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ICESat-2 carries NASA's next-generation laser altimeter, ATLAS, (Advanced Topographic Laser Altimeter System), designed to measure changes in ice sheet height, sea ice freeboard, and vegetation canopy height. ATLAS contains a photon-counting lidar which transmits green (532-nm) pulses at 10kHz. Each pulse is split into 3 pairs of beams (one strong and one weak). Approximately 1014 photons per pulse travel from ATLAS through the atmosphere to reflect off the Earth's surface. Some return back into the ATLAS telescope where they are recorded. Photons from sunlight and instrument noise at the same wavelength are also recorded. The flight software time tags all photons within a 500m to 6 km range window and generates histograms. Using the histograms, it selects a telemetry window which varies from 20m over flat surfaces to hundreds of meters over rougher terrain. ATL03 contains the time, height (relative to the WGS-84 ellipsoid), latitude and longitude of every photon within the telemetry window. The basic challenge is to determine which of these photons were reflected off the surface. We have developed an algorithm that identifies these signal photons and assigns a confidence level (low, medium, or high) to each signal photon based on the signal to noise ratio. We present an overview of the signal identification algorithm and show the results on actual ICESat-2 data over ice sheet, sea ice, vegetated, and water surfaces. Higher level ATLAS products work with aggregations of the photons in order to determine the ellipsoidal height of the Earth, canopy height and structure, and other quantities of geophysical interest.

A primary purpose of satellite altimeter measurements is determination of the mass balances of the Greenland and Antarctic ice sheets and changes with time by measurement of changes in the surface elevations. Since the early 1990's, important measurements for this purpose have been made by radar altimeters on ERS-l and 2, Envisat, and CryoSat and a laser altimeter on ICESat. One principal factor limiting direct comparisons between radar and laser measurements is the variable penetration depth of the radar signal and the corresponding location of the effective depth of the radar-measured elevation beneath the surface, in contrast to the laser-measured surface elevation. Although the radar penetration depth varies significantly both spatially and temporally, empirical corrections have been developed to account for this effect. Another limiting factor in direct comparisons is caused by differences in the size of the laser and radar footprints and their respective horizontal locations on the surface. Nevertheless, derived changes in elevation, dHldt, and time-series of elevation, H(t), have been shown to be comparable. For comparisons at different times, corrections for elevation changes caused by variations in the rate offrrn compaction have also been developed. Comparisons between the H(t) and the average dH/dt at some specific locations, such as the Vostok region of East Antarctic, show good agreement among results from ERS-l and 2, Envisat, and ICESat. However, Greenland maps of dHidt from Envisat and ICESat for the same time periods (2003-2008) show some areas of significant differences as well as areas of good agreement. Possible causes of residual differences are investigated and described.

The primary purpose of the GLAS instrument is to detect ice elevation changes over time which are used to derive changes in ice volume. Other objectives include measuring sea ice freeboard, ocean and land surface elevation, surface roughness, and canopy heights over land. This Algorithm Theoretical Basis Document (ATBD) describes the theory and implementation behind the algorithms used to produce the level 1B products for waveform parameters and global elevation and the level 2 products that are specific to ice sheet, sea ice, land, and ocean elevations respectively. These output products, are defined in detail along with the associated quality, and the constraints, and assumptions used to derive them.

The Ice, Cloud, and land Elevation Satellite-2 (ICESat-2) Is a next-generation laser altimeter designed to continue key observations of ice sheet elevation change, sea ice freeboard, vegetation canopy height, earth surface elevation, and sea surface height. Scheduled for launch in early 2016, ICESat-2 will use a high repetition rate (approximately 10 kHz), small footprint (10m diameter) laser, and a single-photon-sensitive detection strategy (photon counting) to measure precise ranges to the earth's surface. Operating in the green (approximately 532nm), the six beams of ICESat-2 will provide improved spatial coverage compared with ICESat while the differences in transmit energy among the beams provide a large dynamic range. In order to evaluate models of predicted ICESat-2 performance, and provide ICESat-2-like data for algorithm development an airborne ICESat-2 simulator was developed and first flown in 2010, this simulator, the Multiple Altimeter Beam Experimental Lidar (MABEL) has now had three deployments in the western US, and will be deployed to the polar regions in spring of 2012. MABEL uses a similar measurement strategy to what will be used on ICESat-2. MABEL collects more spatially-dense data than ICESat-2 (approximately 2-cm along track) with a smaller 2m diameter footprint in 16 green channels and an additional 8 channels in the infrared. The comparison between frequencies allows for analysis of possible penetration of green energy into water or snow. We present MABEL data collected over deserts, forests, ocean water, lakes. snow covered mountains, and saft flats, provide examples of how these data are being used to develop algorithms that derive geophysical products from ICESat 2 and assess expected performances.

Changes in ice mass are estimated from elevation changes derived from 10.5 years (Greenland) and 9 years (Antarctica) of satellite radar altimetry data from the European Remote-sensing Satellites ERS-1 and -2. For the first time, the dH/dt values are adjusted for changes in surface elevation resulting from temperature-driven variations in the rate of fun compaction. The Greenland ice sheet is thinning at the margins (-42 plus or minus 2 Gta(sup -1) below the equilibrium line altitude (ELA)) and growing inland (+53 plus or minus 2 Gt a(sup -1)above the ELA) with a small overall mass gain (+11 plus or minus 3 Gt a(sup -1); -0.03 mm a(sup -1) SLE (sea level equivalent)). The ice sheet in West Antarctica (WA) is losing mass (-47 (dot) 4 GT a(sup -1) and the ice sheet in East Antarctica (EA) shows a small mass gain (+16 plus or minus 11 Gt a(sup -1) for a combined net change of -31 plus or minus 12 Gt a(sup -1) (+0.08 mm a(sup -1) SLE)). The contribution of the three ice sheets to sea level is +0.05 plus or minus 0.03 mm a(sup -1). The Antarctic ice shelves show corresponding mass changes of -95 (dot) 11 Gt a(sup -1) in WA and +142 plus or minus 10 Gt a(sup -1) in EA. Thinning at the margins of the Greenland ice sheet and growth at higher elevations is an expected response to increasing temperatures and precipitation in a warming climate. The marked thinnings in the Pine Island and Thwaites Glacier basins of WA and the Totten Glacier basin in EA are probably ice-dynamic responses to long-term climate change and perhaps past removal of their adjacent ice shelves. The ice growth in the southern Antarctic Peninsula and parts of EA may be due to increasing precipitation during the last century.

A major uncertainty in understanding the causes of the current rate of sea level rise is the potential contributions from mass imbalances of the Greenland and Antarctic ice sheets. Estimates of the current mass balance of the Antarctic ice sheet are derived from surface- elevation changes obtained from 9 years of ERS - 1 & 2 radar altimeter data. Elevation time-series are created from altimeter crossovers among 90-day data periods on a 50 km grid to 81.5 S. The time series are fit with a multivariate linear/sinusoidal function to give the average rate of elevation change (dH/dt). On the major Rome-Filchner, Ross, and Amery ice shelves, the W d t are small or near zero. In contrast, the ice shelves of the Antarctic Peninsula and along the West Antarctic coast appear to be thinning significantly, with a 23 +/- 3 cm per year surface elevation decrease on the Larsen ice shelf and a 65 +/- 4 cm per year decrease on the Dotson ice shelf. On the grounded ice, significant elevation decreases are obtained over most of the drainage basins of the Pine Island and Thwaites glaciers in West Antarctica and inland of Law Dome in East Antarctica. Significant elevation increases are observed within about 200 km of the coast around much of the rest of the ice sheet. Farther inland, the changes are a mixed pattern of increases and decreases with increases of a few centimeters per year at the highest elevations of the East Antarctic plateau. The derived elevation changes are combined with estimates of the bedrock uplift from several models to provide maps of ice thickness change. The ice thickness changes enable estimates of the ice mass balances for the major drainage basins, the overall mass balance, and the current contribution of the ice sheet to global sea level change.

The Geoscience Laser Altimeter System (GLAS) determines the range from the satellite to the Earth's surface from the time of flight of the instrument's 1064 nm laser pulses, which are generated at a rate of 40 Hz. The time of flight is defined as the difference between the laser transmit time and the time of return of the surface echo. The detector output is digitized with a 1 ns sampling interval, starting before the laser fires and ending well after any possible surface return, for a total of 5.4 million points. Because there is not enough downlink bandwidth for the entire waveform, the algorithm must extract both the transmit and surface echo waveforms from the 5.4 million digitized points, and pass these waveforms on to be included in the science data packets. Results from orbit show the algorithm to be effective at finding the surface echoes. A few features of the algorithm, however, require post-launch modification. One is that cloud cover tends to cause the algorithm to raise the gain, which then causes saturation of surface echoes from clear regions immediately following the clouds. Details of the algorithm, along with specific examples and recent modifications, will be presented.

Time-series of surface elevation change, which are constructed from 7-years (1992-1999) of ERS-1 and 2 satellite radar altimeter data of Antarctica, show significant seasonal, inter-annual, and long-term changes. Elevation time-series are created from altimeter crossovers among 90-day data periods on a 50 km grid to 81.5 degrees S and fit with a multivariate linear/sinusoidal function to give the average rate of elevation change (dH/dt) and account for seasonal changes. On the major Ronne, Filchner, and Ronne ice shelves, the dH/dt are small or near zero. In contrast, the ice shelves of the Antarctic Peninsula and along the West Antarctic coast appear to be thinning significantly, with a 23 +/- 3 cm a(exp -1) surface elevation decrease on the Larsen ice shelf and a 65 +/- 4 cm a(exp -1) decrease on the Dotson ice shelf. Significant elevation decreases are obtained over most of the drainage basins of the Pine Island and Thwaites glaciers. Significant increases are obtained over most of the other grounded ice in Marie Byrd Land, the Antarctic Peninsula, and Coates Land. Over the sector from 85 degrees W to 115 degrees W, which includes the Pine Island and Thwaites basins, the average elevation is significantly decreasing by 8.1 cm a(exp -1). The corresponding ice thickness change is about -11 cm a(exp -1), with a corresponding mass loss of 82 Gt a(exp -1), and a 0.22 mm a(exp -1) contribution to global sea level rise. In terms of elevation change, the decrease in the Pine Island-Thwaites sector is largely balanced by the increase in the Marie Byrd Land, but only balanced by about 1/4 in terms of ice thickness change and contribution to sea level rise. The overall average elevation change for the grounded ice is + 1.2 cm a(exp -1). Using an average bedrock uplift of 2.5 cm a(exp -1), implies an average ice thickness decrease of 1.3 cm a(exp -1), a mass loss of 22 Gt a(exp -1), and a 0.06 mm a(exp -1) contribution to global sea level rise.

Estimates of the overall mass balance and seasonal and inter-annual variations in the surface mass balance are obtainable from time-series of ice surface elevations measured by satellite altimetry. Beginning in 2001, NASA's ICESat laser altimeter and lidar mission will significantly improve the range accuracy, the orbit accuracy, and the spatial coverage for measurement of ice sheet elevations (to 86 S) , as compared to previous radar altimeters designed for ocean measurements The radar altimeters on Seasat and Geosat provided ice sheet measurements to 72 S, and on ERS-1 and ERS-2 to 81 S. Although radar altimetry has significant limitations in coverage (due to loss of tracking) and accuracy over sloping surfaces, information on ice-sheet surface-elevation changes has been derived for parts of Antarctica. Recently, the accuracy of the ice measurements by Seasat (3 months of 1978) and Geosat (1985 to 1989) have been improved by new calculations of the satellite orbit heights and other altimeter corrections. Residual orbit errors and inter-satellite biases are evaluated by crossover analysis and by global adjustments to an ocean surface derived from altimeter data. The standard deviation of the orbit error is less than 9 cm, and the long-term trend in the error appears to be less than 1 cm/yr. Orbit errors can be further reduced by adjustment to the ocean surface, but false signals of several cm/yr may be also introduced by the adjustments. These false signals are caused mainly by residual errors in the altimeter corrections over the ocean, and secondary by real changes in the ocean surface elevation. Maps of ice sheet elevation changes north of 72 S are derived from Seasat-Geosat crossovers and from 4.5 years of Geosat crossovers. A notable ice thinning rate of about 50 cm/yr is found at elevations below 2200 meters between 70 and 72 S to the East of the Amery ice shelf, in both the Seasat-Geosat and Geosat-Geosat time intervals Above 2200 meters, to the ridge around 95 E, the thinning is about 10 to 20 cm/yr. For the Seasat/Geosat interval, a thickening is noted on the area East of the ridge between about 95 E and 115 E. Preliminary results from analysis of ERS-1 and ERS-2 radar altimeter data are also described.

An objective of the ERS-1 radar altimeter is to measure the surface topography of the polar ice sheets to a precision on the order of a meter. ERS-1 Waveform Altimeter Product (WAP) data was corrected for several processing errors. A range correction from the WAP waveforms, using the multiparameter retracking algorithm to account for range tracking limitations inherent to radar altimetry, was derived. From crossover analysis, the resulting precision is shown to be about 2.1 m in ocean mode and 2.2 m in ice mode. A topography map, produced with 23 days of corrected data, shows details of the western part of west Antarctic ice sheet and part of the Ross ice shelf including ice divides, ice stream boundaries, and ice shelf grounding lines.

Mean changes in the surface elevation near the west margin of the Greenland ice sheet are measured using Seasat altimetry and altimetry from the Geosat Exact Repeat Mission (ERM). The Seasat data extend from early July through early October 1978. The ERM data extend from winter 1986-87 through fall 1988. Both seasonal and multi-year changes are measured using altimetry referenced to GEM T2 orbits. The possible effects of orbit error are minimized by adjusting the orbits into a common ocean surface. Seasonal mean changes in the surface height are recognizable during the Geosat ERM. The multi-year measurements indicate the surface was lower by 0.4 +/- 0.4 m on average in late summer 1987 than in late summer 1978. The surface was lower by 0.2 +/- 0.5 m on average in late summer 1988 than in late summer 1978. As a control case, the computations art also carried out using altimetry referenced to orbits not adjusted into a common ocean surface.

Retracking of overland returns from the Seasat altimeter using algorithms originally developed for recovering elevations over ice has led to the successful recovery of high quality continental topography over Australia and other continents. Cross-over analysis both before and after orbit adjustment shows the altimetric data over land to have a 2-3 m quality. Direct comparison of gridded Seasat data with surface data re-averaged in the same way shows excellent agreement except where Seasat data are sparse, due either to poor track spacing or to dropouts caused by loss of tracker lock over steeply sloping ground. These results suggest that useful topographic data can be derived from Seasat and the more recent Geosat altimeters for parts of the world where surface data are few or of poor quality.

Altimeter satellites are often maintained in a repeating orbit to facilitate the separation of sea-height variations from the geoid. However, atmospheric drag and solar radiation pressure cause a satellite orbit to drift. For Geosat this drift causes the ground track to vary by + or - 1 km about the nominal repeat path. This misalignment leads to an error in the estimates of sea surface height variations because of the local slope in the geoid. This error has been estimated globally for the Geosat Exact Repeat Mission using a mean sea surface constructed from Geos 3 and Seasat altimeter data. Over most of the ocean the geoid gradient is small, and the repeat-track misalignment leads to errors of only 1 to 2 cm. However, in the vicinity of trenches, continental shelves, islands, and seamounts, errors can exceed 20 cm. The estimated error is compared with direct estimates from Geosat altimetry, and a strong correlation is found in the vicinity of the Tonga and Aleutian trenches. This correlation increases as the orbit error is reduced because of the increased signal-to-noise ratio.

A gridded surface-elevation data set and a geo-referenced data base for the Seasat radar altimeter data over Greenland are described. This is a user guide to accompany the data provided to data centers and other users. The grid points are on a polar stereographic projection with a nominal spacing of 20 km. The gridded elevations are derived from the elevation data in the geo-referenced data base by a weighted fitting of a surface in the neighborhood of each grid point. The gridded elevations are useful for the creating of large-scale contour maps, and the geo-referenced data base is useful for regridding, creating smaller-scale contour maps, and examinating individual elevation measurements in specific geographic areas. Tape formats are described, and a FORTRAN program for reading the data tape is listed and provided on the tape.

The data-processing methods and ice data products derived from Seasat radar altimeter measurements over the Greenland ice sheet and surrounding sea ice are documented. The corrections derived and applied to the Seasat radar altimeter data over ice are described in detail, including the editing and retracking algorithm to correct for height errors caused by lags in the automatic range tracking circuit. The methods for radial adjustment of the orbits and estimation of the slope-induced errors are given.

A gridded surface-elevation data set and a geo-referenced data base for the Seasat radar altimeter data over Antarctica are described. It is intended to be a user's guide to accompany the data provided to data centers and other users. The grid points are on a polar stereographic projection with a nominal spacing of 20 km. The gridded elevations are derived from the elevation data in the geo-referenced data base by a weighted fitting of a surface in the neighborhood of each grid point. The gridded elevations are useful for the creating smaller-scale contour maps, and examining individual elevation measurements in specific geographic areas. Tape formats are described, and a FORTRAN program for reading the data tape is listed and provided on the tape.

Surface elevation maps of the southern half of the Greenland subcontinent are produced from radar altimeter data acquired by the Seasat satellite. A summary of the processing procedure and examples of return waveform data are given. The elevation data are used to generate a regular grid which is then computer contoured to provide an elevation contour map. Ancillary maps show the statistical quality of the elevation data and various characteristics of the surface. The elevation map is used to define ice flow directions and delineate the major drainage basins. Regular maps of the Jakobshavns Glacier drainage basin and the ice divide in the vicinity of Crete Station are presented. Altimeter derived elevations are compared with elevations measured both by satellite geoceivers and optical surveying.

Radar altimetry for ice-covered ocean and land is more complex and variable than open ocean radar altimetry; attention is presently given to Geosat ice-sheet topography for the Greenland and Antarctic ice sheets between 72 deg N and 72 deg S which owes its excellent accuracy to the well separated spacing of the orbital tracks and an 18-month geodetic mission duration. A surface elevation map of southern Greenland, produced from 110 days of retracked Geosat data, is presented in color-coded three-dimensional perspective. Comparisons are made between Seasat and Geosat data for ice mass elevations in Greenland.