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Author Posting. © American Meteorological Society, 2017. This article is posted here by permission of American Meteorological Society for personal use, not for redistribution. The definitive version was published in Journal of Atmospheric and Oceanic Technology 34 (2017): 2673-2682, doi:10.1175/JTECH-D-17-0054.1., Expendable bathythermographs (XBT) to profile upper-ocean temperatures from vessels in motion have been in use for some 50 years now. Developed originally for navy use, they were soon adapted by oceanographers to map out upper-ocean thermal structure and its space–-time variability from both research vessels and merchant marine vessels in regular traffic. These activities continue today. This paper describes a new technology—the Autonomous Expendable Instrument System (AXIS)—that has been developed to provide the capability to deploy XBT probes on a predefined schedule, or adaptively in response to specific events without the presence of an observer on board. AXIS is a completely self-contained system that can hold up to 12 expendable probes [XBTs, XCTDs, expendable sound velocimeter (XSV)] in any combination. A single-board Linux computer keeps track of what probes are available, takes commands from ashore via Iridium satellite on what deployment schedule to follow, and records and forwards the probe data immediately with a time stamp and the GPS position. This paper provides a brief overview of its operation, capabilities, and some examples of how it is improving coverage along two lines in the Atlantic., Initial development of AXIS mechanical design elements wasmade possible by awards from the Cecil H. and Ida M. Green Technology Innovation Fund and the Sealark Foundation to the team of Dave Fratantoni, Keith von der Heydt (WHOI), and Terry Hammar (WHOI). Construction of the first full AXIS prototype was supported by a technology grant from the National Science Foundation (OCE-0926853) and the second one through an NSF-funded (OCE-1061185) subcontract from the University of Rhode Island., 2018-06-28

Author Posting. © The Oceanography Society, 2017. This article is posted here by permission of The Oceanography Society for personal use, not for redistribution. The definitive version was published in Oceanography 30, no. 2 (2017): 38–48, doi:10.5670/oceanog.2017.218., The Salinity Processes in the Upper-ocean Regional Study (SPURS) aims to understand the patterns and variability of sea surface salinity. In order to capture the wide range of spatial and temporal scales associated with processes controlling salinity in the upper ocean, research vessels delivered autonomous instruments to remote sites, one in the North Atlantic and one in the Eastern Pacific. Instruments sampled for one complete annual cycle at each of these two sites, which are subject to contrasting atmospheric forcing. The SPURS field programs coordinated sampling from many different platforms, using a mix of Lagrangian and Eulerian approaches. This article discusses the motivations, implementation, and first results of the SPURS-1 and SPURS-2 programs., SPURS is supported by multiple NASA grants, with important additional contributions from the US National Science Foundation, NOAA, and the Office of Naval Research, as well as international agencies. SVP drifters are deployed with support from NASA and the NOAA funded Global Drifter Program at the Lagrangian Drifter Laboratory of the Scripps Institution of Oceanography. SVP-S2 drifters are provided by NOAA-AOML and NASA. PRAWLER mooring development is supported by NOAA’s Office of Oceanic and Atmospheric Research, Ocean Observing and Monitoring Division, and by NOAA/PMEL.

Author Posting. © The Oceanography Society, 2017. This article is posted here by permission of The Oceanography Society for personal use, not for redistribution. The definitive version was published in Oceanography 30, no. 2 (2017): 160–168, doi:10.5670/oceanog.2017.238., Future ocean observing systems will rely heavily on autonomous vehicles to achieve the persistent and heterogeneous measurements needed to understand the ocean’s impact on the climate system. The day-to-day maintenance of these arrays will become increasingly challenging if significant human resources, such as manual piloting, are required. For this reason, techniques need to be developed that permit autonomous determination of sampling directives based on science goals and responses to in situ, remote-sensing, and model-derived information. Techniques that can accommodate large arrays of assets and permit sustained observations of rapidly evolving ocean properties are especially needed for capturing interactions between physical circulation and biogeochemical cycling. Here we document the first field program of the Satellites to Seafloor project, designed to enable a closed loop of numerical model prediction, vehicle path-planning, in situ path implementation, data collection, and data assimilation for future model predictions. We present results from the first of two field programs carried out in Monterey Bay, California, over a period of three months in 2016. While relatively modest in scope, this approach provides a step toward an observing array that makes use of multiple information streams to update and improve sampling strategies without human intervention., This work is funded by the Keck Institute for Space Studies (generously supported by the W.M. Keck Foundation) through the project “Science-driven Autonomous and Heterogeneous Robotic Networks: A Vision for Future Ocean Observation”

Author Posting. © American Meteorological Society, 2014. This article is posted here by permission of American Meteorological Society for personal use, not for redistribution. The definitive version was published in Journal of Physical Oceanography 44 (2014): 1595–1604, doi:10.1175/JPO-D-13-0140.1., Autonomous underwater vehicle (AUV) surveys of temperature, salinity, and velocity in the upper 10 m of the ocean were carried out in low-wind conditions near the North Atlantic surface salinity maximum as part of the Salinity Processes in the Upper Ocean Regional Study (SPURS) project. Starting from a well-mixed state, the development, deepening, and decay of a warm salty diurnal surface layer was observed at <1-h resolution. The evaporation rate deduced from the freshwater anomaly of the layer corroborates measurements at a nearby flux mooring. Profiles within a few hundred meters of the stationary research vessel showed evidence of mixing, highlighting the effectiveness of AUVs for collecting uncontaminated time series of near-surface thermohaline structure. A two-dimensional horizontal subsurface survey within the diurnal warm layer revealed coherent warm and cool bands, which are interpreted as internal waves on the diurnal thermocline., NASA supported this work under Grant NNX11AE82G., 2014-12-01

Author Posting. © Acoustical Society of America, 2013. This article is posted here by permission of Acoustical Society of America for personal use, not for redistribution. The definitive version was published in Journal of the Acoustical Society of America 134 (2013): 1814-1823, doi:10.1121/1.4816406., In the past decade, much progress has been made in real-time passive acoustic monitoring of marine mammal occurrence and distribution from autonomous platforms (e.g., gliders, floats, buoys), but current systems focus primarily on a single call type produced by a single species, often from a single location. A hardware and software system was developed to detect, classify, and report 14 call types produced by 4 species of baleen whales in real time from ocean gliders. During a 3-week deployment in the central Gulf of Maine in late November and early December 2012, two gliders reported over 25 000 acoustic detections attributed to fin, humpback, sei, and right whales. The overall false detection rate for individual calls was 14%, and for right, humpback, and fin whales, false predictions of occurrence during 15-min reporting periods were 5% or less. Transmitted pitch tracks—compact representations of sounds—allowed unambiguous identification of both humpback and fin whale song. Of the ten cases when whales were sighted during aerial or shipboard surveys and a glider was within 20 km of the sighting location, nine were accompanied by real-time acoustic detections of the same species by the glider within ±12 h of the sighting time., The Office of Naval Research funded this work, with additional support provided by the NOAA Fisheries Advanced Sampling Technologies Working Group via the Cooperative Institute for the North Atlantic Region.

Two years of temperature, salinity, current, and nutrient data were collected on four subsurface moorings as part of the 2 year field component of the CLIMODE experiment. The moorings were located in North Atlantic’s subtropical gyre, south-east of the Gulf Stream. Two moorings, the most heavily instrumented, were close to the Gulf Stream, in the region where cold air outbreaks force large air-sea fluxes and where Eighteen Degree Water outcrops. Two other moorings were located farther south and carried more limited instrumentation. The moorings were initially deployed in November of 2005, turned around in November of 2006 and finally recovered in November of 2007. During the first year, the moorings close to the Gulf Stream suffered considerable blow down, and some of the instruments failed. During the second year, the blow down was greatly reduced and most instruments collected a full year worth of data., Funding was provided by the Division of Ocean Sciences of the National Science Foundation under Grant No. OCE-0424536.

This report describes the collection of water property data from EcoMapper AUVs during the R/V Knorr 209-1 cruise as part of the SPURS (Salinity Processes Upper-ocean Regional Study) project. Post-processing was required to improve the quality of the raw data, particularly salinity, and is documented herein. Initial results from temperature and salinity records are presented. The measurements are concentrated in the upper 10 meters of the mixed layer during calm conditions, and reveal significant diurnal warming (up to 3°C) and salinification (up to 0.1 psu) of the surface (< 1 meter) layer. The mixing promoted by the motion of the research vessel destroys this shallow stratification, so the ability of the AUVs to sample undisturbed water hundreds of meters from the ship was critical to the effort of accurately resolving it., Funding was provided by NASA under Grant No. NNX11AE82G

Our objective is to investigate the relationship between prey behavior and baleen whale calling behavior in a poorly studied environment: the central Gulf of Maine during late fall and early winter. We hypothesize that diel calling patterns are established, in part, by the diel availability of prey: when prey is strongly aggregated during the day at depth, calling activity is reduced while the whales feed. Conversely, during periods of active vertical migration by prey or when prey is diffusely distributed, the whales cannot profitably forage, and therefore increase calling activity and social interactions in lieu of feeding. To address this hypothesis, we will (1) deploy ocean gliders to locate whales and simultaneously observe prey migration behavior and whale acoustic activity, and (2) conduct shipboard zooplankton sampling in the region to identify available prey, including both migrating and non-migrating species., The original document contains color images.

Our long-range objective is to understand the oceanographic processes that influence the distribution of whales in the ocean. In support of this objective we are developing a fully-integrated autonomous acoustic observing system capable of detecting and classifying a wide range of marine mammal vocalizations (from blue whales to beaked whales; 10 Hz 100 kHz) with proven performance. This work will ultimately improve our ability to predict whale distribution and bolster efforts to mitigate human impacts on marine mammals. High-endurance oceanographic sampling platforms such as gliders and profiling floats provide a new opportunity for acquiring acoustic signals from marine animals with immediate applications in conservation and mitigation.

This report summarizes direct observations of Eighteen Degree Water (EDW) subduction and dispersal within the subtropical gyre of the North Atlantic Ocean. Forty acoustically tracked bobbing, profiling floats ("bobbers") were deployed to study the formation and dispersal of EDW in the western North Atlantic. The unique bobber dataset described herein provides insight into the evolution of EDW by means of direct, eddy-resolving measurement of EDW Lagrangian dispersal pathways and stratification. Bobbers are modified Autonomous Profiling Explorer (APEX) profiling floats which actively servo their buoyancy control mechanism to follow a particular isothermal surface. The CLIVAR Mode Water Dynamics Experiment (CLIMODE) bobbers tracked the 18.5 degrees C temperature surface for 3 days, then bobbed quickly between the 17 degree C and 19 degrees C isotherms. This cycle was repeated for one month, after which each bobber profiled to 1000 m before ascending to the surface to transmit data. The resulting dataset (37/40 tracked bobbers; more than half still profiling as of January 2010) yields well-resolved trajectories, unprecedented velocity statistics in the core of the subducting and spreading EDW, and detailed information about the Lagrangian evolution of EDW thickness and vertical structure. This report provides an overview of the experimental procedure employed and summarizes the initial processing of the bobber dataset., The original document contains color images.

Our long-term goal is to develop an efficient, sustainable, and relocatable observing system suitable for a variety of exploratory, process-oriented oceanographic studies and naval applications. Our basic strategy is to combine technology development with significant field experiments which advance our understanding of the ocean environment., The original document contains color images. All DTIC reproductions will be in black and white.

This report summarizes direct observations of Eighteen Degree Water (EDW) subduction and dispersal within the subtropical gyre of the North Atlantic Ocean. Forty acoustically-tracked bobbing, profiling floats (“bobbers”) were deployed to study the formation and dispersal of EDW in the western North Atlantic. The unique bobber dataset described herein provides insight into the evolution of EDW by means of direct, eddy-resolving measurement of EDW Lagrangian dispersal pathways and stratification. Bobbers are modified Autonomous Profiling Explorer (APEX) profiling floats which actively servo their buoyancy control mechanism to follow a particular isothermal surface. The CLIVAR Mode Water Dynamics Experiment (CLIMODE) bobbers tracked the 18.5°C temperature surface for 3 days, then bobbed quickly between the 17°C and 19°C isotherms. This cycle was repeated for one month, after which each bobber profiled to 1000 m before ascending to the surface to transmit data. The resulting dataset (37/40 tracked bobbers; more than half still profiling as of January 2010) yields well-resolved trajectories, unprecedented velocity statistics in the core of the subducting and spreading EDW, and detailed information about the Lagrangian evolution of EDW thickness and vertical structure. This report provides an overview of the experimental procedure employed and summarizes the initial processing of the bobber dataset., Funding was provided by the National Science Foundation under Grant No. OCE-0424492.

Author Posting. © American Meteorological Society, 2006. This article is posted here by permission of American Meteorological Society for personal use, not for redistribution. The definitive version was published in Journal of Physical Oceanography 36 (2006): 1241-1264, doi:10.1175/JPO2907.1., Subsurface float and surface drifter observations illustrate the structure, evolution, and eventual demise of 10 North Brazil Current (NBC) rings as they approached and collided with the Lesser Antilles in the western tropical Atlantic Ocean. Upon encountering the shoaling topography east of the Lesser Antilles, most of the rings were deflected abruptly northward and several were observed to completely engulf the island of Barbados. The near-surface and subthermocline layers of two rings were observed to cleave or separate upon encountering shoaling bathymetry between Tobago and Barbados, with the resulting portions each retaining an independent and coherent ringlike vortical circulation. Surface drifters and shallow (250 m) subsurface floats that looped within NBC rings were more likely to enter the Caribbean through the passages of the Lesser Antilles than were deeper (500 or 900 m) floats, indicating that the regional bathymetry preferentially inhibits transport of intermediate-depth ring components. No evidence was found for the wholesale passage of rings through the island chain., Funding was provided by National Science Foundation Grants OCE 97-29765 and OCE 01-36477.

Author Posting. © American Meteorological Society, 2005. This article is posted here by permission of American Meteorological Society for personal use, not for redistribution. The definitive version was published in Journal of Physical Oceanography 35 (2005): 569–583, doi:10.1175/JPO2679.1., When the salty and heavy water of the Red Sea exits from the Strait of Bab el Mandeb, it continues downslope into the Gulf of Aden mainly along two channels. The 130-km-long “Northern Channel” (NC) is topographically confined and is typically only 5 km wide. In it, the Red Sea plume shows unanticipated patterns of vertical structure, turbulent mixing, and entrainment. Above the seafloor a 25–120-m-thick weakly stratified layer shows little dilution along the channel. Hence this bottom layer undergoes only weak entrainment. In contrast, a 35–285-m-thick interfacial layer shows stronger entrainment and is shown in a companion paper to undergo vigorous turbulent mixing. It is thus the interface that exhibits the bulk of entrainment of the Red Sea plume in the NC. The interfacial layer also carries most of the overall plume transport, increasingly so with downstream distance. The “Southern Channel” (SC) is wider than the NC and is accessed from the latter by a sill about 33 m above the floor of the NC. Entrainment into the bottom layer of the SC is diagnosed to be strong near the entry into the SC such that the near-bottom density and salinity are smaller in the SC than in the NC at the same distance from Bab el Mandeb. In comparison with winter conditions, the authors encountered weaker outflow with shallower equilibration depths during the summer cruise. Bulk Froude numbers computed for the whole plume varied within the range 0.2–1. Local maxima occurred in relatively steep channel sections and coincided with locations of significant entrainment., The Red Sea Outflow Experiment was funded by the National Science Foundation under Contracts OCE-9819506 and OCE-9818464. Additional support was provided to the “Climate Process Team Gravity Currents” under OCE-0336799.

Data collected during multiple surveys of hydrography, velocity, and biological quantities are presented from a 9-day cruise aboard the R/V Oceanus near the island of St. Thomas, USVI and a subsequent transit to Bermuda during December, 2008. This cruise (OC449-09) was undertaken primarily to field test a newly acquired towed-undulating body, the Scanfish. The Scanfish and a second towed body, the Video Plankton Recorder (VPR), were used to survey hydrographic, optical, and biological properties north and south of St. Thomas. Conductivity-Temperature-Depth (CTD) casts and plankton net-tows were made at locations along the survey transects for inter-comparison. The VPR was also used to profile conditions between St. Thomas and Bermuda during transit. An overview of the cruise is given along with descriptions of the data collection methods, processing steps taken, and data products available for distribution., Funding for this research was provided by the King Abdullah University of Science and Technology (KAUST) under a cooperative research agreement with Woods Hole Oceanographic Institution.

Author Posting. © American Geophysical Union, 2006. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Journal of Geophysical Research 111 (2006): C09039, doi:10.1029/2005JC003338., New satellite-based observations reveal that westward translating anticyclonic rings are generated as a portion of the Somali Current accelerates northward through the Socotra Passage near the mouth of the Gulf of Aden. Rings thus formed exhibit azimuthal geostrophic velocities exceeding 50 cm/s, are comparable in overall diameter to the width of the Gulf of Aden (250 km), and translate westward into the gulf at 5–8 cm/s. Ring generation is most notable in satellite ocean color imagery in November immediately following the transition between southwest (boreal summer) and northeast (winter) monsoon regimes. The observed rings contain anomalous fluid within their core which reflects their origin in the equator-crossing Somali Current system. Estimates of Socotra Passage flow variability derived from satellite altimetry provide evidence for a similar ring generation process in May following the winter-to-summer monsoon transition. Cyclonic recirculation eddies are observed to spin up on the eastern flank of newly formed rings with the resulting vortex pair translating westward together. Recent shipboard and Lagrangian observations indicate that vortices of both sign have substantial vertical extent and may dominate the lateral circulation at all depths in the eastern Gulf of Aden., This investigation is a component of the Red Sea Outflow Experiment (REDSOX) sponsored by the U.S. National Science Foundation through grants OCE 98-18464 and OCE 04-24647 to the Woods Hole Oceanographic Institution and OCE 98-19506 and OCE 03-51116 to the University of Miami.

Author Posting. © American Geophysical Union, 2009. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Journal of Geophysical Research 114 (2009): C10020, doi:10.1029/2009JC005317., A synthetic moored array composed of five buoyancy-propelled autonomous underwater gliders was used to characterize mesoscale variability and phytoplankton distribution in a 100 km × 100 km domain in the Philippine Sea east of Luzon Strait for 10 days in May 2004. The study area, located east of the Kuroshio near the subtropical front, is dominated by strong internal tides, by energetic westward-propagating mesoscale eddies with azimuthal velocities exceeding 50 cm/s, and by a deep (130 m) maximum in chlorophyll fluorescence. Each glider in the array was instructed to maintain geographic position while repeatedly profiling to 200-m depth. Good station-keeping performance enabled the resulting series of vertical profiles to be interpreted in the same manner as a physically moored chain of instruments. Although organized primarily as a demonstration of glider capabilities, this field exercise provides a unique data set for examining biological-physical interactions in the open ocean. Here we report on the evolution of a thin layer of phytoplankton observed near the deep chlorophyll maximum. Coincident observations of fine structure in temperature and salinity suggest that the thinning process of this layer was driven primarily by physical forcing, most probably vertical shear associated with energetic diurnal internal waves, as opposed to a biological mechanism, such as convergent swimming, grazing, or spatial variation in growth rate., The Office of Naval Research provided support for fieldwork and analysis through grants N-00014-00-1-0256 and N-00014-05-1-0367.

Author Posting. © American Meteorological Society, 2009. This article is posted here by permission of American Meteorological Society for personal use, not for redistribution. The definitive version was published in Bulletin of the American Meteorological Society 90 (2009): 1337-1350, doi:10.1175/2009BAMS2706.1., A major oceanographic field experiment is described, which is designed to observe, quantify, and understand the creation and dispersal of weakly stratified fluid known as “mode water” in the region of the Gulf Stream. Formed in the wintertime by convection driven by the most intense air–sea fluxes observed anywhere over the globe, the role of mode waters in the general circulation of the subtropical gyre and its biogeo-chemical cycles is also addressed. The experiment is known as the CLIVAR Mode Water Dynamic Experiment (CLIMODE). Here we review the scientific objectives of the experiment and present some preliminary results., Physical Oceanography program of NSF

A full-scale adaptive ocean sampling network was deployed throughout the month-long 2006 Adaptive Sampling and Prediction (ASAP) field experiment in Monterey Bay, California. One of the central goals of the field experiment was to test and demonstrate newly developed techniques for coordinated motion control of autonomous vehicles carrying environmental sensors to efficiently sample the ocean.We describe the field results for the heterogeneous fleet of autonomous underwater gliders that collected data continuously throughout the month-long experiment. Six of these gliders were coordinated autonomously for 24 days straight using feedback laws that scale with the number of vehicles. These feedback laws were systematically computed using recently developed methodology to produce desired collective motion patterns, tuned to the spatial and temporal scales in the sampled fields for the purpose of reducing statistical uncertainty in field estimates. The implementation was designed to allow for adaptation of coordinated sampling patterns using human-in-theloop decision making, guided by optimization and prediction tools. The results demonstrate an innovative tool for ocean sampling and provide a proof of concept for an important field robotics endeavor that integrates coordinated motion control with adaptive sampling. © 2010 Wiley Periodicals, Inc.