Studies of physical, chemical, and biological oceanography in the vicinity of the Revilla Gigedo Islands during the “Island Current Survey” of 1957

ENGLISH: The tendency of the tunas, especially the yellowfin (Neothunnus macropterus) to be more abundant in the near vicinity of islands and seamounts, or "banks", than in the surrounding oceanic areas, is well known to commercial fishermen. This has been confirmed by statistical analysis of fishing vessel logbook records, which demonstrates that the catch-per-day's-fishing is, indeed, higher in the near vicinity of these features. It is hypothesized that islands and seamounts cause changes in the physical circulation or the biochemical cycle resulting in greater supplies of food for tunas in their immediate environs. In order to examine this hypothesis, and in order to study possible mechanisms involved, the "Island Current Survey" was undertaken from 8 May to 12 June, 1957, under the joint auspices of the Inter-American Tropical Tuna Commission and the Scripps Institution of Oceanography. Surveys of varying nature and extent were made from M/V Spencer F. Baird near Alijos Rocks, Clarion Island, Shimada Bank and Socorro Island (Figure 1). These studies sought to provide knowledge of the action of islands and seamounts in arresting, stalling or deflecting the mean current past them, in establishing convergence and divergence in the surface flow, in producing vertical motion (mixing and upwelling), and in influencing the primary production and the standing crops of phytoplankton and zooplankton. Each survey is discussed below in detail. Observations made at a front on 10 June will be discussed in another paper. SPANISH: Los pescadores que realizan la pesca comercial conocen muy bien la tendencia de los atunes, en particular del atún aleta amarilla (Neothunnus macropterus), de presentarse en mayor abundancia en las cercanías inmediatas a las islas y cimas submarinas, o "bancos", que en las áreas oceánicas circundantes. Este hecho ha sido confirmado par el análisis estadístico de los registros de los cuadernos de bitácora de las embarcaciones pesqueras, demostrándose que la captura par dias de pesca es, en efecto, más abundante en la inmediata proximidad de tales formaciones. Hipotéticamente se admite que las islas y las cimas submarinas provocan cambios en la circulación física o en el ciclo bioquímico, lo cual se pone de manifiesto a través de un mejor abastecimiento de alimento para los atunes en sus cercanías inmediatas. Con la finalidad de verificar esta hipótesis y de estudiar los mecanismos que ella involucra, se realizó la “Island Current Survey” del 8 de mayo al 12 de junio de 1957, bajo los auspicios de la Comisión Interamericana del Atún Tropical y de la Institución Scripps de Oceanografia. Con el barco Spencer F. Baird se hicieron observaciones de distintas clases y alcances cerca de las Rocas Alijos, la Isla Clarion, el Banco Shimada y la Isla Socorro (Figura 1). Estos estudios tuvieron por objeto adquirir conocimientos sobre la acción que ejercen las islas y cimas submarinas sobre la corriente promedio, ya sea deteniéndola, reduciendo su velocidad o desviando su curso, así como estableciendo convergencia o divergencia en su flujo de superficie, o provocando un movimiento vertical (mezcla y afloramiento) e influyendo en la producción primaria y en las existencias de fitoplancton y zooplancton. Cada operación será tratada a continuación por separado. Las observaciones hechas el dia 10 de junio sobre un frente serán objeto de otra publicación.

On the physical and biological oceanography near the entrance of the Gulf of California, October 1966-August 1967

ENGLISH: A study of the temporal and spatial distribution of larval tunas and the concomitant oceanic conditions was made in cooperation with the Direccion General de Pesca e Industrias Conexas of Mexico. Field work consisted of eight hydrographic cruises made from October 1966 through August 1967 near the entrance of the Gulf of California. From January through April, surface currents were southerly at velocities up to 20 cm/sec; currents in June were variable in direction and mostly less than 10 cm/sec; by August the surface current was northerly at 10-15 cm/sec. Surface winds were usually secondary to the distribution of mass as an influence on the surface circulation. Currents at 100 m were generally similar in direction to those at the surface, but the water moved more slowly. Between the surface and 100 m, southbound currents crossed the entrance of the Gulf at velocities of 5-10 cm/sec during January and April, forming frontal boundaries with the California Current water, which often occurred south of the entrance. From April to August, the median concentration of surface chlorophyll a increased from 0.65 to 0.97 mg/m3, while the median productivity increased from 5.6 mgC/m3/day in April to 17.8 mgC/m3/day in June before returning to 2.6 mgC/m3/day in August. Primary productivity was closely correlated with the concentration of surface chlorophyll a. Productivity was generally higher in the vicinity of the Gulf than that found for water in the open Pacific. Productivity was highest near Islas Las Tres Marias and second highest near Cabo San Lucas, both locations of local upwelling. The standing crop of phytoplankton was shown to be subjected to progressively heavier grazing pressure in the spring and summer by zooplankton. SPANISH: Un estudio de la distribución temporal y espacial de las larvas de atún y de las condiciones oceánicas concomitantes fue realizado en cooperación con la Dirección General de Pesca e Industrias Conexas de México. El trabajo experimental consistió en ocho cruceros hidrográficos realizados desde octubre 1966 hasta agosto 1967, cerca a la entrada del Golfo de California. De enero a abril, las corrientes superficiales fueron meridionales alcanzando velocidades hasta de 20 cm/seg; las corrientes en junio fueron variables en dirección y la mayoría con una velocidad de menos de 10 cm/seg; en agosto la corriente superficial fue septentrional a 10-15 cm/seg, Los vientos superficiales fueron por lo común secundarios a la dístríbucíón de la masa, como una influencia de la circulación superficial. Las corrientes a 100 m fueron generalmente similares en dirección a las de la superficie, pero el agua se movió más lentamente. Entre la superficie y los 100 m, las corrientes que se dirigen hacia el sur cruzaron la entrada del Golfo a velocidades de 5-10 cm/seg durante enero y abril formando límites frontales con el agua de la Corriente de California, que apareció a menudo al sur de la entrada. De abril a agosto, la concentración media de la clorofila a superficial aumentó de 0.65 a 0.97 mg/m3, mientras que la productividad mediana aumentó de 5.6 mgC/m3/día en abril hasta 17.8 mgC/m3/día en junio antes de regresar a 2.6 mgC/m3/día en agosto. La productividad primaria se correlacionó estrechamente con la concentración de clorofila a superficial. La productividad fue generalmente más alta en la vecindad del Golfo que aquella encontrada en el agua de alta mar del Pacífico. La productividad fue más alta cerca a las Islas Tres Marías, y el segundo máximo fue cerca al Cabo San Lucas, ambas localidades de afloramiento local. Se indicó que la reserva permanente de fitoplancton estaba sujeta por el zooplancton a una fuerta presión progresiva de apacentamiento en la primavera y el verano. (PDF contains 116 pages.)

Persistent ocean monitoring with underwater gliders : towards accurate reconstruction of dynamic ocean processes

Ocean processes are dynamic and complex events that occur on multiple different spatial and temporal scales. To obtain a synoptic view of such events, ocean scientists focus on the collection of long-term time series data sets. Generally, these time series measurements are continually provided in real or near-real time by fixed sensors, e.g., buoys and moorings. In recent years, an increase in the utilization of mobile sensor platforms, e.g., Autonomous Underwater Vehicles, has been seen to enable dynamic acquisition of time series data sets. However, these mobile assets are not utilized to their full capabilities, generally only performing repeated transects or user-defined patrolling loops. Here, we provide an extension to repeated patrolling of a designated area. Our algorithms provide the ability to adapt a standard mission to increase information gain in areas of greater scientific interest. By implementing a velocity control optimization along the predefined path, we are able to increase or decrease spatiotemporal sampling resolution to satisfy the sampling requirements necessary to properly resolve an oceanic phenomenon. We present a path planning algorithm that defines a sampling path, which is optimized for repeatability. This is followed by the derivation of a velocity controller that defines how the vehicle traverses the given path. The application of these tools is motivated by an ongoing research effort to understand the oceanic region off the coast of Los Angeles, California. The computed paths are implemented with the computed velocities onto autonomous vehicles for data collection during sea trials. Results from this data collection are presented and compared for analysis of the proposed technique.

Planning and implementing trajectories for autonomous underwater vehicles to track evolving ocean processes based on predictions from a regional ocean model

Path planning and trajectory design for autonomous underwater vehicles (AUVs) is of great importance to the oceanographic research community because automated data collection is becoming more prevalent. Intelligent planning is required to maneuver a vehicle to high-valued locations to perform data collection. In this paper, we present algorithms that determine paths for AUVs to track evolving features of interest in the ocean by considering the output of predictive ocean models. While traversing the computed path, the vehicle provides near-real-time, in situ measurements back to the model, with the intent to increase the skill of future predictions in the local region. The results presented here extend prelim- inary developments of the path planning portion of an end-to-end autonomous prediction and tasking system for aquatic, mobile sensor networks. This extension is the incorporation of multiple vehicles to track the centroid and the boundary of the extent of a feature of interest. Similar algorithms to those presented here are under development to consider additional locations for multiple types of features. The primary focus here is on algorithm development utilizing model predictions to assist in solving the motion planning problem of steering an AUV to high-valued locations, with respect to the data desired. We discuss the design technique to generate the paths, present simulation results and provide experimental data from field deployments for tracking dynamic features by use of an AUV in the Southern California coastal ocean.

Cooperative multi-AUV tracking of phytoplankton blooms based on ocean model predictions

In recent years, ocean scientists have started to employ many new forms of technology as integral pieces in oceanographic data collection for the study and prediction of complex and dynamic ocean phenomena. One area of technological advancement in ocean sampling if the use of Autonomous Underwater Vehicles (AUVs) as mobile sensor plat- forms. Currently, most AUV deployments execute a lawnmower- type pattern or repeated transects for surveys and sampling missions. An advantage of these missions is that the regularity of the trajectory design generally makes it easier to extract the exact path of the vehicle via post-processing. However, if the deployment region for the pattern is poorly selected, the AUV can entirely miss collecting data during an event of specific interest. Here, we consider an innovative technology toolchain to assist in determining the deployment location and executed paths for AUVs to maximize scientific information gain about dynamically evolving ocean phenomena. In particular, we provide an assessment of computed paths based on ocean model predictions designed to put AUVs in the right place at the right time to gather data related to the understanding of algal and phytoplankton blooms.

Trajectory design for autonomous underwater vehicles based on ocean model predictions for feature tracking

Trajectory design for Autonomous Underwater Vehicles (AUVs) is of great importance to the oceanographic research community. Intelligent planning is required to maneuver a vehicle to high-valued locations for data collection. We consider the use of ocean model predictions to determine the locations to be visited by an AUV, which then provides near-real time, in situ measurements back to the model to increase the skill of future predictions. The motion planning problem of steering the vehicle between the computed waypoints is not considered here. Our focus is on the algorithm to determine relevant points of interest for a chosen oceanographic feature. This represents a first approach to an end to end autonomous prediction and tasking system for aquatic, mobile sensor networks. We design a sampling plan and present experimental results with AUV retasking in the Southern California Bight (SCB) off the coast of Los Angeles.

Implementation of an embedded sensor network for the coordination of Slocum gliders for coastal monitoring and observation

Autonomous Underwater Vehicles (AUVs) are revolutionizing oceanography through their versatility, autonomy and endurance. However, they are still an underutilized technology. For coastal operations, the ability to track a certain feature is of interest to ocean scientists. Adaptive and predictive path planning requires frequent communication with significant data transfer. Currently, most AUVs rely on satellite phones as their primary communication. This communication protocol is expensive and slow. To reduce communication costs and provide adequate data transfer rates, we present a hardware modification along with a software system that provides an alternative robust disruption- tolerant communications framework enabling cost-effective glider operation in coastal regions. The framework is specifically designed to address multi-sensor deployments. We provide a system overview and present testing and coverage data for the network. Additionally, we include an application of ocean-model driven trajectory design, which can benefit from the use of this network and communication system. Simulation and implementation results are presented for single and multiple vehicle deployments. The presented combination of infrastructure, software development and deployment experience brings us closer to the goal of providing a reliable and cost-effective data transfer framework to enable real-time, optimal trajectory design, based on ocean model predictions, to gather in situ measurements of interesting and evolving ocean features and phenomena.

Persistent ocean monitoring with underwater gliders : adapting sampling resolution

Ocean processes are dynamic, complex, and occur on multiple spatial and temporal scales. To obtain a synoptic view of such processes, ocean scientists collect data over long time periods. Historically, measurements were continually provided by fixed sensors, e.g., moorings, or gathered from ships. Recently, an increase in the utilization of autonomous underwater vehicles has enabled a more dynamic data acquisition approach. However, we still do not utilize the full capabilities of these vehicles. Here we present algorithms that produce persistent monitoring missions for underwater vehicles by balancing path following accuracy and sampling resolution for a given region of interest, which addresses a pressing need among ocean scientists to efficiently and effectively collect high-value data. More specifically, this paper proposes a path planning algorithm and a speed control algorithm for underwater gliders, which together give informative trajectories for the glider to persistently monitor a patch of ocean. We optimize a cost function that blends two competing factors: maximize the information value along the path, while minimizing deviation from the planned path due to ocean currents. Speed is controlled along the planned path by adjusting the pitch angle of the underwater glider, so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long-term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California, as well as in Monterey Bay, California. The experimental results show significant improvements in data resolution and path reliability compared to previously executed sampling paths used in the respective regions.

A new look at the oceanography of the Bay of Biscay

Some results of the Bay of Biscay regional oceanography presented at ISOBAY are summarized including contributions to physical oceanography, chemical and biological oceanography, marine geology, deep water ecology, marine pollution, fisheries research and cetacean studies. A long-term analysis of the spring bloom of phytoplankton in the area during the last 17 years (1997–2014) is presented as an example of Bay of Biscay climate research. The Spring Bloom presents cycles of 4–6 years reflecting probably the availability of nutrients from the previous winter and has increased in peak intensity during the last decades.