
6) Image type ("sci" = science image; "exp" = exposure map; "wht" = weight, "flg" = flag map)
Channel Wavelength FLUXCONV
uJy/(DN/s) MAGZERO
AB for 1 DN/s Detector gain
(e/DN)
1 3.6 microns 3.922 22.416 3.3
2 4.5 microns 4.808 22.195 3.71
3 5.8 microns 20.833 20.603 3.8
4 8.0 microns 7.042 21.781 3.8
Bit number Flag value Condition
0 0 >50% of the modal exposure time
0 1 <50% of the modal exposure time
1 2 <20% of the modal exposure time
4 16 Region with significant residual muxbleed (Ch1 & Ch2 only)
6 64 No data (zero retained exposure time)