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NASA NTRS2020

The influence of assimilating leaf area index in a land surface model on global water fluxes and storages

Vegetation plays a fundamental role not only in theenergy and carbon cycles but also in the global water balanceby controlling surface evapotranspiration (ET). Thus, accu-rately estimating vegetation-related variables has the poten-tial to improve our understanding and estimation of the dy-namic interactions between the water, energy, and carbon cy-cles. This study aims to assess the extent to which a land sur-face model (LSM) can be optimized through the assimilationof leaf area index (LAI) observations at the global scale. Twoobserving system simulation experiments (OSSEs) are per-formed to evaluate the efficiency of assimilating LAI into anLSM through an ensemble Kalman filter (EnKF) to estimateLAI, ET, canopy-interception evaporation (CIE), canopy wa-ter storage (CWS), surface soil moisture (SSM), and terres-trial water storage (TWS). Results show that the LAI dataassimilation framework not only effectively reduces errorsin LAI model simulations but also improves all the modeledwater flux and storage variables considered in this study (ET,CIE, CWS, SSM, and TWS), even when the forcing pre-cipitation is strongly positively biased (extremely wet con-ditions). However, it tends to worsen some of the modeledwater-related variables (SSM and TWS) when the forcingprecipitation is affected by a dry bias. This is attributed tothe fact that the amount of water in the LSM is conservative,and the LAI assimilation introduces more vegetation, whichrequires more water than what is available within the soil

Terrestrial Vegetation↗

NASA NTRS2022

Volcanic Climate Warming through Radiative and Dynamical Feedbacks of SO2 Emissions

Volcanic flood basalt eruptions have been linked to or are contemporaneous with major climate disruptions, ocean anoxic events, and mass extinctions throughout at least the last 400M years of Earth’s history. Previous studies and recent history have shown that volcanically-driven climate cooling can occur through reflection of sunlight by H2SO4 aerosols, while longer-term climate warming can occur via CO2 emissions. We use the Goddard Earth Observing System Chemistry-Climate Model to simulate a four-year duration volcanic SO2 emission of the scale of the Wapshilla Ridge member of the Columbia River Basalt eruption. Brief cooling from H2SO4 aerosols is outweighed by dynamically and radiatively driven warming of the climate through a three orders of magnitude increase in stratospheric H2O vapor.

Scott D Guzewich↗

NASA NTRS2023

Explainable deep learning for insights in El Niño and river flows

The El Niño Southern Oscillation (ENSO) is a semi-periodic fluctuation in sea surface temperature (SST) over the tropical central and eastern Pacific Ocean that influences interannual variability in regional hydrology across the world through long-range dependence or teleconnections. Recent research has demonstrated the value of Deep Learning (DL) methods for improving ENSO prediction as well as Complex Networks (CN) for understanding teleconnections. However, gaps in predictive understanding of ENSO-driven river flows include the black box nature of DL, the use of simple ENSO indices to describe a complex phenomenon and translating DL-based ENSO predictions to river flow predictions. Here we show that eXplainable DL (XDL) methods, based on saliency maps, can extract interpretable predictive information contained in global SST and discover SST information regions and dependence structures relevant for river flows which, in tandem with climate network constructions, enable improved predictive understanding. Our results reveal additional information content in global SST beyond ENSO indices, develop understanding of how SSTs influence river flows, and generate improved river flow prediction, including uncertainty estimation. Observations, reanalysis data, and earth system model simulations are used to demonstrate the value of the XDL-CN based methods for future interannual and decadal scale climate projections.

SST↗

NASA NTRS2023

Flood Impacts on Net Ecosystem Exchange in the Midwestern and Southern United States in 2019

Climate extremes such as droughts, floods, heatwaves, frosts, and windstorms add considerable variability to the global year-to-year increase in atmospheric CO(2) through their influence on terrestrial ecosystems. While the impact of droughts on terrestrial ecosystems has received considerable attention, the response to flooding is not well understood. To improve upon this knowledge, the impact of the 2019 anomalously wet conditions over the Midwest and Southern US on CO(2) vegetation fluxes is examined in the context of 2017–2018 when such precipitation anomalies were not observed. CO(2) is simulated with NASA's Global Earth Observing System (GEOS) combined with the Low-order Flux Inversion, where fluxes of CO(2) are estimated using a suite of remote sensing measurements including greenness, night lights, and fire radiative power as well as with a bias correction based on insitu observations. Net ecosystem exchange CO(2) tracers are separated into the three regions covering the Midwest, South, and Eastern Texas and adjusted to match CO(2) observations from towers located in Iowa, Mississippi, and Texas. Results indicate that for the Midwestern region consisting primarily of corn and soybeans crops, flooding contributes to a 15%–25% reduction of annual net carbon uptake in 2019 in comparison to 2017 and 2018. These results are supported by independent reports of changes in agricultural activity. For the Southern region, comprised mainly of non-crop vegetation, annual net carbon uptake is enhanced in 2019 by about 10%–20% in comparison to 2017 and 2018. These outcomes show the heterogeneity in effects that excess wetness can bring to diverse ecosystems.

Nikolay Balashov↗

NASA NTRSDate not supplied

Atmospheric Formaldehyde Trend and Its Source Attributions in the Recent Decades

Formaldehyde (CH 2 O) is one of the most important reactive trace gases in the atmosphere with an important role in tropospheric chemistry and in the control of surface air quality. Sources of CH 2 O includes direct emissions and in situ production from the oxidation of volatile organic compounds (VOCs). In this study, we investigate spatial-temporal variations in atmospheric CH 2 O and how changes in CH 2 O couple with tropospheric ozone variability during the past two decades using recently available retrievals from the Ozone Monitoring Instrument (OMI) aboard NASA’s Aura satellite and the RefD1 simulation from the NASA Goddard Earth Observing System Chemistry Climate Model (GEOSCCM). Our initial analysis provides evidence of significant increases in atmospheric CH 2 O concentrations over several of the world’s major anthropogenic regions, including China, India, and the Middle East, and several biomass burning regions, including South America, southern Africa, boreal regions and Indonesia. We furthermore will identify regional source contributions to CH 2 O trends, including anthropogenic VOCs emissions, biogenic isoprene emissions and open fires. In particular, we will focus on anthropogenic emission regions to examine the role of changing anthropogenic VOC emissions on CH 2 O abundance.

Atmospheric Formaldehyde↗

NASA NTRS2014

Evaluation of the Surface Representation of the Greenland Ice Sheet in a General Circulation Model

Simulated surface conditions of the Goddard Earth Observing System model, version 5 (GEOS 5) atmospheric general circulation model (AGCM) are examined for the contemporary Greenland Ice Sheet (GrIS). A surface parameterization that explicitly models surface processes including snow compaction, meltwater percolation and refreezing, and surface albedo is found to remedy an erroneous deficit in the annual net surface energy flux and provide an adequate representation of surface mass balance (SMB) in an evaluation using simulations at two spatial resolutions. The simulated 1980-2008 GrIS SMB average is 24.7+/-4.5 cm yr(- 1) water-equivalent (w.e.) at.5 degree model grid spacing, and 18.2+/-3.3 cm yr(- 1) w.e. for 2 degree grid spacing. The spatial variability and seasonal cycle of the simulation compare favorably to recent studies using regional climate models, while results from 2 degree integrations reproduce the primary features of the SMB field. In comparison to historical glaciological observations, the coarser resolution model overestimates accumulation in the southern areas of the GrIS, while the overall SMB is underestimated. These changes relate to the sensitivity of accumulation and melt to the resolution of topography. The GEOS-5 SMB fields contrast with available corresponding atmospheric models simulations from the Coupled Model Intercomparison Project (CMIP5). It is found that only a few of the CMIP5 AGCMs examined provide significant summertime runoff, a dominant feature of the GrIS seasonal cycle. This is a condition that will need to be remedied if potential contributions to future eustatic change from polar ice sheets are to be examined with GCMs.

AGCM↗

DOE OSTI2025

Atmospheric Feedbacks Reverse the Sensitivity of Modeled Photosynthesis to Stomatal Function

Stomata mediate fluxes of carbon and water between terrestrial plants and the atmosphere. These fluxes are governed by stomatal function and can be modulated in many Earth system models by an empirical parameter within the calculation of stomatal conductance, the stomatal slope (𝑔 1⁢𝑀 ). Intuitively, 𝑔 1⁢𝑀 represents the marginal water cost of carbon, relating it to the emergent plant property of water use efficiency. Observations show that 𝑔 1⁢𝑀 can range widely across and within plant types in varying environments, and this distribution of 𝑔 1⁢𝑀 is not captured within Earth system models which represent each plant type with a single 𝑔 1⁢𝑀 value. Here we examine how 𝑔 1⁢𝑀 influences photosynthesis using coupled Earth system model simulations by perturbing 𝑔 1⁢𝑀 to observed 5⁢t⁢h and 95⁢t⁢h percentiles for each plant type. We find that high 𝑔 1⁢𝑀 reduces photosynthesis nearly everywhere, while low 𝑔 1⁢𝑀 has regionally dependent responses. Under fixed atmospheric conditions, low 𝑔 1⁢𝑀 increases photosynthesis in the Amazon and central North America but decreases photosynthesis in boreal Canada. These responses reverse when the atmosphere responds interactively due to spatially differing sensitivity to increases in temperature and vapor pressure deficit. Choice of 𝑔 1⁢𝑀 also influences photosynthetic response to changes in atmospheric carbon dioxide (CO 2 ), with lower and higher 𝑔1⁢𝑀 modifying total global response to elevated 2x preindustrial CO 2 by +6.4% and −9.6%, respectively. Our work demonstrates that atmospheric feedbacks are critical for determining the photosynthetic response to 𝑔 1⁢𝑀 assumptions and some regions are particularly sensitive to choice of 𝑔 1⁢𝑀 .

Liu, Amy X. [University of Washington, Seattle, WA↗

NASA NTRS2013

Downscaling Reanalysis over Continental Africa with a Regional Model: NCEP Versus ERA Interim Forcing

Five annual climate cycles (1998-2002) are simulated for continental Africa and adjacent oceans by a regional atmospheric model (RM3). RM3 horizontal grid spacing is 0.44deg at 28 vertical levels. Each of 2 simulation ensembles is driven by lateral boundary conditions from each of 2 alternative reanalysis data sets. One simulation downs cales National Center for Environmental Prediction reanalysis 2 (NCPR2) and the other the European Centre for Medium Range Weather Forecasts Interim reanalysis (ERA-I). NCPR2 data are archived at 2.5deg grid spacing, while a recent version of ERA-I provides data at 0.75deg spacing. ERA-I-forced simulations are recomrp. ended by the Coordinated Regional Downscaling Experiment (CORDEX). Comparisons of the 2 sets of simulations with each other and with observational evidence assess the relative performance of each downscaling system. A third simulation also uses ERA-I forcing, but degraded to the same horizontal resolution as NCPR2. RM3-simulated pentad and monthly mean precipitation data are compared to Tropical Rainfall Measuring Mission (TRMM) data, gridded at 0.5deg, and RM3-simulated circulation is compared to both reanalyses. Results suggest that each downscaling system provides advantages and disadvantages relative to the other. The RM3/NCPR2 achieves a more realistic northward advance of summer monsoon rains over West Africa, but RM3/ERA-I creates the more realistic monsoon circulation. Both systems recreate some features of JulySeptember 1999 minus 2002 precipitation differences. Degrading the resolution of ERA-I driving data unrealistically slows the monsoon circulation and considerably diminishes summer rainfall rates over West Africa. The high resolution of ERA-I data, therefore, contributes to the quality of the downscaling, but NCPR2laterai boundary conditions nevertheless produce better simulations of some features.

Reanalysis↗

NASA NTRS1999

El Nino and the Global Ocean Observing System

Until a decade ago, an often-quoted expression in oceanography is that very few observations are recorded throughout the ocean. Now, the sentiment is no longer valid in the uppermost 10% of the tropical Pacific Ocean nor at the surface of the global ocean. One of the remarkable legacies of the 1985-1994 Tropical Oceans Global Atmosphere (TOGA) Program is an in situ marine meteorological and upper oceanographic measurement array throughout the equatorial Pacific to monitor the development and maintenance of El Nino episodes. The TOGA Observing System, which initially consisted of moored- and drifting-buoy arrays, a network of commercial ships, and coastal and island stations, now includes a constellation of satellites and data-assimilating models to simulate subsurface oceanographic conditions. The El Nino and La Nina tropical Pacific Ocean observing system represents the initial phase of an integrated global ocean observing system. Remarkable improvements have been made in ocean model simulation of subsurface currents, but some problems persist. For example, the simulation of the South Equatorial Current (SEC) remains an important challenge in the 2S-2N Pacific equatorial wave guide. During El Nino the SEC at the equator is reduced and sometimes the direction is reversed, becoming eastward. Both conditions allow warm water stored in the western Pacific to invade the eastern region, creating an El Nino episode. Assimilation of data is a tenet of faith to correct simulation errors caused by deficiencies in surface fluxes (especially wind stress) and parameterizations of subgrid-scale physical processes. In the first of two numerical experiments, the Pacific SEC was simulated with and without assimilation of subsurface temperature data. Along the equator, a very weak SEC occurred throughout the eastern Pacific, independent of assimilation of data. However, as displayed in the diagram, in the western Pacific there was no satisfactory agreement between the two simulations. To help determine reliability of the simulated SEC in the western Pacific, current measurements recorded during the 9-19 October 1994 voyage of the French research vessel L'Atalante are also shown in the diagram. With data assimilation, the simulated SEC was in much better agreement with L'Atalante observations. The simulated SEC with data assimilation was far from perfect, in part because of the sparsity of subsurface temperature observations. In the next experiment, TOPEX/POSEIDON sea surface height data in combination with subsurface temperatures will be assimilated to assess further improvement of the simulation of the SEC.

Halpern, David↗

NASA NTRS1988

SIRTF controller simulation - Instability masked by numerical integration

In the course of a simulation study of a candidate design for the Space Infrared Telescope Facility (SIRTF), an unusual phenomenon was observed. The uncompensated control system was unstable, but a numerical simulation with the fixed-step-size classical fourth-order Runge-Kutta method gave a stable response. This phenomenon is described in the setting in which it occurred. The Runge-Kutta simulation model is analyzed as a discrete linear system and shown to be stable, thus corroborating the numerical results.

Rajan, N.↗

DOE OSTI2026

Differences in Lightning—Storm Microphysical Relationships in Subtropical South America Versus the Continental U.S. and Their Impact on Model Lightning Parameterizations

Satellite studies have shown that some of the deepest convection with high lightning flash rates occurs downstream of the Andes in subtropical South America (SSA). Using high resolution ground‐based observations in SSA, we explore the relationship between lightning and radar‐inferred storm microphysics. Results show these storms have significantly larger 35‐dBZ volumes and more graupel per lightning flash compared to storms in the U.S. We then test microphysics‐based lightning parameterizations for storms in SSA on a 1‐km convection‐permitting simulation of a mesoscale convective system. Results from the simulation match well with observed flash rates. If parameterizations based on U.S. storms had been applied, flash rates would have been overestimated by a factor of eight. These results suggest that storms in SSA are fundamentally different compared to storms in the U.S., and caution should be exercised when applying microphysics‐based lightning parameterizations in different regions of the world.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRSDate not supplied

Clutter Assessment for an Autonomous Multi-Agent Search Mission

This paper presents a method for evaluating the amount of clutter in a region where autonomous vehicles in a multi-agent system must operate based on LIDAR point cloud measurements. The point cloud is used to generate an occupancy grid which is then projected onto a 2D plane of vehicle motion, constituting an image. A series of Gaussian radial basis functions (GRBFs) is created, each centered at an occupied pixel in a 2D image, and summed together to form the clutter field. The clutter field is a representation of the density and permeability of the space at each coordinate. The clutter field is then approximated such that iso-clutter contours are simple geometric objects so that intelligent machine assets can easily query the distance between them and any given point in an environment. In this way, agents are able to determine whether to enter into or steer away from areas of interest. Each vehicle has a clutter threshold representing the clutter value of the space in which it can safely maneuver. The iso-clutter contour corresponding to a vehicle’s clutter threshold is treated as the boundary of an obstacle to be avoided. A simulation is presented where a multi-agent system is tasked with persistent observation of a cluttered area. Each vehicle in the simulation has a different clutter threshold. The vehicles use a potential field-based guidance algorithm, and an allocation of vehicles to specific regions of the space emerges.

multi-agent↗

NASA NTRS2011

Influence of the Mt. Pinatubo Eruption on the Stratospheric Circulation

On June 15th, 1991 the eruption of Mt. Pinatubo in the Philippines injected about 20 Tg of sulfur dioxide in the stratosphere, which was transformed into sulfuric acid aerosol. Even though stratospheric winds climatologically tend to hinder the air mixing between the two hemispheres, observations have shown that a large part of the SO2 emitted by Mt. Pinatubo have been transported from the Northern to the Southern Hemisphere. We show how the absorption of radiation by sulfate aerosol is responsible for the spreading to the southern hemisphere through a middle stratospheric channel. We simulate the eruption of Mt. Pinatubo with the Goddard Earth Observing System (GEOS) version 5 general circulation model, coupled to the aerosol module GOCART and the stratospheric chemistry module StratChem. Our simulations are in good agreement with SAGE-II and AVHRR data. We perform two ensembles of simulations: the first ensemble consists of runs without coupling between aerosol and radiation. In these simulations the plume of aerosols is treated as a passive tracer and the atmosphere is unperturbed. In the second ensemble of simulations aerosols and radiation are coupled. We show that the set of runs with interactive aerosol produces a larger cross-equatorial transport of the Pinatubo cloud, in agreement with the observations. At first, the volcanic cloud is transported from the latitude of the eruption to both hemispheres through a lower stratospheric pathway. Additionally, in the interactive simulations the absorption of long wave radiation from the volcanic sulfate induces a lofting of the cloud to the middle atmosphere and, at the same time, a divergent motion from the center of the cloud. Such motion spreads the volcanic cloud across the equator and to the tropics, where the background circulation carry it to higher latitudes.

Aquila, V.↗

NASA NTRS2019

Reducing The Noise Impact of Unmanned Aerial Vehicles by Flight Control System Augmentation

The aim of this thesis is to explore methods to reduce the noise impact of unmanned aerial vehicles operating within acoustically sensitive environments by flight control systemaugmentation. Two methods are investigated and include: (i) reduction of sound generatedby vehicle speed control while flying along a nominal path and (ii) reduction of acousticexposure by vehicle path control while flying at a nominal speed. Both methods requireincorporation of an acoustic model into the flight control system as an additional controlobjective and an acoustic metric to characterize primary noise sources dependent on vehiclestate. An acoustic model was developed based on Gutin’s work to estimate propeller noise,both to estimate source noise and observer noise using two separate acoustic metrics. Thesemethods can potentially mitigate the noise impact of unmanned aerial systems operatingnear residential communities.The baseline flight control system of a representative aircraft was augmented with acontrol law to reduce propeller noise using feedback control of the commanded flight speeduntil an acoustic target was met, based on the propeller noise model. This control approachfocuses on modifying flight speed only, with no perturbation to the trajectory. Multipleflight simulations were performed and the results showed that integrating an acoustic metricinto the flight control system of an unmanned aerial system is possible and useful. A secondmethod to mitigate the effects of noise on an observer was also pursued to optimize a tra-jectory in order to avoid an acoustically sensitive region during the path planning process.After the propeller noise model was incorporated into the vehicle system, simulations showedthat it is possible to reduce the noise impact on an observer through an optimization of thetrajectory with no perturbation to the flight speed.

Matthew B Galles↗

NASA NTRS2010

Comparison of Satellite-Derived TOA Shortwave Clear-Sky Fluxes to Estimates from GCM Simulations Constrained by Satellite Observations of Land Surface Characteristics

Clear-sky, upwelling shortwave flux at the top of the atmosphere (S(sub TOA raised arrow)), simulated using the atmospheric and land model components of the Community Climate System Model 3 (CCSM3), is compared to corresponding observational estimates from the Clouds and Earth's Radiant Energy System (CERES) sensor. Improvements resulting from the use of land surface albedo derived from Moderate Resolution Imaging Spectroradiometer (MODIS) to constrain the simulations are also examined. Compared to CERES observations, CCSM3 overestimates global, annual averaged S(sub TOA raised arrow) over both land and oceans. However, regionally, CCSM3 overestimates S(sub TOA raised arrow) over some land and ocean areas while underestimating it over other sites. CCSM3 underestimates S(sub TOA raised arrow) over the Saharan and Arabian Deserts and substantial differences exist between CERES observations and CCSM3 over agricultural areas. Over selected sites, after using groundbased observations to remove systematic biases that exist in CCSM computation of S(sub TOA raised arrow), it is found that use of MODIS albedo improves the simulation of S(sub TOA raised arrow). Inability of coarse resolution CCSM3 simulation to resolve spatial heterogeneity of snowfall over high altitude sites such as the Tibetan Plateau causes overestimation of S(sub TOA raised arrow) in these areas. Discrepancies also exist in the simulation of S(sub TOA raised arrow) over ocean areas as CCSM3 does not account for the effect of wind speed on ocean surface albedo. This study shows that the radiative energy budget at the TOA is improved through the use of MODIS albedo in Global Climate Models.

Anantharaj, Valentine G.↗

NASA NTRS2014

Reply to Comment by Laprise on 'the Added Value to Global Model Projections of Climate Change by Dynamical Downscaling: a Case Study over the Continental U.S. Using the GISS-ModelE2 and WRF Models'

In his comment, Laprise raises several points that we agree merit consideration. His primary critique is that our study [Racherla et al., 2012] tested the ability of the WRF regional climate model to reproduce historical temperature and precipitation change relative to the driving global climate model (GCM) using only a single simulation rather than an ensemble. He asserts that the observed changes are smaller than the internal variability in the climate system (i.e., not statistically significant) and that thus a single simulation should not necessarily be able to capture the observations. Laprise points out that the statistical signal is reduced for a multi-decadal trend such as the one we analyzed in comparison with mean climatology and cites two studies showing that for particular climate parameters it can take any years for a signal to be discerned over internal variability. He states that The results of theexperiment as designed were strongly influenced by the presence of internal variability and sampling errors,which masked the rather small climate changes that may have occurred as a consequence of changes inforcing during the period considered. While Laprise discusses statistics in general terms at some length, for the actual climate trends examined in our study, he offers no evidence that the forced signal was smallcompared with internal variability. The two studies he cites [de Ela et al., 2013; Maraun, 2013] do not provide convincing evidence as they concern climate variables averaged over different times and areas. One in fact examines extreme precipitation events, which by definition are rare and thus have a lower significance level. We accept the general point that it is important to consider internal variability, and as noted in our paper we agree that an ensemble of simulations is in principle an optimal, though computationally expensive, approach. While we did not present the statistical significance of the observations in our original paper, we have now evaluated those for the regional temperature trends used in our study to evaluate the added value of WRF and thus can analyze data as to the magnitude of the trends with respect to internal variability.

climate↗

NASA NTRS2013

Uncertainty Quantification of GEOS-5 L-band Radiative Transfer Model Parameters Using Bayesian Inference and SMOS Observations

Uncertainties in L-band (1.4 GHz) radiative transfer modeling (RTM) affect the simulation of brightness temperatures (Tb) over land and the inversion of satellite-observed Tb into soil moisture retrievals. In particular, accurate estimates of the microwave soil roughness, vegetation opacity and scattering albedo for large-scale applications are difficult to obtain from field studies and often lack an uncertainty estimate. Here, a Markov Chain Monte Carlo (MCMC) simulation method is used to determine satellite-scale estimates of RTM parameters and their posterior uncertainty by minimizing the misfit between long-term averages and standard deviations of simulated and observed Tb at a range of incidence angles, at horizontal and vertical polarization, and for morning and evening overpasses. Tb simulations are generated with the Goddard Earth Observing System (GEOS-5) and confronted with Tb observations from the Soil Moisture Ocean Salinity (SMOS) mission. The MCMC algorithm suggests that the relative uncertainty of the RTM parameter estimates is typically less than 25 of the maximum a posteriori density (MAP) parameter value. Furthermore, the actual root-mean-square-differences in long-term Tb averages and standard deviations are found consistent with the respective estimated total simulation and observation error standard deviations of m3.1K and s2.4K. It is also shown that the MAP parameter values estimated through MCMC simulation are in close agreement with those obtained with Particle Swarm Optimization (PSO).

MCMC↗

NASA NTRS2001

Ocean-Science Mission Needs: Real-Time AUV Data for Command, Control, and Model Inputs

Predictive models for tides, hydrodynamics, and bio-optical properties affecting the visibility and buoyancy of coastal waters are needed to evaluate the safety of personnel and equipment engaged in maritime operations under potentially hazardous conditions. Predicted currents can be markedly different for two-layer systems affected by terrestrial runoff than for well-mixed conditions because the layering decouples the surface and bottom Ekman layers and rectifies the current response to oscillatory upwelling-and downwelling-favorable winds. Standard ocean models (e.g. Princeton Ocean Model) require initial-and boundary data on the physical and optical properties of the multilayered water column to provide accurate simulations of heat budgets and circulation. Two observational systems are designed to measure vertically structured conditions on the West Florida Shelf (WFS): a tethered buoy network and an autonomous underwater vehicle (AUV) observational system. The AUV system is described with a focus on the observational systems that challenge or limit the communications command and control network for various types of measurement programs. These include vertical oscillatory missions on shelf transects to observe the optical and hydrographic properties of the water column, and bottom-following missions for measuring the bottom albedo. Models of light propagation, absorption, and conversion to heat as well as determination of the buoyancy terms for physical models require these measurements. High data rates associated with video bottom imagery are the most challenging for the real-time, command and control communications system, but they are met through a combination of loss-less and lossy data-compression methods, depending upon the data-rate of the radio links.

Carder, Kendall L.↗