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NASAs Ice, Cloud, and land Elevation Satellite (ICESat), which operated between 2003 and 2009, made the first satellite-based global lidar measurement of earths ice sheet elevations, sea-ice thickness, and vegetation canopy structure. The primary instrument on ICESat was the Geoscience Laser Altimeter System (GLAS), which measured the distance from the spacecraft to the earth's surface via the roundtrip travel time of individual laser pulses. GLAS utilized pulsed lasers and a direct detection receiver consisting of a silicon avalanche photodiode and a waveform digitizer. Early in the mission, the peak power of the received signal from snow and ice surfaces was found to span a wider dynamic range than anticipated, often exceeding the linear dynamic range of the GLAS 1064-nm detector assembly. The resulting saturation of the receiver distorted the recorded signal and resulted in range biases as large as approximately 50 cm for ice- and snow-covered surfaces. We developed a correction for this saturation range bias based on laboratory tests using a spare flight detector, and refined the correction by comparing GLAS elevation estimates with those derived from Global Positioning System surveys over the calibration site at the salar de Uyuni, Bolivia. Applying the saturation correction largely eliminated the range bias due to receiver saturation for affected ICESat measurements over Uyuni and significantly reduced the discrepancies at orbit crossovers located on flat regions of the Antarctic ice sheet.

ICESat completed 18 observational campaigns during its lifetime from 2003 to 2009. Data from all of the 18 campaign periods are used in this study. Most of the operational periods were between 34 and 38 days long. Because of laser failure and orbit transition from 8-day to 91-day orbit, there were four periods lasting 57, 16, 23, and 12 days. IceBridge data from 2009, 2010, and 2011 are used in this study. Since 2009, there are 19 Airborne Topographic Mapper (ATM) campaigns, and eight Land, Vegetation, and Ice Sensor (LVIS) campaigns over the Antarctic sea ice. Freeboard heights are derived from ICESat, ATM and LVIS elevation and waveform data. With nominal densities of snow, water, and sea ice, combined with snow depth data from AMSR-E/AMSR2 passive microwave observation over the southern ocean, sea-ice thickness is derived from the freeboard. Combined with AMSR-E/AMSR2 ice concentration, sea-ice area and volume are also calculated. During the 2003-2009 period, sea-ice freeboard and thickness distributions show clear seasonal variations that reflect the yearly cycle of the growth and decay of the Antarctic pack ice. We found no significant trend of thickness or area for the Antarctic sea ice during the ICESat period. IceBridge sea ice freeboard and thickness data from 2009 to 2011 over the Weddell Sea and Amundsen and Bellingshausen Seas are compared with the ICESat results.

This Algorithm Theoretical Basis Document deals with the tidal corrections that need to be applied to range measurements made by the Geoscience Laser Altimeter System (GLAS). These corrections result from the action of ocean tides and Earth tides which lead to deviations from an equilibrium surface. Since the effect of tides is dependent of the time of measurement, it is necessary to remove the instantaneous tide components when processing altimeter data, so that all measurements are made to the equilibrium surface. The three main tide components to consider are the ocean tide, the solid-earth tide and the ocean loading tide. There are also long period ocean tides and the pole tide. The approximate magnitudes of these components are illustrated in Table 1, together with estimates of their uncertainties (i.e. the residual error after correction). All of these components are important for GLAS measurements over the ice sheets since centimeter-level accuracy for surface elevation change detection is required. The effect of each tidal component is to be removed by approximating their magnitude using tidal prediction models. Conversely, assimilation of GLAS measurements into tidal models will help to improve them, especially at high latitudes.

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.

During 2003 to 2008, the mass gain of the Antarctic ice sheet from snow accumulation exceeded the mass loss from ice discharge by 49 Gt/yr (2.5% of input), as derived from ICESat laser measurements of elevation change. The net gain (86 Gt/yr) over the West Antarctic (WA) and East Antarctic ice sheets (WA and EA) is essentially unchanged from revised results for 1992 to 2001 from ERS radar altimetry. Imbalances in individual drainage systems (DS) are large (-68% to +103% of input), as are temporal changes (-39% to +44%). The recent 90 Gt/yr loss from three DS (Pine Island, Thwaites-Smith, and Marie-Bryd Coast) of WA exceeds the earlier 61 Gt/yr loss, consistent with reports of accelerating ice flow and dynamic thinning. Similarly, the recent 24 Gt/yr loss from three DS in the Antarctic Peninsula (AP) is consistent with glacier accelerations following breakup of the Larsen B and other ice shelves. In contrast, net increases in the five other DS of WA and AP and three of the 16 DS in East Antarctica (EA) exceed the increased losses. Alternate interpretations of the mass changes driven by accumulation variations are given using results from atmospheric-model re-analysis and a parameterization based on 5% change in accumulation per degree of observed surface temperature change. A slow increase in snowfall with climate waRMing, consistent with model predictions, may be offsetting increased dynamic losses.

Time variable elevation profiles from ICESat Laser Altimetry over the period 2003-2009 provide a means to quantitatively detect and track topographic features on polar ice surfaces. The results of this study provide a measure of the horizontal motion of ice-shelf fronts. We examine the time histories of elevation profiles crossing the ice fronts of the Ross, Ronne, Filchner, Riiser-Larson and Fimbul shelves. This provides a basis for estimating dynamics in two dimensions, i.e. in elevation and horizontally in the along-track direction. Ice front velocities, corrected for ground-track intersection angle, range from nearly static to 1.1 km/yr. In many examples, a decrease in elevation up to 1 m/yr near the shelf frontis also detectable. Examples of tabular calving along shelf fronts are seen in some elevation profiles and are confirmed by corresponding MODIS imagery.

ICESat and Envisat altimetry data provide measurements of the instantaneous sea surface height (SSH) across the Arctic Ocean, using lead and open water elevation within the sea ice pack. First, these data were used to derive two independent mean sea surface (MSS) models by stacking and averaging along-track SSH profiles gathered between 2003 and 2009. The ICESat and Envisat MSS data were combined to construct the high-resolution ICEn MSS. Second, we estimate the 5.5-year mean dynamic topography (MDT) of the Arctic Ocean by differencing the ICEn MSS with the new GOCO02S geoid model, derived from GRACE and GOCE gravity. Using these satellite-only data we map the major features of Arctic Ocean dynamical height that are consistent with in situ observations, including the topographical highs and lows of the Beaufort and Greenland Gyres, respectively. Smaller-scale MDT structures remain largely unresolved due to uncertainties in the geoid at short wavelengths.

If protoplanets formed from 10 to 20 kilometer diameter planetesimals in a runaway accretion process prior to their oligarchic growth into the terrestrial planets, it is only logical to ask where these planetesimals may have formed in order to assess the initial composition of the Earth. We have used Weidenschilling's model for the formation of comets (1997) to calculate an efficiency factor for the formation of planetesimals from the solar nebula, then used this factor to calculate the feeding zones that contribute to material contained within 10, 15 and 20 kilometer diameter planetesimals at 1 A.V. as a function of nebular mass. We find that for all reasonable nebular masses, these planetesimals contain a minimum of 3% water as ice by mass. The fraction of ice increases as the planetesimals increase in size and as the nebular mass decreases, since both factors increase the feeding zones from which solids in the final planetesimals are drawn. Is there really a problem with the current accretion scenario that makes the Earth too dry, or is it possible that the nascent Earth lost significant quantities of water in the final stages of accretion?

Mass balance estimates for 2003-2008 are derived from ICESat laser altimetry and compared with estimates for 1992-2002 derived from ERS radar altimetry. The net mass balance of 3 drainage systems (Pine Island, Thwaites/Smith, and the coast of Marie Bryd) for 2003-2008 is a loss of 100 Gt/yr, which increased from a loss of 70 Gt/yr for the earlier period. The DS including the Bindschadler and MacAyeal ice streams draining into the Ross Ice Shelf has a mass gain of 11 Gt/yr for 2003-2008, compared to an earlier loss of 70 Gt/yr. The DS including the Whillans and Kamb ice streams has a mass gain of 12 Gt/yr, including a significant thickening on the upper part of the Kamb DS, compared to a earlier gain of 6 Gt/yr (includes interpolation for a large portion of the DS). The other two DS discharging into the Ronne Ice Shelf and the northern Ellsworth Coast have a mass gain of 39 Gt/yr, compared to a gain of 4 Gt/yr for the earlier period. Overall, the increased losses of 30 Gt/yr in the Pine Island, Thwaites/Smith, and the coast of Marie Bryd DSs are exceeded by increased gains of 59 Gt/yr in the other 4 DS. Overall, the mass loss from the West Antarctic ice sheet has decreased to 38 Gt/yr from the earlier loss of 67 Gt/yr, reducing the contribution to sea level rise to 0.11 mm/yr from 0.19 mm/yr

Previous analysis of elevation changes for 1992 to 2002 obtained from measurements by radar altimeters on ERS-l and 2 showed that the shelves in the Antarctic Peninsula (AP) and along the coast of West Antarctica (WA), including the eastern part of the Ross Ice Shelf, were mostly thinning and losing mass whereas the Ronne Ice shelf also in WA was mostly thickening. The estimated total mass loss for the floating ice shelves and ice tongues from ice draining WA and the AP was 95 Gt/a. In contrast, the floating ice shelves and ice tongues from ice draining East Antarctica (EA), including the Filchner, Fimbul, Amery, and Western Ross, were mostly thickening with a total estimated mass gain of 142 Gt/a. Data from ICESat laser altimetry for 2003-2008 gives new surface elevation changes (dH/dt) with some similar values for the earlier and latter periods, including -27.6 and -26.9 cm a-Ion the West Getz ice shelf and -42.4 and - 27.2 cm/a on the East Getz ice shelf, and some values that indicate more thinning in the latter period, including -17.9 and -36.2 cm/a on the Larsen C ice shelf, -35.5 and -76.0 cm/a on the Pine Island Glacier floating, -60.5 and -125.7 .cm/a on the Smith Glacier floating, and -34.4 and -108.9 cm/a on the Thwaites Glacier floating. Maps of measured dH/dt and estimated thickness change are produced along with mass change estimates for 2003 - 2008.

We derive mass changes of the Greenland ice sheet (GIS) for 2003-07 from ICESat laser altimetry and compare them with results for 1992-2002 from ERS radar and airborne laser altimetry. The GIS continued to grow inland and thin at the margins during 2003 07, but surface melting and accelerated flow significantly increased the marginal thinning compared with the 1990s. The net balance changed from a small loss of 7 plus or minus 3 Gt a 1(sup -1) in the 1990s to 171 plus or minus 4 Gt a (sup -1) for 2003-07, contributing 0.5 mm a(sup -1) to recent global sea-level rise. We divide the derived mass changes into two components: (1) from changes in melting and ice dynamics and (2) from changes in precipitation and accumulation rate. We use our firn compaction model to calculate the elevation changes driven by changes in both temperature and accumulation rate and to calculate the appropriate density to convert the accumulation-driven changes to mass changes. Increased losses from melting and ice dynamics (17-206 Gt a(sup-1) are over seven times larger than increased gains from precipitation (10 35 Gt a(sup-1) during a warming period of approximately 2 K (10 a)(sup -1) over the GIS. Above 2000m elevation, the rate of gain decreased from 44 to 28 Gt a(sup-1), while below 2000m the rate of loss increased from 51 to 198 Gt a(sup-1). Enhanced thinning below the equilibrium line on outlet glaciers indicates that increased melting has a significant impact on outlet glaciers, as well as accelerating ice flow. Increased thinning at higher elevations appears to be induced by dynamic coupling to thinning at the margins on decadal timescales.

Sea-ice freeboard heights for 17 ICESat campaign periods from 2003 to 2009 are derived from ICESat data. Freeboard is combined with snow depth from Advanced Microwave Scanning Radiometer for Earth Observing System (AMSR-E) data and nominal densities of snow, water and sea ice, to estimate sea-ice thickness. Sea-ice freeboard and thickness distributions show clear seasonal variations that reflect the yearly cycle of growth and decay of the Weddell Sea (Antarctica) pack ice. During October-November, sea ice grows to its seasonal maximum both in area and thickness; the mean freeboards are 0.33-0.41 m and the mean thicknesses are 2.10-2.59 m. During February-March, thinner sea ice melts away and the sea-ice pack is mainly distributed in the west Weddell Sea; the mean freeboards are 0.35-0.46 m and the mean thicknesses are 1.48-1.94 m. During May-June, the mean freeboards and thicknesses are 0.26-0.29 m and 1.32-1.37 m, respectively. The 6 year trends in sea-ice extent and volume are (0.023+/-0.051) x 10(exp 6)sq km/a (0.45%/a) and (0.007+/-1.0.092) x 10(exp 3)cu km/a (0.08%/a); however, the large standard deviations indicate that these positive trends are not statistically significant.

The GLAS instrument on the NASA's ICESat mission has provided over a billion measurements of the Earth surface elevation and atmosphere backscattering at both 532 and 1064-nm wavelengths. The receiver performance has stayed nearly unchanged since ICESat launch in January 2003. The altimeter receiver has achieved a less than 3-cm ranging accuracy when excluding the effects of the laser beam pointing angle determination uncertainties. The receiver can also detect surface echoes through clouds of one-way transmission as low as 5%. The 532-nm atmosphere backscattering receiver can measure aerosol and clouds with cross section as low as 1e-7/m.sr with a 1 second integration time and molecular backscattering from upper atmosphere with a 60 second integration time. The 1064-nm atmosphere backscattering receiver can measure aerosol and clouds with a cross section as low as 4e-6/m.sr. This paper gives a detailed assessment of the GLAS receiver performance based on the in-orbit calibration tests.

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.

Analysis of near-coincident ICESat and RADARSAT imagery shows that the retrieved elevations from the laser altimeter are sensitive to new openings (containing thin ice or open water) in the sea ice cover as well as to surface relief of old and first-year ice. The precision of the elevation estimates, measured over relatively flat sea ice, is approx. 2 cm. Using the thickness of thin-ice in recent openings to estimate sea level references, we obtain the sea-ice freeboard along the altimeter tracks. This step is necessitated by the large uncertainties in the sea surface topography compared to that required for accurate determination of freeboard. Unknown snow depth introduces the largest uncertainty in the conversion of freeboard to ice thickness. Surface roughness is also derived, for the first time, from the variability of successive elevation estimates along the altimeter track. Overall, these ICESat measurements provide an unprecedented view of the Arctic Ocean ice cover at length scales at and above the spatial dimension of the altimeter footprint of approx. 70 m.

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.