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The Galileo collection will be a bit frustrating so, for now, you'll have to persevere with some ugly file paths.  The Galileo collection is slated for migration to the new, cleaner, directory structure in the near future.  The commands below will then change only to reflect this new directory structure.  For now, though, these instructions should get you going.

To get to the Galileo collection, try the following:

1. use your browser to look at this ugly directory: http://pds-imaging.jpl.nasa.gov/data/
You'll see a lot of go-*... directories.  Those are data set IDs and are an artifact that only a PDS data archivist could love.  We at the Imaging Node are moving away from having these be something that a user would have to know.  Unfortunately, they're in the way for now.

2. Locate a Data Set ID that is interesting to you (this could be for no other reason than it contains a CD volume you're interested in). E.g.:
http://pds-imaging.jpl.nasa.gov/data/go-v_e-ssi-2-redr-v1.0/
This data set ID refers to the Venus and Earth data.  Inside the above URL you should see 5 CD volumes.  Let's say you want the contents of go_0004.  To get that volume in its entirety, try this:

wget -np -r -erobots=off \ http://pds-imaging.jpl.nasa.gov/data/go-v_e-ssi-2-redr-v1.0/go_0004/

and stand back.    (The -np option is critical.  If you don't use it, you'll start downloading _everything_ we have!  )

This will retrieve the contents of the go_0004 CD-ROM volume to your current local directory in a subdirectory named:
pds-imaging.jpl.nasa.gov/data/go-v_e-ssi-2-redr-v1.0/go_0004/

There are some command-line switches to wget that will not create the pds-imaging.jpl.nasa.gov/data/go-v_e-ssi-2-redr-v1.0 elements of the destination directory.  E-mail me if you'd like help in obtaining these.