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     

Local remineralization patterns in the mesopelagic zone of the Eastern North Atlantic, off the NW Iberian Peninsula

The short-time-scale variability of the remineralization patterns in the domain of Eastern North Atlantic Central Waters (ENACW) off the NW Iberian Peninsula is studied based on biogeochemical data (oxygen, nutrient salts, total alkalinity, pH, dissolved organic matter and fluorescence of dissolved humic substances) collected weekly between May 2001 and April 2002. The temporal variability of inorganic variables points to an intensification of remineralization during the summer and autumn, with an increase of nutrients, total inorganic carbon and fluorescence and a decrease of oxygen. During the subsequent winter mixing, there is a biogeochemical reset of the system, with lower nutrients, total inorganic carbon and fluorescence and higher oxygen. In contrast to inorganic variables, the levels of dissolved organic matter in the ENACW seem to respond to short-term events probably associated with fast sinking particles, where solubilisation of organic matter prevails over remineralization. Applying a previously published stoichiometric model, we observed a vertical fractionation of organic-matter remineralization. Although there is a preferential remineralization of proteins and P compounds in the entire domain of ENACW, the percentage was higher in the upper ENACW (σ<27.10 kg/m³) than in the lower; the percentage of N and P compounds in the oxidised organic matter was >80% for the upper ENACW and 63% for the lower. Likewise, the redissolution of calcareous structures contributes about 6% and 13% to the carbon regenerated in the upper and lower layers of ENACW, respectively.     

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.     

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.     

Carbon Isotope Geochemistry of the Orinoco Basin

Stable carbon isotope ratios have been used to study the sources of particulate organic carbon (POC) and total dissolved inorganic carbon in the Orinoco Basin. The isotopic composition of total dissolved inorganic carbon shows a range of from -8·1 to -23·0 ppt, an indication of dominance of biological processes. The isotopic composition of POC exhibits a range of from -24·1 to -34·6 ppt with little seasonal variation. The isotopic evidence indicates that the POC is predominantly of terrestrial origin rather than a result of in situ planktonic production. The similarity of isotopic composition of POC and coastal sediments suggests that riverine organic detritus has been transported 30-50 km offshore in a direction parallel to the Orinoco river channel.     

Controls on organic carbon distribution in sediments from the eastern Arabian Sea Margin

 Sediment cores from the upper continental slope of the eastern Arabian Sea have high organic carbon (OC), CaCO₃, and sand content at the top. The values decrease with increasing depth in the Holocene and Upper Pleistocene. Topographic highs show highest OC and lower CaCO₃ in the Holocene clayey sediments and vice versa in the Pleistocene sandy sediments. The OC is immature and marine or a mixture of both marine and terrestrial in the Holocene sediments and is mostly terrestrial and/or reworked marine in the Pleistocene sediments. Productivity is the main controlling factor for the organic carbon enrichment. Texture and reworking also influence the organic carbon variations. Received: 29 May 1996/Revision received: 10 January 1997