The Harvest Experiment: Monitoring Jason-1 and TOPEX/POSEIDON from a California Offshore Platform Special Issue: Jason-1 Calibration/Validation

We present calibration results from Jason-1 (2001–) and TOPEX/POSEIDON (1992–) overflights of a California offshore oil platform (Harvest). Data from Harvest indicate that current Jason-1 sea-surface height (SSH) measurements are high by 138 ± 18 mm. Excepting the bias, the high accuracy of the Jason-1 measurements is in evidence from the overflights. In orbit for over 10 years, the T/P measurement system is well calibrated, and the SSH bias is statistically indistinguishable from zero. Also reviewed are over 10 years of geodetic results from the Harvest experiment.     

Towards a Seamless Transition from TOPEX/Poseidon to Jason-1

The Jason-1 verification phase has proven to be a unique and successful calibration experiment to quantify the agreement with its predecessor TOPEX/Poseidon. Although both missions have met prescribed error budgets, comparison of the mean and time-varying sea surface height profiles from near simultaneous observations derived from the missions' Geophysical Data Records exhibit significant basin scale differences. Several suspected sources causing this disagreement are identified and improved upon, including (a) replacement of TOPEX and Jason project POE with enhanced orbits computed at GSFC within a consistent ITRF2000 terrestrial reference frame, (b) application of waveform retracking corrections to TOPEX significant wave height and sea surface heights, (c) resultant improved efficacy of the TOPEX sea state bias estimation from the value added sea surface height, and (d) estimation of Jason-1 sea state bias employing dual TOPEX/Jason crossover and collinear sea surface height residuals unique to the validation mission. The resultant mean sea surface height comparison shows improved agreement at better than 60 percent level of variance reduction with a standard deviation less then 0.5 cm.     

Towards a Seamless Transition from TOPEX/Poseidon to Jason-1

The Jason-1 verification phase has proven to be a unique and successful calibration experiment to quantify the agreement with its predecessor TOPEX/Poseidon. Although both missions have met prescribed error budgets, comparison of the mean and time-varying sea surface height profiles from near simultaneous observations derived from the missions' Geophysical Data Records exhibit significant basin scale differences. Several suspected sources causing this disagreement are identified and improved upon, including (a) replacement of TOPEX and Jason project POE with enhanced orbits computed at GSFC within a consistent ITRF2000 terrestrial reference frame, (b) application of waveform retracking corrections to TOPEX significant wave height and sea surface heights, (c) resultant improved efficacy of the TOPEX sea state bias estimation from the value added sea surface height, and (d) estimation of Jason-1 sea state bias employing dual TOPEX/Jason crossover and collinear sea surface height residuals unique to the validation mission. The resultant mean sea surface height comparison shows improved agreement at better than 60 percent level of variance reduction with a standard deviation less then 0.5 cm.     

Monitoring the TOPEX and Jason-1 Microwave Radiometers with GPS and VLBI Wet Zenith Path Delays

Monitoring of altimeter microwave radiometer measurements is necessary in order to identify radiometer drifts or offsets that if uncorrected will introduce systematic errors into ocean height measurements. To examine TOPEX Microwave Radiometer (TMR) and Jason-1 Microwave Radiometer (JMR) behavior, we have used coincident wet zenith delay estimates from Very Long Baseline Interferometry (VLBI) and Global Positioning System (GPS) geodetic sites near altimeter ground tracks. We derived a TMR path delay drift rate of ?1.1 ± 0.1 mm/yr using GPS data for the period from 1993.0–1999.0 and ?1.2 ± 0.5 mm/yr using VLBI data. Thereafter, the drift appears to have leveled off. Already after 2.3 years (82 cycles) of the Jason-1 mission, it is clear that there have been significant systematic errors in the JMR path delay measurements. From comparison with GPS wet delays, there is an offset of ?5.2 ± 0.6 mm at about cycle 30 and a more abrupt offset of ?11.5 ± 0.8 mm at cycle 69. If we look at the behavior of the JMR coldest brightness temperatures, we see that the offsets near cycle 30 and cycle 69 are mainly caused by corresponding offsets in the 23.8 GHz channel of ?0.49 ± 0.12 K and ?1.18 ± 0.13 K, although there is a small 34.0 GHz offset at cycle 69 of 0.75 ± 0.22 K. Drifts in the 18.0 and 34.0 GHz channels produce a small path delay drift of 0.3 ± 0.5 mm/yr.     

Monitoring the TOPEX and Jason-1 Microwave Radiometers with GPS and VLBI Wet Zenith Path Delays

Monitoring of altimeter microwave radiometer measurements is necessary in order to identify radiometer drifts or offsets that if uncorrected will introduce systematic errors into ocean height measurements. To examine TOPEX Microwave Radiometer (TMR) and Jason-1 Microwave Radiometer (JMR) behavior, we have used coincident wet zenith delay estimates from Very Long Baseline Interferometry (VLBI) and Global Positioning System (GPS) geodetic sites near altimeter ground tracks. We derived a TMR path delay drift rate of -1.1 ± 0.1 mm/yr using GPS data for the period from 1993.0-1999.0 and -1.2 ± 0.5 mm/yr using VLBI data. Thereafter, the drift appears to have leveled off. Already after 2.3 years (82 cycles) of the Jason-1 mission, it is clear that there have been significant systematic errors in the JMR path delay measurements. From comparison with GPS wet delays, there is an offset of -5.2 ± 0.6 mm at about cycle 30 and a more abrupt offset of -11.5 ± 0.8 mm at cycle 69. If we look at the behavior of the JMR coldest brightness temperatures, we see that the offsets near cycle 30 and cycle 69 are mainly caused by corresponding offsets in the 23.8 GHz channel of -0.49 ± 0.12 K and -1.18 ± 0.13 K, although there is a small 34.0 GHz offset at cycle 69 of 0.75 ± 0.22 K. Drifts in the 18.0 and 34.0 GHz channels produce a small path delay drift of 0.3 ± 0.5 mm/yr.     

Calibration and Verification of Jason-1 Using Global Along-Track Residuals with TOPEX Special Issue: Jason-1 Calibration/Validation

It is demonstrated that the Jason-1 measurements of sea surface height (SSH), wet path delay, and ionosphere path delay are within required accuracies, via a global cross-calibration with similar measurements made by TOPEX/Poseidon (T/P) over a 6-month period. Since the two satellites were on the same groundtrack separated in time by only 70 s, measurements were recorded at approximately the same location and time. The variations in the wet path delay measured by Jason-1 compared to T/P are only 5 mm RMS, well within the required performance of 1.2 cm RMS. The RMS of the ionosphere differences is also well within the expected values, with a mean RMS of 1.2 cm. The largest difference is that the Jason-1 SSH is biased high relative to T/P SSH by 144 mm after the T/P and Jason-1 data are both corrected with improved sea state bias (SSB) models. However, the bias will change if a different SSB model is used, so the user should be cautious that the bias used matches the SSB models. The bias is generally constant within ± 10 mm in the open ocean, but appears to be higher or lower in some regions. Additionally, the SSH has been verified by comparison with 36 island tide gauges over the same period. After removing the global relative bias, the Jason-1 SSH data agree with tide gauges within 3.7 cm RMS and with T/P data within about 3.5 cm RMS on average for 1-s measurements, meeting the required accuracy of 4.2 cm RMS.     

Calibration and Verification of Jason-1 Using Global Along-Track Residuals with TOPEX

It is demonstrated that the Jason-1 measurements of sea surface height (SSH), wet path delay, and ionosphere path delay are within required accuracies, via a global cross-calibration with similar measurements made by TOPEX/Poseidon (T/P) over a 6-month period. Since the two satellites were on the same groundtrack separated in time by only 70 s, measurements were recorded at approximately the same location and time. The variations in the wet path delay measured by Jason-1 compared to T/P are only 5 mm RMS, well within the required performance of 1.2 cm RMS. The RMS of the ionosphere differences is also well within the expected values, with a mean RMS of 1.2 cm. The largest difference is that the Jason-1 SSH is biased high relative to T/P SSH by 144 mm after the T/P and Jason-1 data are both corrected with improved sea state bias (SSB) models. However, the bias will change if a different SSB model is used, so the user should be cautious that the bias used matches the SSB models. The bias is generally constant within ± 10 mm in the open ocean, but appears to be higher or lower in some regions. Additionally, the SSH has been verified by comparison with 36 island tide gauges over the same period. After removing the global relative bias, the Jason-1 SSH data agree with tide gauges within 3.7 cm RMS and with T/P data within about 3.5 cm RMS on average for 1-s measurements, meeting the required accuracy of 4.2 cm RMS.     

TOPEX/Poseidon and Jason-1: Absolute Calibration in Bass Strait, Australia

Updated absolute calibration results from Bass Strait, Australia, are presented for the TOPEX/Poseidon (T/P) and Jason-1 altimeter missions. Data from an oceanographic mooring array and coastal tide gauge have been used in addition to the previously described episodic GPS buoy deployments. The results represent a significant improvement in absolute bias estimates for the Bass Strait site. The extended methodology has allowed comparison between the altimeter and in situ data on a cycle-by-cycle basis over the duration of the dedicated calibration phase (formation flight period) of the Jason-1 mission. In addition, it has allowed absolute bias results to be extended to include all cycles since the T/P launch, and all Jason-1 data up to cycle 60. Updated estimates and formal 1-sigma uncertainties of the absolute bias computed throughout the formation flight period are 0 ± 14 mm for T/P and +152 + 13 mm for Jason-1 (for the GDR POE orbits). When JPL GPS orbits are used for cycles 1 to 60, the Jason-1 bias estimate is 131 mm, virtually identical to the NASA estimate from the Harvest Platform off California calculated with the GPS orbits and not significantly different to the CNES estimate from Corsica. The inference of geographically correlated errors in the GDR POE orbits (estimated to be approximately 17 mm at Bass Strait) highlights the importance of maintaining globally distributed verification sites and makes it clear that further work is required to improve our understanding of the Jason-1 instrument and algorithm behavior.     

The Jason-1 Mission Special Issue: Jason-1 Calibration/Validation

On December 7, 2001, the Jason-1 satellite was successfully launched by a Boeing Delta II rocket from the Vandenberg site in California, USA. Its main mission was to maintain the high accuracy altimeter measurements, provided since 1992 by TOPEX/Poseidon (T/P), ensuring continuity in observing and monitoring the ocean for intraseasonal to interannual changes, mean sea level, tides, and so forth. Despite four times less mass and power, the Jason-1 system has been designed to have the same performances as T/P, measuring sea surface topography at the centimeter level. This new Centre National d'Etudes Spatiales/National Aeronautics and Space Administration (CNES/NASA) mission also provides near real-time data for sea state and ocean forecast. The first 10 months of the Jason mission were dedicated to the verification of the system performance and cross-calibration with T/P measurements. A complete CALVAL plan was conducted by the Science and Project Teams of the mission based on in situ and regional experiments, global statistical approaches, and multisatellite comparisons, taking advantage of the T/P-Jason overlap during the first months of the mission. CALVAL and first science results showed that the Jason-1 performances were compliant with prelaunch specifications. This was a needed preamble before starting the routine phase of the mission in July 2003 with generation and distribution of validated geophysical data records to the whole user community.     

The Jason-1 Mission

On December 7, 2001, the Jason-1 satellite was successfully launched by a Boeing Delta II rocket from the Vandenberg site in California, USA. Its main mission was to maintain the high accuracy altimeter measurements, provided since 1992 by TOPEX/Poseidon (T/P), ensuring continuity in observing and monitoring the ocean for intraseasonal to interannual changes, mean sea level, tides, and so forth. Despite four times less mass and power, the Jason-1 system has been designed to have the same performances as T/P, measuring sea surface topography at the centimeter level. This new Centre National d'Etudes Spatiales/National Aeronautics and Space Administration (CNES/NASA) mission also provides near real-time data for sea state and ocean forecast. The first 10 months of the Jason mission were dedicated to the verification of the system performance and cross-calibration with T/P measurements. A complete CALVAL plan was conducted by the Science and Project Teams of the mission based on in situ and regional experiments, global statistical approaches, and multisatellite comparisons, taking advantage of the T/P-Jason overlap during the first months of the mission. CALVAL and first science results showed that the Jason-1 performances were compliant with prelaunch specifications. This was a needed preamble before starting the routine phase of the mission in July 2003 with generation and distribution of validated geophysical data records to the whole user community.     

Absolute Calibration of TOPEX/Poseidon and Jason-1 Using GPS Buoys in Bass Strait, Australia

An absolute calibration of the TOPEX/Poseidon (T/P) and Jason-1 altimeters has been undertaken during the dedicated calibration phase of the Jason-1 mission, in Bass Strait, Australia. The present study incorporates several improvements to the earlier calibration methodology used for Bass Strait, namely the use of GPS buoys and the determination of absolute bias in a purely geometrical sense, without the necessity of estimating a marine geoid. This article focuses on technical issues surrounding the GPS buoy methodology for use in altimeter calibration studies. We present absolute bias estimates computed solely from the GPS buoy deployments and derive formal uncertainty estimates for bias calculation from a single overflight at the 40-45 mm level. Estimates of the absolute bias derived from the GPS buoys is -10 ± 19 mm for T/P and +147 ± 21 mm for Jason-1 (MOE orbit) and +131 ± 21 mm for Jason-1 (GPS orbit). Considering the estimated error budget, our bias values are equivalent to other determinations from the dedicated NASA and CNES calibration sites.     

The GAVDOS Mean Sea Level and Altimeter Calibration Facility: Results for Jason-1

The location of the GAVDOS facility is under a crossing point of the original ground-tracks of TOPEX/Poseidon and the present ones for Jason-1, and adjacent to an ENVISAT pass, about 50 km south of Crete, Greece. Ground observations and altimetry comparisons over cycles 70 to 90, indicate that a preliminary estimate of the absolute measurement bias for the Jason-1 altimeter is 144.7 ± 15 mm. Comparison of Jason microwave radiometer data from cycles 37 and 62, with locally collected water vapor radiometer and solar spectrometer observations indicate a 1–2 mm agreement.     

The GAVDOS Mean Sea Level and Altimeter Calibration Facility: Results for Jason-1

The location of the GAVDOS facility is under a crossing point of the original ground-tracks of TOPEX/Poseidon and the present ones for Jason-1, and adjacent to an ENVISAT pass, about 50 km south of Crete, Greece. Ground observations and altimetry comparisons over cycles 70 to 90, indicate that a preliminary estimate of the absolute measurement bias for the Jason-1 altimeter is 144.7 ± 15 mm. Comparison of Jason microwave radiometer data from cycles 37 and 62, with locally collected water vapor radiometer and solar spectrometer observations indicate a 1-2 mm agreement.     

Seasonal and interannual variations in the East Sakhalin current revealed by TOPEX/POSEIDON altimeter data

Seasonal and interannual variations in the East Sakhalin Current (ESC) are investigated using ten-year records of the sea level anomaly (SLA) observed by the TOPEX/POSEIDON (T/P) altimeter. The T/P SLA clearly documents seasonal and interannual variations in the ESC along the east coast of Sakhalin Island, although sea ice masks the region from January to April. Estimates of surface current velocity anomaly derived from T/P SLA are in good agreement with drifting buoy observations. The ESC is strong in winter, with a typical current velocity of 30–40 cm s⁻¹ in December, and almost disappears in summer. Southward flow of the ESC is confined to the shelf and slope region and consists of two velocity cores. These features of the ESC are consistent with short-term observations reported in previous studies. Analysis of the ten-year records of T/P SLA confirms that the structure of the ESC is maintained each winter and the seasonal cycle is repeated every year, although the strength of the ESC shows large interannual variations. Seasonal and interannual variations in the ESC are discussed in relation to wind-driven circulation in the Sea of Okhotsk, using wind stress and wind stress curl fields derived from European Centre for Medium Range Weather Forecasts (ECMWF) reanalysis data and a scatterometer-derived wind product. Seasonal and interannual variations of the anticyclonic eddy in the Kuril Basin are also revealed using T/P SLA.     

Jason-1 global statistical evaluation and performance assessment: Calibration and cross-calibration results

Since Jason-1launch, extensive validation of Jason-1 data and cross-calibration relative to TOPEX/Poseidon (T/P) have been performed by the CLS validation team within the CNES Jason-1 project. These validation activities are routinely operated as part of the Jason-1 ground segment, and often lead to in-depth studies to understand all validation conclusions. This paper presents the main results in terms of Jason-1 data quality: verification of data availability and validity, monitoring of the most relevant altimeter and radiometer parameters, assessment of the Jason-1 altimeter system performances. From global statistical analysis of more than 2 years of Jason-1 GDR data, results for all components of the altimeter measurement are derived in terms of bias, trend and precision. This work also represents a contribution to the estimation of the Jason-1 error budget. Thorough studies have been more focused on specific issues in relation to data quality: this is the case for the analysis of the high frequency content of the Jason-1 data and its impact on the T/P to Jason-1 comparison. From the results presented in this paper, it is demonstrated that the Jason-1 mission fulfils the requirements of high precision altimetry. In particular, it allows continuing the observation of the Mean Sea Level (MSL) variations at the same accuracy as T/P, which was one of the challenges of the Jason-1 mission. Potential improvements and open issues are also identified, with the objective of still making progress in terms of altimeter data quality.     

Jason-1 global statistical evaluation and performance assessment: Calibration and cross-calibration results

Since Jason-1launch, extensive validation of Jason-1 data and cross-calibration relative to TOPEX/Poseidon (T/P) have been performed by the CLS validation team within the CNES Jason-1 project. These validation activities are routinely operated as part of the Jason-1 ground segment, and often lead to in-depth studies to understand all validation conclusions. This paper presents the main results in terms of Jason-1 data quality: verification of data availability and validity, monitoring of the most relevant altimeter and radiometer parameters, assessment of the Jason-1 altimeter system performances. From global statistical analysis of more than 2 years of Jason-1 GDR data, results for all components of the altimeter measurement are derived in terms of bias, trend and precision. This work also represents a contribution to the estimation of the Jason-1 error budget. Thorough studies have been more focused on specific issues in relation to data quality: this is the case for the analysis of the high frequency content of the Jason-1 data and its impact on the T/P to Jason-1 comparison. From the results presented in this paper, it is demonstrated that the Jason-1 mission fulfils the requirements of high precision altimetry. In particular, it allows continuing the observation of the Mean Sea Level (MSL) variations at the same accuracy as T/P, which was one of the challenges of the Jason-1 mission. Potential improvements and open issues are also identified, with the objective of still making progress in terms of altimeter data quality.     

Calibration of TOPEX/Poseidon and Jason Altimeter Data to Construct a Continuous Record of Mean Sea Level Change

Jason, the successor to the TOPEX/POSEIDON (T/P) mission, has been designed to continue seamlessly the decade-long altimetric sea level record initiated by T/P. Intersatellite calibration has determined the relative bias to an accuracy of 1.6 mm rms. Tide gauge calibration of the T/P record during its original mission shows a drift of -0.1 ± 0.4 mm/year. The tide gauge calibration of 20 months of nominal Jason data indicates a drift of -5.7 ± 1.0 mm/year, which may be attributable to errors in the orbit ephemeris and the Jason Microwave Radiometer. The analysis of T/P and Jason altimeter data over the past decade has resulted in a determination of global mean sea level change of +2.8 ± 0.4 mm/year.     

Calibration of JASON-1 Altimeter over Lake Erie Special Issue: Jason-1 Calibration/Validation

This article describes absolute calibration results for both JASON-1 and TOPEX Side B (TSB) altimeters obtained at the Lake Erie calibration site, Marblehead, Ohio, USA. Using 15 overflights, the estimated JASON altimeter bias at Marblehead is 58 ± 38 mm, with an uncertainty of 19 mm based on detailed error analysis. Assuming that the TSB bias is negligible, relative bias estimates using both data from the TSB-JASON formation flight period and data from 48 water level gauges around the entire Great Lakes confirmed the Marblehead results. Global analyses using both the formation flight data and dual-satellite (TSB and JASON) crossovers yield a similar relative bias estimate of 146 ± 59 mm, which agrees well with open ocean absolute calibration results obtained at Harvest, Corsica, and Bass Strait (e.g., Watson et al. 2003). We find that there is a strong dependence of bias estimates on the choice of sea state bias (SSB) models. Results indicate that the invariant JASON instrument bias estimated oceanwide is 71 mm, with additional biases of 76 mm or 28 mm contributed by the choice of Collecte Localisation Satellites (CLS) SSB or Center for Space Research (CSR) SSB model, respectively. Similar analysis in the Great Lakes yields the invariant JASON instrument bias at 19 mm, with the SSB contributed biases at 58 mm or 13 mm, respectively. The reason for the discrepancy is currently unknown and warrants further investigation. Finally, comparison of the TOPEX/POSEIDON mission (1992–2002) data with the Great Lakes water level gauge measurements yields a negligible TOPEX altimeter drift of 0.1 mm/yr.     

One-Centimeter Orbit Determination for Jason-1: New GPS-Based Strategies

The U.S./French Jason-1 satellite is carrying a state-of-the-art GPS receiver to support precise orbit determination (POD) requirements. The performance of the Jason-1 “BlackJack” GPS receiver was strongly reflected in early POD results from the mission, enabling radial accuracies of 1-2 cm soon after the satellite's 2001 launch. We have made further advances in the GPS-based POD for Jason-1, most notably in describing the phase center variations of the on-board GPS antenna. We have also adopted new geopotential models from the Gravity Recovery and Climate Experiment (GRACE). The new strategies have enabled us to better exploit the unique contributions of the BlackJack GPS tracking data in the POD process. Results of both internal and external (e.g., laser ranging) comparisons indicate that orbit accuracies of 1 cm (radial RMS) are being achieved for Jason-1 using GPS data alone.     

Assimilation of TOPEX/POSEIDON Altimeter Data with a Reduced Gravity Model of the Japan Sea

Sea level data measured by TOPEX/POSEIDON over the Japan Sea from 1993 to 1994 is analyzed by assimilation using an approximate Kalman filter with a 1.5 layer (reduced-gravity) shallow water model. The study aims to extract signals associated with the first baroclinic mode and to determine the extent of its significance. The assimilation dramatically improves the model south of the Polar Front where as much as 20 cm² of the observed sea level variance can be accounted for. In comparison, little variability in the northern cold water region is found consistent with the model dynamics, possibly due to significant differences in stratification.