Robust Range-Only Beacon Localization

In this paper, we present a system capable of simultaneously estimating the position of an autonomous underwater vehicle (AUV) and the positions of stationary range-only beacons. Notably, our system does not require beacon positions a priori, and our system performs well even when range measurements are severely degraded by noise and outliers. We present a powerful outlier rejection method that can identify groups of range measurements that are consistent with each other, and a method for initializing beacon positions in an extended Kalman filter (EKF). We have successfully applied our algorithms to real-world data and have demonstrated a simultaneous localization and mapping (SLAM) system whose navigation performance is comparable to that of systems that assume known beacon locations     

A community-wide intercomparison exercise for the determination of dissolved iron in seawater

The first large-scale international intercomparison of analytical methods for the determination of dissolved iron in seawater was carried out between October 2000 and December 2002. The exercise was conducted as a rigorously “blind” comparison of 7 analytical techniques by 24 international laboratories. The comparison was based on a large volume (700 L), filtered surface seawater sample collected from the South Atlantic Ocean (the “IRONAGES” sample), which was acidified, mixed and bottled at sea. Two 1-L sample bottles were sent to each participant. Integrity and blindness were achieved by having the experiment designed and carried out by a small team, and overseen by an independent data manager. Storage, homogeneity and time-series stability experiments conducted over 2.5 years showed that inter-bottle variability of the IRONAGES sample was good (< 7%), although there was a decrease in iron concentration in the bottles over time (0.8–0.5 nM) before a stable value was observed. This raises questions over the suitability of sample acidification and storage.     

High-resolution sediment echosounding off Peru: Late Quaternary depositional sequences and sedimentary structures of a current-dominated shelf

About 6000 km of both bathymetric and high-resolution acoustic profiles were acquired on the shelf and upper slope offshore Peru between 9° S and 14° S. Two new sediment echosounder systems – SEL-96 and SES-2000DS – provided details of the sedimentary structures of the Quaternary sequences within the Sechura-Salaverry, Huacho and Pisco Basins. To a great extent, the poleward undercurrent determines the distribution of sediments. The undercurrent has generated numerous erosional unconformities, it has winnowed hardgrounds and has created mudwaves common between 250 m and 400 m water depth. Distinct subbottom reflectors within sedimentary units represent hiatuses due to periods of intensified winnowing or non-deposition. Erosional unconformities usually marked by pronounced reflectors suggest shifts of the undercurrent system related to climatic changes and eustatic variations of sea level. On a larger scale, the stacked prograding depositional sequences reflect the sea-level cycles of the Middle Pleistocene to the Holocene. Based on the stratigraphy of our piston cores and that of Ocean Drilling Program (ODP) Site 680, the depositional sequences limited by extended unconformities were assigned to oxygen isotope stages 1 to 7. Other sedimentary structures are small straight channels that were conduits for downslope sediment transport. Deformed sediments associated with synsedimentary normal faults result from creep movements indicating beginning slope failure.     

Dynamic evolution of the 1997–1999 El Niño–La Niña cycle in the southern California Current System

The development of the strongest El Niño event on record in the equatorial Pacific in 1997–1998 and the rapid transition to strong La Niña conditions in 1998–1999 had a large impact on the physical and biological environment of the West Coast. We investigate the evolution of the physical structure and circulation dynamics of the southern California Current System (CCS) during this period based on hydrographic data collected on 25 cruises over a 45-month period (February 1996–October 1999). The El Niño period was characterized by a significant increase in dynamic height, extreme water mass characteristics, a strengthening and broadening of the poleward nearshore flow, and a temporary reversal of net alongshore transport. By early 1999, conditions in the CCS had reversed. The data suggest that remotely driven forcing (propagating oceanic waves) contributed to the anomalies observed during the El Niño period, while the cool-water conditions of 1999 were most likely a result of anomalous local atmospheric forcing.     

Nutrient variability during El Niño 1997–98 in the California current system off central California

Nutrient conditions off central California during the 1997–98 El Niño are described. Data were collected on 11 cruises from March 1997 to January 1999 along a hydrographic section off central California, as well as every two weeks at a coastal station in Monterey Bay. Perturbations associated with El Niño are shown as anomalies of thermohaline and nutrient distributions along this section. The anomalies were obtained by subtracting seasonal averages for the period from April 1988 to April 1991 from the 1997–98 observations. The first indications of El Niño conditions (high sea levels) were observed at Monterey between late May and early June 1997, but the coastal nutricline did not begin to deepen until August 1997. It reached maximum depth of 130 dbar in January 1998 at the time that maximum sea level anomalies were observed. During this period: (1) the highest subsurface temperature anomalies coincided with subsurface nutrient anomaly minima at the depth of the pycnocline; (2) southern saline and nutrient-poor waters occupied the upper 80 dbar of the water column along the entire section; and (3) nitrate levels were close to zero in the euphotic zone, collapsing the potential new primary production in the coastal domain. At the end of February 1998, the nutricline shoaled to 40 dbar at the coast although it remained anomalously deep offshore. Higher temperatures and lower nutrient levels were observed for the entire section through August 1998 although in contrast with the previous winter, there was a strong freshening mainly due to an onshore movement of subarctic waters.     

Feeding Habits of Trisopterus minutus capelanus (Gadidae) Off the Eastern Coast of Spain (Western Mediterranean)

Abstract. The stomach contents of poor cod, Trisopterus minutus capelanus (Lacepède), were taken at monthly intervals off the eastern coast of the Gulf of Valencia (Spain). A total of 1276 were analyzed to determine diet according to fish size and season. The basic food consists of crustaceans (Mysidacea and Decapoda) and teleosts. Feeding habits varied with size: decapods and fishes were more abundant in the stomachs of larger specimens. Little seasonal variation in food habits was recorded.     

On non-causal impulse response functions related to propagating water waves

Particular attention is drawn to the non-causality of two impulse response functions, one of which relates the excitation force on an immersed body to the incident wave elevation at the body's reference position, while the other relates the incident wave elevations at two different positions along the line of wave propagation. An explanation is proposed for the non-causality of the impulse response functions, in spite of the fact wave propagation is a causal process. An indication is given of how far ‘upstream’ the incident wave elevation should be measured in order to be able to know, with reasonable accuracy, the current heave excitation force on a floating truncated cylinder with vertical axis, given current and past wave-elevation measurements. This provides a method for wave prediction, which is required for optimum control of the oscillation of the immersed body.