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Identifying and Addressing Land Surface Model Deficiencies with Data Assimilation

Land surface models (LSMs) encapsulate our understanding of terrestrial water and energy cycle physics and provide estimates of land surface states and fluxes when and where measurement gaps exist. Gaps in our understanding of the physics are a different issue. Data assimilation can address that issue both directly, through updating of prognostic model variables, or indirectly, when the simulated world conflicts with observation, necessitating adjustment of the model. Here we will focus on the latter case and present several examples, including (1) depth to bedrock adjustment to accommodate assimilated GRACE terrestrial water storage data; (2) steps to prevent immediate melting of assimilated snow cover; (3) irrigation's contribution to evapotranspiration; (4) lessons learned from soil moisture data assimilation; (5) the potential impact of satellite based runoff observation

Rodell, Matthew

Analysis of Water and Energy Budgets and Trends Using the NLDAS Monthly Data Sets

The North American Land Data Assimilation System (NLDAS) is a collaborative project between NASA GSFC, NOAA, Princeton University, and the University of Washington. NLDAS has created surface meteorological forcing data sets using the best-available observations and reanalyses. The forcing data sets are used to drive four separate land-surface models (LSMs), Mosaic, Noah, VIC, and SAC, to produce data sets of soil moisture, snow, runoff, and surface fluxes. NLDAS hourly data, accessible from the NASA GES DISC Hydrology Data Holdings Portal, http://disc.sci.gsfc.nasa.gov/hydrology/data-holdings, are widely used by various user communities in modeling, research, and applications, such as drought and flood monitoring, watershed and water quality management, and case studies of extreme events. More information is available at http://ldas.gsfc.nasa.gov/. To further facilitate analysis of water and energy budgets and trends, NLDAS monthly data sets have been recently released by NASA GES DISC.

Vollmer, Bruce E.

Hydrology Research with the North American Land Data Assimilation System (NLDAS) Datasets at the NASA GES DISC Using Giovanni

The North American Land Data Assimilation System (NLDAS) is a collaboration project between NASA/GSFC, NOAA, Princeton Univ., and the Univ. of Washington. NLDAS has created a surface meteorology dataset using the best-available observations and reanalyses the backbone of this dataset is a gridded precipitation analysis from rain gauges. This dataset is used to drive four separate land-surface models (LSMs) to produce datasets of soil moisture, snow, runoff, and surface fluxes. NLDAS datasets are available hourly and extend from Jan 1979 to near real-time with a typical 4-day lag. The datasets are available at 1/8th-degree over CONUS and portions of Canada and Mexico from 25-53 North. The datasets have been extensively evaluated against observations, and are also used as part of a drought monitor. NLDAS datasets are available from the NASA GES DISC and can be accessed via ftp, GDS, Mirador, and Giovanni. GES DISC news articles were published showing figures from the heat wave of 2011, Hurricane Irene, Tropical Storm Lee, and the low-snow winter of 2011-2012. For this presentation, Giovanni-generated figures using NLDAS data from the derecho across the U.S. Midwest and Mid-Atlantic will be presented. Also, similar figures will be presented from the landfall of Hurricane Isaac and the before-and-after drought conditions of the path of the tropical moisture into the central states of the U.S. Updates on future products and datasets from the NLDAS project will also be introduced.

Mocko, David M.

Water Balance in the Amazon Basin from a Land Surface Model Ensemble

Despite recent advances in land surfacemodeling and remote sensing, estimates of the global water budget are still fairly uncertain. This study aims to evaluate the water budget of the Amazon basin based on several state-ofthe- art land surface model (LSM) outputs. Water budget variables (terrestrial water storage TWS, evapotranspiration ET, surface runoff R, and base flow B) are evaluated at the basin scale using both remote sensing and in situ data. Meteorological forcings at a 3-hourly time step and 18 spatial resolution were used to run 14 LSMs. Precipitation datasets that have been rescaled to matchmonthly Global Precipitation Climatology Project (GPCP) andGlobal Precipitation Climatology Centre (GPCC) datasets and the daily Hydrologie du Bassin de l'Amazone (HYBAM) dataset were used to perform three experiments. The Hydrological Modeling and Analysis Platform (HyMAP) river routing scheme was forced with R and B and simulated discharges are compared against observations at 165 gauges. Simulated ET and TWS are compared against FLUXNET and MOD16A2 evapotranspiration datasets andGravity Recovery and ClimateExperiment (GRACE)TWSestimates in two subcatchments of main tributaries (Madeira and Negro Rivers).At the basin scale, simulated ET ranges from 2.39 to 3.26 mm day(exp -1) and a low spatial correlation between ET and precipitation indicates that evapotranspiration does not depend on water availability over most of the basin. Results also show that other simulated water budget components vary significantly as a function of both the LSM and precipitation dataset, but simulated TWS generally agrees with GRACE estimates at the basin scale. The best water budget simulations resulted from experiments using HYBAM, mostly explained by a denser rainfall gauge network and the rescaling at a finer temporal scale.

GPCP

Impact of Soil Moisture Assimilation on Land Surface Model Spin-Up and Coupled LandAtmosphere Prediction

Advances in satellite monitoring of the terrestrial water cycle have led to a concerted effort to assimilate soil moisture observations from various platforms into offline land surface models (LSMs). One principal but still open question is that of the ability of land data assimilation (LDA) to improve LSM initial conditions for coupled short-term weather prediction. In this study, the impact of assimilating Advanced Microwave Scanning Radiometer for EOS (AMSR-E) soil moisture retrievals on coupled WRF Model forecasts is examined during the summers of dry (2006) and wet (2007) surface conditions in the southern Great Plains. LDA is carried out using NASAs Land Information System (LIS) and the Noah LSM through an ensemble Kalman filter (EnKF) approach. The impacts of LDA on the 1) soil moisture and soil temperature initial conditions for WRF, 2) land-atmosphere coupling characteristics, and 3) ambient weather of the coupled LIS-WRF simulations are then assessed. Results show that impacts of soil moisture LDA during the spin-up can significantly modify LSM states and fluxes, depending on regime and season. Results also indicate that the use of seasonal cumulative distribution functions (CDFs) is more advantageous compared to the traditional annual CDF bias correction strategies. LDA performs consistently regardless of atmospheric forcing applied, with greater improvements seen when using coarser, global forcing products. Downstream impacts on coupled simulations vary according to the strength of the LDA impact at the initialization, where significant modifications to the soil moisture flux- PBL-ambient weather process chain are observed. Overall, this study demonstrates potential for future, higher-resolution soil moisture assimilation applications in weather and climate research.

soil moisture

Data Descriptor: A Land Data Assimilation System for Sub-Saharan Africa Food and Water Security Applications

Seasonal agricultural drought monitoring systems, which rely on satellite remote sensing and land surface models (LSMs), are important for disaster risk reduction and famine early warning. These systems require the best available weather inputs, as well as a long-term historical record to contextualize current observations. This article introduces the Famine Early Warning Systems Network (FEWS NET) Land Data Assimilation System (FLDAS), a custom instance of the NASA Land Information System (LIS) framework. The FLDAS is routinely used to produce multi-model and multi-forcing estimates of hydro-climate states and fluxes over semi-arid, food insecure regions of Africa. These modeled data and derived products, like soil moisture percentiles and water availability, were designed and are currently used to complement FEWSNETs operational remotely sensed rainfall, evapotranspiration, and vegetation observations. The 30+ years of monthly outputs from the FLDAS simulations are publicly available from the NASA Goddard Earth Science Data and Information Services Center (GES DISC) and recommended for use in hydroclimate studies, early warning applications, and by agro-meteorological scientists in Eastern, Southern, and Western Africa.

albedo

Recent Findings from Restored Apollo Magnetic Field Records

On November 19, 1969, Apollo 12 astronauts installed a Lunar Surface Magnetometer (LSM) as a part ofthe Apollo Lunar Surface Experiment Package, making the first magnetic field measurement on aplanetary body other than Earth. The subsequent Apollo missions deployed two more LSM's (Apollos 15and 16), two Lunar Portable Magnetometers (Apollos 14 and 15), and two Sub-satellite BiaxialMagnetometers (SBMs of Apollos 15 and 16). After almost a half century, the Apollo 15 and 16 missionsare still the only lunar missions conducting simultaneous surface and orbital magnetic field experiments.The Apollo magnetic field experiments enabled many first discoveries, including the lunar magneticanomalies and the electrical conductivity of the Moon. Since the Apollo era, the archaic data format hasbeen hampering the re-examination of Apollo magnetic field records until recently. We have nowrestored most of the digital Apollo magnetic field records archived at NSSDC, including the 0.3-s datafrom the Apollo 12, 15 and 16 LSMs and the 24-s data from Apollo 15 and 16 SBMs. The restored LSMdata have revealed many narrowband ion cyclotron waves in the Earth's magnetotail that were not

Magnetic

Uncertainties in Evapotranspiration Estimates over West Africa

An evapotranspiration (ET) ensemble composed of 36 land surface model (LSM) experiments and four diagnostic datasets (GLEAM, ALEXI, MOD16, and FLUXNET) is used to investigate uncertainties in ET estimate over five climate regions in West Africa. Diagnostic ET datasets show lower uncertainty estimates and smaller seasonal variations than the LSM-based ET values, particularly in the humid climate regions. Overall, the impact of the choice of LSMs and meteorological forcing datasets on the modeled ET rates increases from north to south. The LSM formulations and parameters have the largest impact on ET in humid regions, contributing to 90% of the ET uncertainty estimates. Precipitation contributes to the ET uncertainty primarily in arid regions. The LSM-based ET estimates are sensitive to the uncertainty of net radiation in arid region and precipitation in humid region. This study serves as support for better determining water availability for agriculture and livelihoods in Africa with earth observations and land surface models.

land surface model

Diagnosing Bias in Modeled Soil Moisture/runoff Coefficient Correlation Using the SMAP Level 4 Soil Moisture Product

The physical parameterization of key processes in land surface models (LSMs) remains uncertain, and new techniques are required to evaluate LSM accuracy over coarse spatial scales. Given the role of soil moisture in the partitioning of surface water fluxes (between infiltration, runoff and evapotranspiration), surface soil moisture (SSM) estimates represent an important observational benchmark for such evaluations. Here, we apply SSM estimates from the NASA Soil Moisture Active Passive Level 4 product (SMAP_L4) to diagnose bias in the coupling between SSM and surface runoff for multiple Noah-Multiple Physics (Noah-MP) LSM parameterization cases. Results demonstrate that Noah-MP surface runoff parameterizations often underestimate the coupling strength between pre-storm SSM and the event-scale runoff coefficient (RC; defined as the ratio between event-scale streamflow and precipitation volumes). This bias squanders RC information contained in pre-storm SSM and reduces RC estimation skill. Such bias can be quantified against an observational benchmark calculated using streamflow observations and SMAP_L4 SSM and applied to explain a substantial fraction of the observed basin-to-basin (and case-to-case) variability in the skill of event-scale Noah-MP RC estimates. Based on this concept, a novel case selection strategy for ungauged basins is introduced and demonstrated to successfully identify poorly performing Noah-MP parameterization cases.

SSM

Quantifying Water Storage Change and Land Subsidence Induced by Reservoir Impoundment Using GRACE, Landsat, and GPS Data

The construction of hydropower dams is a common strategy to support a country's increasing need for electricity and river water management for industry and agriculture. Although the hydrological and geophysical impacts of water relocation are usually assessed prior to impoundment, their accuracy is generally limited due to the lack of in situ observations, especially in a remote area. This study presents a workflow to quantify the terrestrial water storage change (TWS) and land subsidence induced by a reservoir's water impoundment using multiple satellite observations (GRACE, Landsat), land surface models (CABLE, GLDAS, NCEP, ECMWF), and GPS data. The study site is the Bakun Dam, located in Sarawak, Malaysia, which is the largest hydropower dam in Southeast Asia. Commencing operation in late 2010, the dam induced a change of water mass and lake surface area that was clearly observed by GRACE and Landsat observations, respectively. During the 17-month impounding period (from August 2010 to December 2011), GRACE observed a dramatic increase of approximately 200 mm equivalent water height, while Landsat detected an increased lake extent of around 600 km2. In this paper, a forward model is developed to determine the increased water surface level corresponding to GRACE observations, estimated to be about 120 m. In contrast to GRACE, the TWS derived from land surface models cannot capture the increased TWS, due to the lack of reservoir routing algorithms in the models. In addition, the land subsidence was calculated using the disk load model constructed based on the GRACE-derived lake level and Landsat-derived lake extent; the result is validated with the GPS data from BIN1 station, located at the western coast of Borneo. The commencement stage of the Bakun Dam induces the large-scale land subsidence, which causes the GPS-BIN1 station to subside by ~9 mm, and move toward the Bakun Lake by ~4 mm. Computation of the surface displacements directly from GRACE spherical harmonic coefficient data fails to capture the subsidence feature, mainly due to the truncation error. Overall, this study demonstrates that evaluating GRACE in conjunction with Landsat, LSMs, and GPS data allows the exploitation of the gravity signal at a much smaller spatial scale than its intrinsic resolution. Benefiting from global coverage, the newly developed satellite-based algorithm is a valuable tool for assessing the impacts of reservoir operation on hydrological and geophysical changes from local to regional scales.

Natthachet Tangdamrongsub

Quantifying Water Storage Change and Land Subsidence Induced by Reservoir Impoundment Using GRACE, Landsat, and GPS Data

The construction of hydropower dams is a common strategy to support a country's increasing need for electricityand river water management for industry and agriculture. Although the hydrological and geophysical impacts ofwater relocation are usually assessed prior to impoundment, their accuracy is generally limited due to the lack ofin situ observations, especially in a remote area. This study presents a workflow to quantify the terrestrial waterstorage change (TWS) and land subsidence induced by a reservoir's water impoundment using multiple satelliteobservations (GRACE, Landsat), land surface models (CABLE, GLDAS, NCEP, ECMWF), and GPS data. The studysite is the Bakun Dam, located in Sarawak, Malaysia, which is the largest hydropower dam in Southeast Asia.Commencing operation in late 2010, the dam induced a change of water mass and lake surface area that wasclearly observed by GRACE and Landsat observations, respectively. During the 17-month impounding period(from August 2010 to December 2011), GRACE observed a dramatic increase of approximately 200mmequivalent water height, while Landsat detected an increased lake extent of around 600 km2. In this paper, aforward model is developed to determine the increased water surface level corresponding to GRACE observations,estimated to be about 120 m. In contrast to GRACE, the TWS derived from land surface models cannotcapture the increased TWS, due to the lack of reservoir routing algorithms in the models. In addition, the landsubsidence was calculated using the disk load model constructed based on the GRACE-derived lake level andLandsat-derived lake extent; the result is validated with the GPS data from BIN1 station, located at the westerncoast of Borneo. The commencement stage of the Bakun Dam induces the large-scale land subsidence, whichcauses the GPS-BIN1 station to subside by ~9 mm, and move toward the Bakun Lake by ~4 mm. Computation ofthe surface displacements directly from GRACE spherical harmonic coefficient data fails to capture the subsidencefeature, mainly due to the truncation error. Overall, this study demonstrates that evaluating GRACE inconjunction with Landsat, LSMs, and GPS data allows the exploitation of the gravity signal at a much smallerspatial scale than its intrinsic resolution. Benefiting from global coverage, the newly developed satellite-basedalgorithm is a valuable tool for assessing the impacts of reservoir operation on hydrological and geophysicalchanges from local to regional scales.

Tangdamrongsub, Natthachet

Robotic Assembly Activities at NASA Langley Research Center

Over the past several decades, NASA Langley Research Center (LaRC) has developed a suite of hardware and software capabilities for robotic in-space assembly. Specific robots include the Lightweight Surface Manipulation System (LSMS), Tendon-Actuated Lightweight In-Space Manipulator (TALISMAN), NASA Intelligent Jigging and Assembly Robot (NINJAR), Strut Assembly, Manufacturing, Utility & Robotic Aid (SAMURAI), and most recently the Assemblers modular robots. Alongside the hardware, software tools such as the Autonomous Entity Operations Network (AEON) and the Baseline Environment for Autonomous Modeling (BEAM) have been developed to enable communication and simulation respectively. These tools have supported foundational research in single and multi-agent control, sensing and perception, trajectory generation, task allocation, and human-machine teaming. This talk will provide a broad overview of these capabilities and go into detail on recent developments made by the Assemblers project to create modular, reconfigurable robots for autonomous in-space assembly.

John R Cooper

Vegetation Monitoring Optimization with Normalized Difference Vegetation Index and Evapotranspiration Using Remote Sensing Measurements and Land Surface Models Over East Africa

The majority of people in East Africa rely on the agro-pastoral system for their livelihood, which is highly vulnerable to droughts and flooding. Agro-pastoral droughts are endemic to the region and are considered the main natural hazard that contributes to food insecurity. Drought begins with rainfall deficit, gradually leading to soil moisture deficit, higher land surface temperature, and finally impacts to vegetation growth. Therefore, monitoring vegetation conditions is essential in understanding the progression of drought, potential effects on food security, and providing early warning information needed for drought mitigation decisions. Because vegetation processes couple the land and atmosphere, monitoring of vegetation conditions requires consideration of both water provision and demand. While there is consensus in using either the Normalized Difference Vegetation Index (NDVI) or evapotranspiration(ET) for vegetation monitoring, a comprehensive assessment optimizing the use of both has not yet been done. Moreover, the evaluation methods for understanding the relationships between NDVI and ET for vegetation monitoring are also limited. Taking these gaps into account we have developed a framework to optimize vegetation monitoring using both NDVI and ET by identifying where they perform the best by using triple collocation and cross-correlation methods. We estimated the random error structure in Moderate Resolution Imaging Spectroradiometer (MODIS) NDVI; ET from the Operational Simplified Surface Energy Balance (SSEBop) model; and ET from land surface models (LSMs). LSM ET and SSEBop ET have been found to be better indicators for vegetation monitoring during extreme drought events, while NDVI could provide better information on vegetation condition during wetter than normal conditions. The random error structures of these variables suggest that LSM ET is most likely to provide important information for vegetation monitoring over low and high ends of the vegetation fraction areas. Over moderate vegetative areas, any of these variables could provide important vegetation information for drought characterization and food security assessments. While this study provides a framework for optimizing vegetation monitoring for drought and food security assessments over East Africa, the framework can be adopted to optimize vegetation monitoring over any other drought and food insecure region of the world.

triple collocation

Tropical peatland hydrology simulated with a global land surface model

Tropical peatlands are among the most carbon-dense ecosystems on Earth, and their water storage dynamics strongly control these carbon stocks. The hydrological functioning of tropical peatlands differs from that of northern peatlands, which has not yet been accounted for in global land surface models (LSMs). Here, we integrated tropical peat-specific hydrology modules into a global LSM for the first time, by utilizing the peatland-specific model structure adaptation (PEATCLSM) of the NASA Catchment Land Surface Model (CLSM). We developed literature-based parameter sets for natural (PEATCLSM(Trop,Nat)) and drained (PEATCLSM(Trop,Drain)) tropical peatlands. Simulations with PEATCLSM(Trop,Nat) were compared against those with the default CLSM version and the northern version of PEATCLSM (PEATCLSM(North,Nat)) with tropical vegetation input. All simulations were forced with global meteorological reanalysis input data for the major tropical peatland regions in Central and South America, the Congo Basin, and Southeast Asia. The evaluation against a unique and extensive data set of in situ water level and eddy covariance-derived evapotranspiration showed an overall improvement in bias and correlation compared to the default CLSM version. Over Southeast Asia, an additional simulation with PEATCLSM(Trop,Drain) was run to address the large fraction of drained tropical peatlands in this region. PEATCLSM(Trop,Drain) outperformed CLSM, PEATCLSM(North,Nat) and PEATCLSM(Trop,Nat) over drained sites. Despite the overall improvements of PEATCLSM(Trop,Nat) over CLSM, there are strong differences in performance between the three study regions. We attribute these performance differences to regional differences in accuracy of meteorological forcing data, and differences in peatland hydrologic response that are not yet captured by our model.

Peatland

Bias Correction of Hydrologic Projections Strongly Impacts Inferred Climate Vulnerabilities in Institutionally Complex Water Systems

Water-resources planners use regional water management models (WMMs) to identify vulnerabilities to climate change. Frequently, dynamically downscaled climate inputs are used in conjunction with land-surface models (LSMs) to provide hydrologic streamflow projections, which serve as critical inputs for WMMs. Here, we show how even modest projection errors can strongly affect assessments of water availability and financial stability for irrigation districts in California. Specifically, our results highlight that LSM errors in projections of flood and drought extremes are highly interactive across timescales, path-dependent, and can be amplified when modeling infrastructure systems (e.g., misrepresenting banked groundwater). Common strategies for reducing errors in deterministic LSM hydrologic projections (e.g., bias correction) can themselves strongly distort projected climate vulnerabilities and misrepresent their inferred financial consequences. Overall, our results indicate a need to move beyond standard deterministic climate projection and error management frameworks that are dependent on single simulated climate change scenario outcomes.

Keyvan Malek

Assimilation of NASA’s Airborne Snow Observatory Snow Measurements for Improved Hydrological Modeling: A Case Study Enabled by the Coupled LIS/WRF-Hydro System

he NASA LIS/WRF-Hydro system is a coupled modeling framework that combines the modeling and data assimilation (DA) capabilities of the NASA Land Information System (LIS) with the multi-scale surface hydrological modeling capabilities of the WRF-Hydro model, both of which are widely used in both operations and research. This coupled modeling framework builds on the linkage between land surface models (LSMs), which simulate surface boundary conditions in atmospheric models, and distributed hydrologic models, which simulate horizontal surface and sub-surface flow, adding new land DA capabilities. In the present study, we employ this modeling framework in the Tuolumne River basin in central California. We demonstrate the added value of the assimilation of NASA Airborne Snow Observatory (ASO) snow water equivalent (SWE) estimates in the Tuolumne basin. This analysis is performed in both LIS as an LSM column model and LIS/WRF-Hydro, with hydrologic routing. Results demonstrate that ASO DA in the basin reduced snow bias by as much as 30% from an open-loop (OL) simulation compared to three independent datasets. It also reduces downstream streamflow runoff biases by as much as 40%, and improves streamflow skill scores in both wet and dry years. Analysis of soil moisture and evapotranspiration (ET) also reveals the impacts of hydrologic routing from WRF-Hydro in the simulations, which would otherwise not be resolved in an LSM column model. By demonstrating the beneficial impact of SWE DA on the improving streamflow forecasts, the article outlines the importance of such observational inputs for reservoir operations and related water management applications.

Hydrologic modeling

Assimilation of NASA's Airborne Snow Observatory Snow Measurements for Improved Hydrological Modeling: A Case Study Enabled by the Coupled LIS/WRF-Hydro System

The NASA LIS/WRF-Hydro system is a coupled modeling framework that combines the modeling and data assimilation (DA) capabilities of the NASA Land Information System (LIS) with the multi-scale surface hydrological modeling capabilities of the WRF-Hydro model, both of which are widely used in both operations and research. This coupled modeling framework builds on the linkage between land surface models (LSMs), which simulate surface boundary conditions in atmospheric models, and distributed hydrologic models, which simulate horizontal surface and sub-surface flow, adding new land DA capabilities. In the present study, we employ this modeling framework in the Tuolumne River basin in central California. We demonstrate the added value of the assimilation of NASA Airborne Snow Observatory (ASO) snow water equivalent (SWE) estimates in the Tuolumne basin. This analysis is performed in both LIS as an LSM column model and LIS/WRF-Hydro, with hydrologic routing. Results demonstrate that ASO DA in the basin reduced snow bias by as much as 30% from an open-loop (OL) simulation compared to three independent datasets. It also reduces downstream streamflow runoff biases by as much as 40%, and improves streamflow skill scores in both wet and dry years. Analysis of soil moisture and evapotranspiration (ET) also reveals the impacts of hydrologic routing from WRF-Hydro in the simulations, which would otherwise not be resolved in an LSM column model. By demonstrating the beneficial impact of SWE DA on the improving streamflow forecasts, the article outlines the importance of such observational inputs for reservoir operations and related water management applications.

Timothy M. Lahmers

North American Land Data Assimilation (NLDAS) Data and Services at NASA GES DISC

The North American Land Data Assimilation System (NLDAS, https://ldas.gsfc.nasa.gov/nldas) integrates a large quantity of observation-based and model reanalysis data to drive offline (not coupled to the atmosphere) land surface models (LSMs) to produce fields of soil moisture, snow, and surface fluxes. The NLDAS-2 data sets currently archived at, and distributed by, the NASA Goddard Earth Sciences Data and Information Services Center (GES DISC, https://disc.gsfc.nasa.gov) have been updated to NLDAS Version 2.0 (NLDAS-2.0). This presentation provides an overview of the updated NLDAS-2.0 data at NASA GES DISC and discusses the methods for the public to access the data as well as the data services available.

Ashley Heath