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The NeedService image is located at /Firmware/all_flash/all_flash.(MODEL-NAME).production/(needservice.(cpu).img2/3 in the IPSW. The NeedService logo is flashed to NOR (or a functionally equivalent partition). It is probably displayed when a hardware fault is detected.

It is a PNG picture with an alpha channel packed into an IMG3 or an IMG2 archive.

NeedService logo as it appears on iPhone OS 1.0:

NeedService iPhoneOS1.png

And as it appears on iPhoneOS 2.0 and 3.0. (Removed in 4.0)

NeedService iPhoneOS2.png