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Progress Towards Integrating the Finite-Volume Cubed-Sphere (FV3) Dynamical Core Tangent Linear and Adjoint Models into JEDI

The Joint Effort for Data assimilation Integration (JEDI) -- led by the Joint Center for Satellite Data Assimilation (JCSDA) -- is an inter-organizational endeavor to develop a common framework for performing data assimilation. This extensive framework will ultimately provide solvers, observation operators, interpolation and model interfaces using object oriented modeling. Two partners involved in JEDI use or plan to use the Finite Volume Cubed-Sphere (FV3) dynamical core to produce weather forecasts; these are NASA's Global Modeling and Assimilation Office and NOAA's National Center for Environment Prediction. In this work we present an update on ongoing efforts to integrate the FV3 tangent linear and adjoint models into the prototype JEDI framework. We setup and run a simple cycled data assimilation experiment using 4DVAR on the cubed sphere grid and with the FV3 tangent linear and adjoint models. Development of the observation operators for JEDI is separately underway. Instead of using real observations a simplified set of simulated observations will be used. We discuss the steps required to bring the FV3 linearized model into the object oriented framework and consider what would be the computational requirements of running this configuration for an operational system. FV3 uses a small time-step to ensure that small scales are well resolved, however this presents design challenges when running 4DVAR with the adjoint. An approach to storing the FV3 model trajectory has been developed that maintains the flexibility of using automatic differentiation. We discuss how this approach is incorporated into the framework. Other important uses of adjoint models include computing observation impacts and singular vectors, we consider how these tools can be included in JEDI.

Holdaway, Daniel↗

Influence of Mid-Latitude Cyclones on European Background Surface Ozone Investigated in Observations, MACC and MERRA-2 Reanalyses

The relationship between springtime mid-latitude cyclones and background ozone at two rural monitoring sites on the west coast of Europe -- Mace Head, Ireland and Monte Velho, Portugal -- is explored using a combination of observations and three reanalyses: 1) the European Centre for Medium-Range Weather Forecasts' (ECMWF) ERA-Interim reanalysis, 2) the Monitoring Atmospheric Composition and Climate (MACC) reanalysis and 3) NASA's Modern-Era Retrospective Analysis for Research and Applications Version-2 (MERRA-2) reanalysis. The ERA-Interim cyclone tracks are used here to establish the long-term relationship between cyclones and ozone observations (since 1988). The MACC reanalysis data set, which covers the period 2003-2012, is produced with the ECMWF integrated forecast system (IFS) model two-way coupled to a chemistry transport model (CTM). Since the MACC reanalysis uses a similar atmospheric model to ERA-Interim, MACC is used to explore the mechanisms within the case study cyclones that can influence surface ozone concentrations at Mace Head and Monte Velho. The MERRA-2 reanalysis also provides 3D distributions of ozone, although less ideal for analysis of surface ozone concentrations since MERRA-2 ozone under represents ozone variability outside the stratosphere as it does not have a detailed chemistry scheme or emission sources for the troposphere. The MERRA-2 reanalysis, which has the potential to identify more features within the cyclones as the resolution is higher than the MACC reanalysis, is used in conjunction with the MACC reanalysis to provide a measure of uncertainty to the case study analysis. We found the main source of high ozone to these two sites is from the stratosphere, which is well represented in both the MERRA-2 and the MACC reanalyses, either from direct injection into the cyclone or associated with aged airstreams from decaying downstream cyclones that can become entrained and descend toward the surface within new cyclones over the NA region.

MERRA-2↗

NASA's GMAO Atmospheric Motion Vectors Simulator: Description and Application to the MISTiC Winds Concept

An atmospheric wind vectors (AMVs) simulator was developed by NASA's GMAO to simulate observations from future satellite constellation concepts. The synthetic AMVs can then be used in OSSEs to estimate and quantify the potential added value of new observations to the present Earth observing system and, ultimately, the expected impact on the current weather forecasting skill. The GMAO AMV simulator is a tunable and flexible computer code that is able to simulate AMVs expected to be derived from different instruments and satellite orbit configurations. As a case study and example of the usefulness of this tool, the GMAO AMV simulator was used to simulate AMVs envisioned to be provided by the MISTiC Winds, a NASA mission concept consisting of a constellation of satellites equipped with infrared spectral midwave spectrometers, expected to provide high spatial and temporal resolution temperature and humidity soundings of the troposphere that can be used to derive AMVs from the tracking of clouds and water vapor features. The GMAO AMV simulator identifies trackable clouds and water vapor features in the G5NR and employs a probabilistic function to draw a subset of the identified trackable features. Before the simulator is applied to the MISTiC Winds concept, the simulator was calibrated to yield realistic observations counts and spatial distributions and validated considering as a proxy instrument to the MISTiC Winds the Himawari-8 Advanced Imager (AHI). The simulated AHI AMVs showed a close match with the real AHI AMVs in terms of observation counts and spatial distributions, showing that the GMAO AMVs simulator synthesizes AMVs observations with enough quality and realism to produce a response from the DAS equivalent to the one produced with real observations. When applied to the MISTiC Winds scanning points, it can be expected that the MISTiC Winds will be able to collect approximately 60,000 wind observations every 6 hours, if considering a constellation composed of 12 satellites (4 orbital planes). In addition, one of the main expected impacts of the MISTiC Winds concept is the ability to derive water vapor feature tracking AMVs below 500-400 hPa, an unique feature among the water vapor AMVs derived from the current Earth observing system.

Carvalho, David↗

NASA's Experiences with Microwave Radiometers from Ground to Space

Passive microwave sensing is sensitive to a wide variety of geophysical parameters in the atmosphere, oceans, cryosphere, and on land. For example, spaceborne passive microwave atmospheric sounders provide the highest-impact observations for state-of-the-art weather forecast models used by meteorological agencies around the world. The ability of passive microwave sensors (radiometers) to observe day or night through cloud cover and other obstacles (wavelength dependent, of course) partially compensates for their sometimes large footprint size compared to other sensor types. Examples will be presented of radiometers deployed on the ground, on aircraft, and on satellites. Each of these environments presents different challenges in obtaining accurate observations. And while many standard radiometer designs and techniques have been developed, every user re-discovers that even the "standard" approach requires careful attention in order to achieve full potential.

calibration↗

Introduction to Data Assimilation

Atmospheric data assimilation is a class of techniques used for producing descriptions of fields of air temperature, pressure, humidity, wind, etc. on a spatial grid or in terms of a finite functional representation. These are then used to initialize numerical weather forecasts or to analyze the atmosphere for other purposes. The techniques combine past, present, and even future observations in an approximate statistically optimal way. Various types of statistical or physically-based models and their corresponding adjoints are employed to relate diverse fields in both time and space and to relate what is observed to what is being analyzed. Computationally, the problem is very demanding and onstraining on the techniques that can be employed on a routine basis.

Atmospheric data assimilation↗

Science Service Status 2019 World Radiocommunication Conference

Science missions such as Earth-exploration and remote sensing thatuse frequencies allocated for Earth Exploration-Satellite Service(EESS) provide valuable information about, for example: (1) Air quality monitoring (2) Soil moisture mapping (3) Sensing sea salinity (4) Weather forecasting and climate models (winds, storms, clouds).Another set of science missions use Space Research Service (SRS)allocations. These space research missions can support: (1) On orbit research that for example can help in the creation of new drugsor the impact of the space environment on satellites (2) Scientific information about the universe – stars, planetary science, solarsystem, and the future evolution of the universe.

Roura, Corali↗

Geostationary Lightning Mapper On-Orbit Sources of False Events

The first Geostationary Lightning Mapper (GLM) was launched aboard the GOES-R Spacecraft (now GOES-East) on November 19, 2016 and is now fully operational. GLM uses a high-speed camera and onboard video processing to detect the optical emission of lightning for the full disk observed from the geostationary orbit. During the Post Launch Test period the instrument and ground processing algorithms (GPAs) were tuned to optimize the tradeoff between detection efficiency and false event rate. False events, those not due to lightning, arise from a variety of sources. A primary function of the GPAs is to remove false events prior to assembling events into groups and flashes for use by weather forecasters and scientists. Effective discrimination of false events depends on understanding the phenomenology of the various sources of false events.

GOES-R↗

The Viability of Trajectory Analysis for Diagnosing Dynamical and Chemical Influences on Ozone Concentrations in the UTLS

The viability of trajectory analysis for diagnosing the interplay between chemistry and dynamics is investigated by comparing ozone mixing ratios modelled using air-parcel pathways to values observed along flight tracks during ATTREX (Airborne Tropical TRopopause EXperiment). Trajectories are initiated at the locations of ozone observations and tracked backward in time to their sources at termini of backward trajectories. The modelled values of ozone utilize 3-dimensional analysis fields from WACCM (Whole Atmosphere Community Climate Model) (a chemical-climate model with dynamical fields nudged towards MERRA (Modern-Era Retrospective Analysis and Research Applications) reanalysis) and ERA-interim (product of ECMWF - the European Centre for Medium-Range Weather Forecasts) to determine source mixing ratios with chemical production and loss terms derived from the ozone chemistry used in WACCM. A statistical base of modelled ozone is constructed with 6 trajectory platforms (adiabatic, diabatic, and kinematic forced by ERA-interim and MERRA), two chemical models (WACCM chemistry and no chemistry), and 4 trajectory lengths (5, 10, 20, and 30 days). Linear regression is employed to separate systematic errors from random errors and to characterize the impact of source mixing ratios, path length, vertical motion, and chemistry on modelled ozone errors. Errors in the analysis ozone fields are large, if not dominant, contributors to model error. Random errors are particularly large for point-by-point comparisons, however averaging over 800 km (75 minutes) flight segments substantially reduces random error and exposes systematic errors. Of the two analysis ozone data sets, WACCM, which incorporates detailed chemistry, provides the smaller systematic errors while ERA-interim, which has crude chemistry but assimilates observational data, has the smaller random errors. Of the different trajectory platforms, adiabatic calculations produce the smaller random errors (irrespective of the use of chemistry) but both vertical motion and chemistry are required to optimally reduce systematic errors. These results suggest that meaningful analysis of dynamical and chemical interactions that control ozone mixing ratios are viable on spatial scales larger than a few reanalysis grid spaces, that errors in the analyzed ozone data sets are large but not prohibitively so, and that vertical velocities and heating rates from reanalysis data, while problematic, contain useful information [on the ozone concentrations in the UTLS (Upper Troposphere/Lower Stratosphere)].

ozone↗

The Influence of Prescribed Boundary Conditions on Near-Surface Temperature over the Arctic in the MERRA-2 Atmospheric Model

An accurate historical record of evolving Arctic conditions is integral to furthering our understanding of climate processes and to providing a foundation for predicting future climate scenarios in northern high latitudes. Atmospheric reanalyses are seen as an important source of information on the recent past for the data-sparse Arctic region. An assessment of near-surface Arctic air temperatures finds significant discrepancies among the various modern reanalyses. An important point is the treatment of surface boundary conditions: specifically, the sea ice cover and sea surface temperatures (SSTs) over the Arctic Ocean. Reanalyses use different methodologies and data sources for SSTs and sea ice concentration boundary forcing. Notably, the Modern Era Retrospective analysis for Research and Applications, version 2 (MERRA-2) and the European Centre for Medium-Range Weather Forecasts Interim Re-Analysis (ERA-Interim) both use boundary forcing derived from the Operational Sea Surface Temperature and Sea Ice Analysis (OSTIA) over an extended, overlapping period of time. This allows for an examination of differences between the two systems while both concurrently employ the same fractional sea ice coverage. To further understand these differences, an ensemble of AMIP-style simulations using the MERRA-2 atmospheric model - but without data assimilation - shows considerable differences in Arctic temperatures as compared to reanalyses, particularly in autumn and winter months. Results from the AMIP simulations suggest that the surface representation over sea ice used in the MERRA-2 model provides an intrinsic warm bias and obfuscates Arctic Amplification, an established feature present in observations and reanalyses. An additional ensemble of AMIP-style simulations using the MERRA-2 atmospheric model was performed using boundary conditions derived from the ERA-Interim reanalysis. An in-depth comparison of surface temperatures over the Arctic from the two reanalyses and two AMIP-style ensembles will be presented, along with an assessment of the effects of the varying Arctic temperature time series on the atmospheric general circulation and energy budget.

Collow, Allison B. Marquardt↗

Flight Awareness Collaboration Tool Development

NASA is developing the Flight Awareness Collaboration Tool (FACT) to support airline and airport operations during winter storms. The goal is to reduce flight delays and cancellations due to winter weather. FACT concentrates relevant information from the Internet and FAA databases on one screen for easy access. It provides collaboration tools for those managing the winter weather event including the airline operations center, airport authority (runway treatment), the Federal Aviation Administration air traffic control tower, and de-icing operators. Prediction tools are being added to improve FACT capabilities including one that anticipates changes in airport departure rates from weather forecasts. We have formed two user teams from affected airports to guide the design and evaluate the web-based prototype. Future work includes adding more automated capabilities and conducting a simulation to evaluate FACT in a realistic environment.

Mogford, Richard↗

Impact of Assimilating AIRS Cloud-Cleared Radiances on Atmospheric Dynamics and Boundary Layer Height at High Latitudes

High latitude weather forecasts, on scales ranging from mesoscale to synoptic, present difficulties due, in part, to the sparsity of conventional observations. In addition, the prevalence of extended low-level stratus cloud cover limits the use of infrared data, which are operationally assimilated only in areas unaffected by clouds. Use of cloud-cleared AIRS (Atmospheric Infrared Sounder) radiances (AIRS CCR), allows the assimilation of infrared information in cloudy regions, permitting data ingestion in regions usually undersampled. This study explores the sensitivity of planetary boundary layer height and related atmospheric dynamics to the assimilation of these data in the Goddard Earth Observing System (GEOS, version 5) data assimilation and forecast system during the boreal fall 2014 season using observing system experiments (OSEs). Examined here are comparisons between the current, operational approach of assimilating AIRS clear-sky radiances against the assimilation of CCR. Assimilation of hyperspectral infrared information from AIRS over the Arctic region slightly modifies the lower midtropospheric temperature structure, which in turn contributes to adjustments in geopotential height, affecting the baroclinic instability properties over the entire hemisphere and explaining the overall improvement in global forecast skill.

McGrath-Spangler, E. L.↗

Water Vapor Column Measurements with Infrared Active Optical IPDA Lidar

Development of a novel triple-pulsed 2-μm direct detection Integrated Path Differential Absorption (IPDA) lidar to measure column average carbon dioxide (XCO2) and water vapor (XH2O) from an airborne platform provides a new tool to advance atmospheric science studies. Column water vapor measurements are used in global mapping of weather fronts, weather forecast, and in studies of atmospheric transport, radiation, clouds and climate. Water vapor interference is source of biases in XCO2 measurements due to overlap in absorption, line broadening, and retrieval of dry air mixing of carbon dioxide. Model calculations show a XH2O measurement capability of 0.5% accuracy over 1.0 km spatial scales from the NASA B-200 aircraft. Ground testing of the integrated IPDA was in progress during December 2017-January 2018, and airborne measurements and validation of XH2O measurements over land and ocean are planned during January-February 2018. Technology developments in the measurement of XH2O are presented along with performance projections, and results from ground and airborne testing and validations in this paper.

Singh, Upendra N.↗

Very Narrow Coronal Mass Ejections Producing Solar Energetic Particles

Aims. Our main aim is to study the relationship between low-energy solar particles (energies below 1 MeV) and very narrow coronal mass ejections (“jets” with angular width ≤ 20°). Methods. For this purpose, we considered 125 very narrow coronal mass ejections (CMEs) from 1999 to 2003 that are potentially associated with low-energy solar particles (LESPs). These events were chosen on the basis of their source location. We studied only very narrow CMEs at the western limb, which are expected to have good magnetic connectivity with Earth. Results. We found 24 very narrow CMEs associated with energetic particles such as ions (protons and 3He), electrons, or both. We show that arrival times at Earth of energetic particles are consistent with onset times of the respective CMEs, and that in the same time intervals, there are no other potential sources of energetic particles. We also demonstrate statistical differences for the angular width distributions using the Kolmogorov–Smirnov test for angular widths for these 24 events. We consider a coherent sample of jets (mostly originating from boundaries of coronal holes) to identify properties of events that produce solar energetic particles (velocities, widths, and position angles). Our study presents a new approach and result: very narrow CMEs can generate low-energy particles in the vicinity of Earth without other activity on the Sun. The results could be very useful for space weather forecasting.

Bronarska, K.↗

Measurement Approach and Design of the CubeSat Infrared Atmospheric Sounder (CIRAS)

The CubeSat Infrared Atmospheric Sounder (CIRAS) will measure upwelling infrared radiation of the Earth in the MWIR region of the spectrum from space on a CubeSat. The observed radiances can be assimilated into weather forecast models and be used to retrieve lower tropospheric temperature and water vapor for climate studies. Multiple units can be flown to improve temporal coverage or in formation to provide new data products including 3D motion vector winds. CIRAS incorporates key new instrument technologies including a 2D array of High Operating Temperature Barrier Infrared Detector (HOT-BIRD) material, selected for its high uniformity, low cost, low noise and higher operating temperatures than traditional materials. The detectors are hybridized to a commercial ROIC and commercial camera electronics. The second key technology is an MWIR Grating Spectrometer (MGS) designed to provide imaging spectroscopy for atmospheric sounding in a CubeSat volume. The MGS has no moving parts and includes an immersion grating to reduce the volume and reduce distortion. The third key technology is an infrared blackbody fabricated with black silicon to have very high emissivity in a flat plate construction. JPL will also develop the mechanical, electronic and thermal subsystems for CIRAS, while the spacecraft will be a commercially available CubeSat. The integrated system will be a complete 6U CubeSat capable of measuring temperature and water vapor profiles with good lower tropospheric sensitivity. The CIRAS is the first step towards the development of an Earth Observation Nanosatellite Infrared (EON-IR) capable of meeting the replacement needs of the CrIS on JPSS.

Pagano, Thomas S.↗

Applications of SMAP Data to Retrieval of Ocean Surface Wind and Salinity

We have examined the L-band radiometer and radar data from NASA’s Soil Moisture Active Passive (SMAP) mission for ocean research and applications. We find that the SMAP data are in excellent agreement with the geophysical model function (GMF) derived from the Aquarius data up to a wind speed of 20 ms-1. For severe wind conditions, the higher resolution data from SMAP allowed us to assess the sensitivity of L-band radiometer signals to hurricane force winds. We applied the L-band GMF to the retrieval of ocean surface wind and SSS from the SMAP data. Comparison with the European Center for Medium-Range Weather Forecasting, WindSat and RapidSCAT wind speeds suggests that SMAP’s radiometer wind speed reaches an excellent accuracy of about 1.1-1.7 ms-1 below a wind speed of 20 ms-1. We have also found that the maximum wind speed derived from the SMAP radiometer data can reach 140 knots for severe storms and are generally in good agreement with the hurricane track analysis and operational aircraft Stepped Frequency Microwave Radiometer wind speeds. The spatial patterns of the SMAP SSS agree well with climatological distributions, but exhibit several unique spatial and temporal features.

ocean surface wind↗

Ground Delay Program Analytics with Behavioral Cloning and Inverse Reinforcement Learning

We used historical data to build two types of model that predict Ground Delay Program implementation decisions and also produce insights into how and why those decisions are made. More specifically, we built behavioral cloning and inverse reinforcement learning models that predict hourly Ground Delay Program implementation at Newark Liberty International and San Francisco International airports. Data available to the models include actual and scheduled air traffic metrics and observed and forecasted weather conditions. We found that the random forest behavioral cloning models we developed are substantially better at predicting hourly Ground Delay Program implementation for these airports than the inverse reinforcement learning models we developed. However, all of the models struggle to predict the initialization and cancellation of Ground Delay Programs. We also investigated the structure of the models in order to gain insights into Ground Delay Program implementation decision making. Notably, characteristics of both types of model suggest that GDP implementation decisions are more tactical than strategic: they are made primarily based on conditions now or conditions anticipated in only the next couple of hours.

Bloem, Michael↗

Investigating the Utility of Hyperspectral Sounders in the 9.6 μm Band to Improve Ozone Analyses

Currently, hyperspectral sounder brightness temperatures assimilated in the Goddard Earth Observing System - Atmospheric Data Assimilation System (GEOS-ADAS) are limited to assimilating temperature and moisture. The ozone sensitive 9.6 micron region is sensed by several hyperspectral sounders including AIRS (Atmospheric InfraRed Sounder), IASI (Infrared Atmospheric Sounding Interferometer), and CrIS (Cross-track Infrared Sounder). Direct assimilation of brightness temperatures in the 9.6 micron region have been used previously to improve ozone analyses. This has recently been achieved by ECMWF (European Centre for Medium-Range Weather Forecast) (Dragani and McNally, 2013; Eresmaa et al., 2017), and while every system presents its challenges, it should be possible to take advantage of this spectral region using the GEOS-ADAS. For this study, channels were selected from available operational subsets evaluating information content, and minimizing inter-channel correlation. Additionally, information such as channel selections made by other studies, and vertical sensitivities of ozone and temperature were considered in developing the study. The analyses produced show improvements verified against ozonesondes taken from SHADOZ (Southern Hemisphere Additional Ozonesondes), and WOUDC (World Ozone and Ultraviolet Data Center). The addition of ozone channels does degrade forecast skill in the Tropics, on the border of statistical significance. Overall, the addition of these channels in some form could improve ozone analyses in the GEOS-ADAS.

Karpowicz, Bryan M.↗

In-Flight Evaluation of the Traffic Aware Planner on the NASA HU-25A Guardian Aircraft

NASA’s Traffic Aware Planner (TAP) software is a research-prototype decision support tool that provides pilots with time- and fuel-saving route recommendations that optimize their current trajectory. The software runs on a first-of-a-kind system architecture onboard three aircraft in revenue service conducting operational evaluations with a major domestic airline. Therefore, significant NASA-internal testing is required prior to releasing the software to the partner airline. This paper describes a flight test plan that exercises the functionality of the TAP software in a representative operational environment, describes the system architecture developed and implemented for the NASA Langley HU-25A Guardian aircraft to support the test objectives, presents outcomes of the flight test campaign, and discusses use cases that demonstrate the value of flight testing for this activity.Research into flight path optimization of transport aircraft conducted by the National Aeronautics and SpaceAdministration (NASA) has produced an operational concept known as Traffic Aware Strategic Aircrew Requests(TASAR) [1, 2]. This near-term concept [3] provides the aircrew with a flight deck decision support tool known asthe Traffic Aware Planner (TAP). The TAP software leverages a growing number of information sources on the flightdeck to make time- and fuel-saving route optimization recommendations to the aircrew while en route. The aircrewcan then use the suggestions provided by the tool to make route change requests with a greater likelihood of acceptanceby air traffic control (ATC). Since TASAR is a concept intended for the current operational environment, it isintentionally designed to have no safety-critical impact or require any changes to current Federal AviationAdministration (FAA) rules and procedures [4, 5].The research prototype TAP system [6–8], explained further in Section III.C, continually incorporates up-to-dateaircraft state data from onboard avionics, as well as the latest position of surrounding traffic, the most recent windforecast, and the most recent convective weather forecast, in order to calculate candidate trajectory modifications thatimprove upon the current active route. These trajectories account for user-selectable objective functions [3] of reducedfuel burn, reduced flight time, or an airline-derived combination of factors known as trip cost. Previous analyses andsimulations have estimated substantial savings for airlines employing this technique within the U.S. National AirspaceSystem (NAS) [9–11]. Operational evaluations with Alaska Airlines seek to validate these projected benefits usingmeasured data while simultaneously providing benefits to the airline [12, 13].The TAP software has undergone a number of human-in-the-loop simulations [14] and flight test activities[15–17] in order to validate the operational concept, evaluate human factors considerations (e.g., workload, usability,distraction, etc.), and to assess the ability of the software to function in a representative operational environment (e.g.,connected to live avionics data, using in-flight internet connectivity, etc.). However, these simulations and flight testcampaigns did not account for the hardware architecture implemented on the three aircraft for Alaska Airlines’operational evaluations of the TAP software. Therefore, a need was identified to thoroughly test the functionality ofthe software in a similar hardware architecture to that of the partner airline’s aircraft. Information regarding testapparatus and environments used to evaluate TAP prior to testing on the HU-25A can be found in reference [18].A campaign of flight trials on a NASA aircraft, the HU-25A Guardian, was conducted to ensure that the researchprototype TAP system functions well in a configuration similar to the Alaska Airlines aircraft prior to deployment.This airborne, networked environment enables an assessment of the operational factors unique to the flight environment. Additionally, this activity evaluated the effectiveness and benefit of new TAP functionality andoperation in a relevant flight environment while allowing the rapid prototyping of new concepts and features.This paper is organized as follows: Section II discusses the details of the flight test plan, flight profiles, and theduties of personnel involved with conducting flight operations. Section III describes the test platform, avionicsequipage, and system architecture. Section IV presents a discussion of results, and Section V contains concludingremarks.

Underwood, Matthew C.↗