Adaptive optics images of Iota Cassiopeia taken in the I and H bands with the 3.63m AEOS telescope on Haleakala show a strong waffle-like pattern. The Parametric Blind Deconvolution (PBD) point spread function is modified to include such an optical aberration pattern, and position angles, separations, and magnitude differences are obtained for the components of the quadruple star system. The H band image of the astrometric companion is the first ever, the I band image is the first to show all four components, and by combining our data with previous visual and speckle measurements, the orbits and masses of components A and Aa are derived for the first time. The faint sub-solar mass component is 2.3, 2.9, 3.7, and 4.2 magnitudes
fainter than its nearby (0.4") companion at H, I, V, and B bands, respectively.