Towed ADCP fish with Depth and Roll controllable wings and its application to the Kuroshio observation

An intelligent ADCP (Acoustic Doppler Current Profiler) fish, called DRAKE (Depth and Roll Adjustable Kite for Energy flux measurements) was developed with the controllable wings which can adjust the submerging depth of the fish and stabilize its roll motion. The Kuroshio west of Okinawa was measured in a roundtrip course on the same traverse line by the ADCP fish. The forward survey obtained the maximum submerging depth of 208 m at a fish operation speed of 2.9 ms^–1. The maximum fish speed of 5.4 ms^–1 was achieved at a submerging depth of 48 m in the return survey. The data in the overlapped area of data acquisition between depths 212 and 276 m were used to examine the accuracy of velocity measurement for the towed ADCP system. The summation of both survey data made it possible to estimate a sectional velocity structure and transport of the upper 600 m corresponding roughly to the whole section of the Kuroshio in this region.