Absolute velocity estimates from autonomous underwater gliders equipped with Doppler current profilers

Author Posting. © American Meteorological Society, 2017. This article is posted here by permission of American Meteorological Society for personal use, not for redistribution. The definitive version was published in Journal of Atmospheric and Oceanic Technology 34 (2017): 309-333, doi:10.1175/JTECH-D-16-0156.1.Doppler current profilers on autonomous underwater gliders measure water velocity relative to the moving glider over vertical ranges of O(10) m. Measurements obtained with 1-MHz Nortek acoustic Doppler dual current profilers (AD2CPs) on Spray gliders deployed off Southern California, west of the Galápagos Archipelago, and in the Gulf Stream are used to demonstrate methods of estimating absolute horizontal velocities in the upper 1000 m of the ocean. Relative velocity measurements nearest to a glider are used to infer dive-dependent flight parameters, which are then used to correct estimates of absolute vertically averaged currents to account for the accumulation of biofouling during months-long glider missions. The inverse method for combining Doppler profiler measurements of relative velocity with absolute references to estimate profiles of absolute horizontal velocity is reviewed and expanded to include additional constraints on the velocity solutions. Errors arising from both instrumental bias and decreased abundance of acoustic scatterers at depth are considered. Though demonstrated with measurements from a particular combination of platform and instrument, these techniques should be applicable to other combinations of gliders and Doppler current profilers.Spray glider missions were supported by the National Science Foundation (OCE-1232971, OCE-1233282), the National Oceanic and Atmospheric Administration (NA10OAR4320156, NA15OAR4320071), Eastman Chemical Company, the Oceans and Climate Change Institute at WHOI, and the W. Van Alan Clark Jr. Chair for Excellence in Oceanography at WHOI. RET acknowledges additional support for analysis and publication from the National Science Foundation (OCE-1633911).2017-07-3