While passing through the Asteroid Belt, Cassini took pictures of the asteroid 2685 Masursky on 23-Jan-2000, 3:01 UTC at a distance of only 1.6 million kilometers.
The asteroid's orbital elements are available in http://www.lns.cornell.edu/~seb/celestia/2685.ssc
I've set it to be Class "moon" to make the orbit easier to compare to Cassini's, but you can change that, of course.
2685 Masursky
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2685 Masursky
Selden