Earlier quoted context omitted.
Audio CDs were never ripped/transferred as ISO files. ISO-9660 is a filesystem that came years later, and Redbook audio CDs simply do not contain files. If you want to look at the structure of a whole audio CD, then one way is to rip it with a decent tool (perhaps cdrdao or EAC) and generate a bin/cue file pair as an output.
But that's not my goal. I'd like to be able to observe every grove, the physical encoding of data, and see if I could implement decoding from scratch. First problem is though that I don't know how to get a microscopic image of the disc.
All you need is the unmolested data from that disc. The data is arranged on a singular spiral groove starting from the center and slowly winding its way towards the outside.
The data is completely linear: It begins at the beginning, and continues to the very end without interruption. This is all akin to (although opposite of) how a single-track vinyl record is physically laid out. The entire CD -- whatever it contains -- is just a continuous string of pits and lands.
And to observe that string as it appears on a real disc, all you need to get started is a regular old-school CD player and some appropriate data acquisition gear, and maybe an oscilloscope to help figure out what you're looking at.
The optics and basic motor controls are already solved problems, and it doesn't even have to be particularly fast data acquisition gear by today's standards to record what is happening.