Greenland and Antarctic ice sheet topography, cavity geometry, and global bathymetry (RTopo-2), links to NetCDF files

The ocean plays an important role in modulating the mass balance of the polar ice sheets by interacting with the ice shelves in Antarctica and with the marine-terminating outlet glaciers in Greenland. Given that the flux of warm water onto the continental shelf and into the sub-ice cavities is steered by complex bathymetry, a detailed topography data set is an essential ingredient for models that address ice-ocean interaction. We followed the spirit of the global RTopo-1 data set and compiled consistent maps of global ocean bathymetry, upper and lower ice surface topographies and global surface height on a spherical grid with now 30-arc seconds resolution. We used the General Bathymetric Chart of the Oceans (GEBCO, 2014) as the backbone and added the International Bathymetric Chart of the Arctic Ocean version 3 (IBCAOv3) and the Interna- tional Bathymetric Chart of the Southern Ocean (IBCSO) version 1. While RTopo-1 primarily aimed at a good and consistent representation of the Antarctic ice sheet, ice shelves and sub-ice cavities, RTopo-2 now also contains ice topographies of the Greenland ice sheet and outlet glaciers. In particular, we aimed at a good representation of the fjord and shelf bathymetry sur- rounding the Greenland continent. We corrected data from earlier gridded products in the areas of Petermann Glacier, Hagen Bræ and Sermilik Fjord assuming that sub-ice and fjord bathymetries roughly follow plausible Last Glacial Maximum ice flow patterns. For the continental shelf off northeast Greenland and the floating ice tongue of Nioghalvfjerdsfjorden Glacier at about 79°N, we incorporated a high-resolution digital bathymetry model considering original multibeam survey data for the region. Radar data for surface topographies of the floating ice tongues of Nioghalvfjerdsfjorden Glacier and Zachariæ Isstrøm have been obtained from the data centers of Technical University of Denmark (DTU), Operation Icebridge (NASA/NSF) and Alfred Wegener Institute (AWI). For the Antarctic ice sheet/ice shelves, RTopo-2 largely relies on the Bedmap-2 product but applies corrections for the geometry of Getz, Abbot and Fimbul ice shelf cavities.

Antarctic ice sheet topography, cavity geometry, and global bathymetry (RTopo 1.0.5-beta)

Sub-ice shelf circulation and freezing/melting rates in ocean general circulation models depend critically on an accurate and consistent representation of cavity geometry. Existing global or pan-Antarctic data sets have turned out to contain various inconsistencies and inaccuracies. The goal of this work is to compile independent regional fields into a global data set. We use the S-2004 global 1-minute bathymetry as the backbone and add an improved version of the BEDMAP topography for an area that roughly coincides with the Antarctic continental shelf. Locations of the merging line have been carefully adjusted in order to get the best out of each data set. High-resolution gridded data for upper and lower ice surface topography and cavity geometry of the Amery, Fimbul, Filchner-Ronne, Larsen C and George VI Ice Shelves, and for Pine Island Glacier have been carefully merged into the ambient ice and ocean topographies. Multibeam survey data for bathymetry in the former Larsen B cavity and the southeastern Bellingshausen Sea have been obtained from the data centers of Alfred Wegener Institute (AWI), British Antarctic Survey (BAS) and Lamont-Doherty Earth Observatory (LDEO), gridded, and again carefully merged into the existing bathymetry map. The global 1-minute dataset (RTopo-1 Version 1.0.5) has been split into two netCDF files. The first contains digital maps for global bedrock topography, ice bottom topography, and surface elevation. The second contains the auxiliary maps for data sources and the surface type mask. A regional subset that covers all variables for the region south of 50 deg S is also available in netCDF format. Datasets for the locations of grounding and coast lines are provided in ASCII format.

Swath bathymetry using phase difference: Theoretical analysis of acoustical measurement precision

The phase difference principle is widely applied nowadays to sonar systems used for sea floor bathymetry, The apparent angle of a target point is obtained from the phase difference measured between two close receiving arrays. Here we study the influence of the phase difference estimation errors caused by the physical structure of the backscattered signals. It is shown that, under certain current conditions, beyond the commonly considered effects of additive external noise and baseline decorrelation, the processing may be affected by the shifting footprint effect: this is due to the fact that the two interferometer receivers get simultaneous echo contributions coming from slightly shifted seabed parts, which results in a degradation of the signal coherence and, hence, of the phase difference measurement. This geometrical effect is described analytically and checked with numerical simulations, both for square- and sine-shaped signal envelopes. Its relative influence depends on the geometrical configuration and receiver spacing; it may be prevalent in practical cases associated with bathymetric sonars. The cases of square and smooth signal envelopes are both considered. The measurements close to nadir, which are known to be especially difficult with interferometry systems, are addressed in particular.

Autonomous bathymetry for risk assessment with ROAZ robotic surface vehicle

The use of unmanned marine robotic vehicles in bathymetric surveys is discussed. This paper presents recent results in autonomous bathymetric missions with the ROAZ autonomous surface vehicle. In particular, robotic surface vehicles such as ROAZ provide an efficient tool in risk assessment for shallow water environments and water land interface zones as the near surf zone in marine coast. ROAZ is an ocean capable catamaran for distinct oceanographic missions, and with the goal to fill the gap were other hydrographic surveys vehicles/systems are not compiled to operate, like very shallow water rivers and marine coastline surf zones. Therefore, the use of robotic systems for risk assessment is validated through several missions performed either in river scenario (in a very shallow water conditions) and in marine coastlines.

Multisensor Modeling Underwater with Uncertain Information

This thesis develops an approach to the construction of multidimensional stochastic models for intelligent systems exploring an underwater environment. It describes methods for building models by a three- dimensional spatial decomposition of stochastic, multisensor feature vectors. New sensor information is incrementally incorporated into the model by stochastic backprojection. Error and ambiguity are explicitly accounted for by blurring a spatial projection of remote sensor data before incorporation. The stochastic models can be used to derive surface maps or other representations of the environment. The methods are demonstrated on data sets from multibeam bathymetric surveying, towed sidescan bathymetry, towed sidescan acoustic imagery, and high-resolution scanning sonar aboard a remotely operated vehicle.

Caracterização e análise do talude continental adjacente à bacia potiguar, NE Brasil

This work presents the results of the first imaging of continental slope adjacent to Potiguar Basin, in the equatorial Brazilian margin (NE Brazil). Swath bathymetry provided a complete coverage of seafloor between the upper and middle slope (100-1,300 m). Fifteen submarine canyons were mapped. The shape of the slope reflects in distinct spatial distribution of the canyons. The western area displays convex profiles which implied a greater amount of incisions by canyons. Some of them have gradient walls higher than 35°. They were classified according to location and morphology. The canyons with heads indenting shelf edge, association with a incised valley and a large fluvial system, high sinuosities, V shape, terraces along margins, further erosive features such as landslide and gullies allow to deduce a sandy-gravelly sedimentation. These canyons are associated with deposition of submarine fan systems that have been considered permeable hydrocarbon reservoirs. The presence of gullies, furrows and dunes demonstrates the role of bottom currents in the shaping of the slope. The enlargement of canyons and the change in the course when they cross the border fault imply that tectonic has also influenced in the morphology of deep waters environments of Potiguar Basin. The current sedimentation of continental slope is considered mixed because the sediments are composed of siliciclastics and bioclasts. Predominant siliciclastics are calcite, dolomite, quartz, and clay minerals. The presence of stable minerals (zircon, tourmaline and rutile), and fragmented bioclasts implies the contributions of Rivers Açu and Apodi