DNA-metabarcoding supports trophic flexibility and reveals new prey species for the Galapagos sea lion

Tropical ecosystems are challenging for pinnipeds due to fluctuating food availability. According to previous research, the Galapagos sea lion (GSL, Zalophus wollebaeki) adopts trophic flexibility to face such conditions. However, this hypothesis comes from studies using traditional methods (hard-parts analysis of scat and isotopic analysis from tissue). We studied the diet of five rookeries in the southeastern Galapagos bioregion (which harbors the highest GSL density), via DNA-metabarcoding of scat samples. The DNA-metabarcoding approach may identify consumed prey with a higher taxonomic resolution than isotopic analysis, while not depending on hard-parts remaining through digestion. Our study included five different rookeries to look for evidence of trophic flexibility at the bioregional level. We detected 98 prey OTUs (124 scats), mostly assigned to bony-fish taxa; we identified novel prey items, including a shark, rays, and several deep-sea fish. Our data supported the trophic flexibility of GSL throughout the studied bioregion since different individuals from the same rookery consumed prey coming from different habitats and trophic levels. Significant diet differentiations were found among rookeries, particularly between Punta Pitt and Santa Fe. Punta Pitt rookery, with a more pronounced bathymetry and lower productivity, was distinguished by a high trophic level and consumption of a high proportion of deep-sea prey; meanwhile, Santa Fe, located in more productive, shallow waters over the shelf, consumed a high proportion of epipelagic planktivorous fish. Geographic location and heterogeneous bathymetry of El Malecon, Española, and Floreana rookeries would allow the animals therein to access both, epipelagic prey over the shelf, and deep-sea prey out of the shelf; this would lead to a higher prey richness and diet variability there. These findings provide evidence of GSL adopting a trophic flexibility to tune their diets to different ecological contexts. This strategy would be crucial for this endangered species to overcome the challenges faced in a habitat with fluctuating foraging conditions.

Demonstration of a Modular Prototype End-to-End Simulator for Aquatic Remote Sensing Applications

This study introduces a prototype end-to-end Simulator software tool for simulating two-dimensional satellite multispectral imagery for a variety of satellite instrument models in aquatic environments. Using case studies, the impact of variable sensor configurations on the performance of value-added products for challenging applications, such as coral reefs and cyanobacterial algal blooms, is assessed. This demonstrates how decisions regarding satellite sensor design, driven by cost constraints, directly influence the quality of value-added remote sensing products. Furthermore, the Simulator is used to identify situations where retrieval algorithms require further parameterization before application to unsimulated satellite data, where error sources cannot always be identified or isolated. The application of the Simulator can verify whether a given instrument design meets the performance requirements of end-users before build and launch, critically allowing for the justification of the cost and specifications for planned and future sensors. It is hoped that the Simulator will enable engineers and scientists to understand important design trade-offs in phase 0/A studies easily, quickly, reliably, and accurately in future Earth observation satellites and systems.

Creating an Autonomous Hovercraft for Bathymetric Surveying in Extremely Shallow Water (<1 m)

Coastal shallow water environments (<5 m) are extremely biodiverse and dynamic yet are often mapped too infrequently or at too low resolutions to capture the important processes occurring in these regions. Common forms of coastal surveying can leave gaps in data in the shallow water zone due to optical instrument capabilities and a vessel's ability to navigate in this region. One solution to these issues is an autonomous hovercraft that can fly over land and water and begin surveying at sub-meter water depths, bridging the gap between common optical and acoustic surveying methods. The craft's autonomy is tested via four autonomous flight paths, or missions, and the desired path is compared to both the observed heading and direction of motion. Although the accuracy for each track in the mission varies, most headings and directions of motion of the hovercraft are within 50 degrees of the desired direction. A single-beam echo sounder was used to map the bathymetry of the study site, showing a gently sloping beach.

Testing the Effect of Bathymetric Data Reduction on the Shape of the Digital Bottom Model

Depth data and the digital bottom model created from it are very important in the inland and coastal water zones studies and research. The paper undertakes the subject of bathymetric data processing using reduction methods and examines the impact of data reduction according to the resulting representations of the bottom surface in the form of numerical bottom models. Data reduction is an approach that is meant to reduce the size of the input dataset to make it easier and more efficient for analysis, transmission, storage and similar. For the purposes of this article, test datasets were created by discretizing a selected polynomial function. The real dataset, which was used to verify the analyzes, was acquired using an interferometric echosounder mounted on a HydroDron-1 autonomous survey vessel. The data were collected in the ribbon of Lake Klodno, Zawory. Data reduction was conducted in two commercial programs. Three equal reduction parameters were adopted for each algorithm. The research part of the paper presents the results of the conducted analyzes of the reduced bathymetric datasets based on the visual comparison of numerical bottom models, isobaths, and statistical parameters. The article contains tabular results with statistics, as well as the spatial visualization of the studied fragments of numerical bottom models and isobaths. This research is being used in the course of work on an innovative project that aims to develop a prototype of a multi-dimensional and multi-temporal coastal zone monitoring system using autonomous, unmanned floating platforms at a single survey pass.

On Quality Analysis of Filtration Methods for Bathymetric Data in Harbour Areas through QPS Qimera Software

This paper presents an assessment of the quality of selected filtration methods for the postprocessing of multibeam echosounder data. In this regard, the methodology used in the quality assessment of these data is an important factor. One of the most important final products derived from bathymetric data is the digital bottom model (DBM). Therefore, quality assessment is often based on factors related to it. In this paper, we propose some quantitative and qualitative factors to perform these assessments, and we analyze a few selected filtration methods as examples. This research makes use of real data gathered in real environments, preprocessed with typical hydrographic flow. The methods presented in this paper may be used in empirical solutions, and the filtration analysis may be useful for hydrographers choosing a filtration method for DBM interpolation. The results showed that both data-oriented and surface-oriented methods can be used in data filtration and that various evaluation methods show different perspectives on data filtration quality assessment.

Coastal Bathymetric Sounding in Very Shallow Water Using USV: Study of Public Beach in Gdynia, Poland

The bathymetric surveys executed with a use of small survey vessels in limited water areas, including offshore areas, require precise determination of the geospatial coordinates of the seabed which is a synthesis of, among others, determining the position coordinates and measuring the depth. Inclination of the seabed and the declining depth make manoeuvring of the sounding vessel, e.g., a hydrographic motorboat or Unmanned Survey Vehicle (USV), in shallow water impossible. Therefore, it is important to determine the minimal depth for the survey resulting from the draught of the sounding vessel and the limits of the sounding area. The boundaries also result from the dimensions of the sounding vessel, its manoeuvring parameters and local water level. Type of the echosounder used in the bathymetric survey is a decisive factor for the sounding profile planning and the distances between them and the survey vessel for the possibility performing the measurements in shallow water. Electronic Navigational Chart (ENC) was used to determine the water area's boundaries, and the safety contours were determined on the basis of the built Digital Sea Bottom Model (DSBM). The safety contour, together with the vessel's dimensions, its manoeuvring parameters and the hydrometeorological conditions, limit the offshore area in which the measurement can be performed. A method of determining boundaries of the survey performed by a USV equipped with SingleBeam EchoSounder (SBES) on survey lines perpendicular to the coastal line are presented in the paper in order to cover the water area with the highest amount of measurement data, with the USV's navigational safety taken into consideration. The measurements executed on the municipal beach served verification of the DSBM.

Variation of shell ornamentation with latitude and water depth-A case study using living brachiopods

As a potential anti-predatory defensive structure, the shell ornamentation of marine calcifiers is usually used to understand the macro coevolution of the interactions between predators and preys. Marine calcifiers' shell ornamentation complexity is generally believed to vary negatively with latitude and water depth. In this paper, we explored the association between shell ornamentation and latitude/bathymetry using the latest global database of living brachiopods. We found that (1) ~59% of living brachiopods species are characterized by smooth shells and that (2) there is no statistically significant linear trend, either positive or negative, between the ornamentation index and latitudes nor with water depths. Both findings are puzzling for living brachiopods as they are sharply contrasted to the patterns of fossil brachiopods whereby the latter, especially Paleozoic brachiopods, are known to exhibit (1) a much greater ornamentation diversity and (2) (at least for the geological periods that have been studied) a linear latitudinal gradient of ornamentation complexity existed. The reasons why living brachiopods have such a high proportion of smooth or weakly ornamented shells and fail to demonstrate an unequivocal linear latitudinal ornamentation gradient were explored and are linked to a multitude of potential factors rather than uniquely only to the predation pressure. Among these, the most plausible factor seems to be the cryptic (refuge-type) habitats (e.g., deep waters, cold polar regions, and submarine rock caves) that living brachiopods have been adapted to due to their low metabolism, where predation pressure is low, allowing brachiopods to enact the predator avoidance strategy rather than having to manufacture robust shell ornamentation to survive in an otherwise highly engaged predator-prey global marine ecosystem.

Assessment of the Seafloor Topography Accuracy in the Emperor Seamount Chain by Ship-Based Water Depth Data and Satellite-Based Gravity Data

The seafloor topography estimation is very important, while the bathymetry data and gravity data are scarce and uneven, which results in large errors in the inversion of the seafloor topography. In this paper, in order to reduce the influence of errors and improve the accuracy of seafloor inversion, the influence of different resolution data on the inversion topography in the Emperor Seamount Chain are investigated by combining ship water depth data and satellite gravity anomaly data released by SIO V29.1. Through the comparison of different resolution models, it is found that the choice of resolution affects the accuracy of the inversion terrain model. An external comparison is presented by using the international high-precision topography data and check points observations. The results show that with the increase in resolution, the fitting residuals obtained by the scale factor are optimized, and the precision of the terrain model is gradually approaching the S&S V19.1 and GEBCO-2020 models, but is better than the ETOPO1 and SRTM 30 models. By external validation using the check points, the standard deviation of the difference was reduced from 58.92 m to 47.01 m, and the correlation between the inverted terrain and the NGDC grid model was increased from 0.9545 to 0.9953. For recovering the Emperor Seamount Chain terrain, the relative error was gradually decreased with the improvement of resolution. The maximum relative error is reduced from 1.09 of 2' topography to 0.74 of 10″ topography, and the average error is reduced from 0.04 to 0.01 with an improvement by 32.11%. The terrain error between the inverted terrain model and the NGDC grid model is gradually reduced, while the error percentage is increasing by 25.51% and 21.49% in the range of -50 to 50 m and -100 to 100 m, respectively. Furthermore, the sparse area can effectively reduce the terrain standard deviation and improve the terrain correlation by increasing the resolution through the analysis of different density subsets. The error was decreased most significantly in sparse and dense homogeneous regions with increasing resolution.

Representation of the world's biophysical conditions by the global protected area network

Protected areas (PAs) are often implemented without consideration of already existing PAs, which is likely to cause an overrepresentation of certain biophysical conditions. We assessed the representativeness of the current PA network with regard to the world's biophysical conditions to highlight which conditions are underprotected and where these conditions are located. We overlaid terrestrial and marine PAs with information on biophysical conditions (e.g., temperature, precipitation, and elevation) and then quantified the percentage of area covered by the PA network. For 1 variable at a time in the terrestrial realm, high temperature, low precipitation, and medium and very high elevation were underrepresented. For the marine realm, low and medium sea surface temperature (SST), medium and high sea surface salinity (SSS), and the deep sea were underrepresented. Overall, protection was evenly distributed for elevation across the terrestrial realm and SST across the marine realm. For 2 variables at a time, cold and very dry terrestrial environments had mostly low protection, which was also the case for low SST and low and medium SSS across most depths for marine environments. Low protection occurred mostly in the Sahara and the Arabian Peninsula for the terrestrial realm and along the Tropic of Capricorn and toward the poles for the marine realm. Although biodiversity measures are of prime importance for the design of PA networks, highlighting biophysical gaps in current PAs adds a frequently overlooked perspective. These gaps may weaken the potential of PAs to conserve biodiversity. Thus, our results may provide useful insights for researchers, practitioners, and policy makers to establish a more comprehensive global PA network.

Storstrømmen and L. Bistrup Bræ, North Greenland, Protected From Warm Atlantic Ocean Waters

Storstrømmen and L. Bistrup Bræ are 20- and 10-km wide, surge type glaciers in North Greenland in quiescent phase that terminate in the southernmost floating ice tongue in East Greenland. Novel multi-beam echo sounding data collected in August 2020 indicate a seabed at 350-400 m depth along a relatively uniform ice shelf front, 100 m deeper than expected, but surrounded by shallower terrain (<100 m) over a 30-km wide region that blocks the access of warm, salty, subsurface Atlantic Intermediate Water (AIW) at +1.6°C. Conductivity temperature depth data reveal waters in front of the glaciers at -1.8°C not connected to AIW in the outer fjord, Dove Bugt. The recent grounding line retreat of the glaciers is attributed to glacier thinning at its ablation rate, with little influence of ocean waters, which illustrates the fundamental importance of knowing the bathymetry of glacial fjords.

Evaluation of a New Lightweight UAV-Borne Topo-Bathymetric LiDAR for Shallow Water Bathymetry and Object Detection

Airborne LiDAR bathymetry (ALB) has proven to be an effective technology for shallow water mapping. To collect data with a high point density, a lightweight dual-wavelength LiDAR system mounted on unmanned aerial vehicles (UAVs) was developed. This study presents and evaluates the system using the field data acquired from a flight test in Dazhou Island, China. In the precision and accuracy assessment, the local fitted planes extracted from the water surface points and the multibeam echosounder data are used as a reference for water surface and bottom measurements, respectively. For the bathymetric performance comparison, the study area is also measured with an ALB system installed on the manned aerial platform. The object detection capability of the system is examined with placed small cubes. Results show that the fitting precision of the water surface is 0.1227 m, and the absolute accuracy of the water bottom is 0.1268 m, both of which reach a decimeter level. Compared to the manned ALB system, the UAV-borne system provides higher resolution data with an average point density of 42 points/m² and maximum detectable depth of 1.7–1.9 Secchi depths. In the point cloud of the water bottom, the existence of a 1-m target cube and the rough shape of a 2-m target cube are clearly observed at a depth of 12 m. The system shows great potential for flexible shallow water mapping and underwater object detection with promising results.

Improved bathymetry leads to >4000 new seamount predictions in the global ocean - but beware of phantom seamounts!

Seamounts are important marine habitats that are hotspots of species diversity. Relatively shallow peaks, increased productivity and offshore locations make seamounts vulnerable to human impact and difficult to protect. Present estimates of seamount numbers vary from anywhere between 10,000 to more than 60,000. Seamount locations can be estimated by extracting large, cone-like features from bathymetry grids (based on criteria of size and shape). These predicted seamounts are a useful reference for marine researchers and can help direct exploratory surveys. However, these predictions are dependent on the quality of the surveys underpinning the bathymetry. Historically, quality has been patchy, but is improving as mapping efforts step up towards the target of complete seabed coverage by 2030. This study presents an update of seamount predictions based on SRTM30 PLUS global bathymetry version 11 and examines a potential source of error in these predictions. This update was prompted by a seamount survey in the British Indian Ocean Territory in 2016, where locations of two putative seamounts were visited. These 'seamounts' were targeted based on previous predictions, but these features were not detected during echosounder surveys. An examination of UK hydrographic office navigational (Admiralty) charts for the area showed that the summits of these putative features had soundings reporting 'no bottom detected at this depth' where 'this depth' was similar to the seabed reported from the bathymetry grids: we suspect that these features likely resulted from an initial misreading of the charts. We show that 15 'phantom seamount' features, derived from a misinterpretation of no bottom sounding data, persist in current global bathymetry grids and updated seamount predictions. Overall, we predict 37,889 seamounts, an increase of 4437 from the previous predictions derived from an older global bathymetry grid (SRTM30 PLUS v6). This increase is due to greater detail in newer bathymetry grids as acoustic mapping of the seabed expands. The new seamount predictions are available at https://doi.pangaea.de/10.1594/PANGAEA.921688.

The use of singlebeam echo-sounder depth data to produce demersal fish distribution models that are comparable to models produced using multibeam echo-sounder depth

Seafloor characteristics can help in the prediction of fish distribution, which is required for fisheries and conservation management. Despite this, only 5%-10% of the world's seafloor has been mapped at high resolution, as it is a time-consuming and expensive process. Multibeam echo-sounders (MBES) can produce high-resolution bathymetry and a broad swath coverage of the seafloor, but require greater financial and technical resources for operation and data analysis than singlebeam echo-sounders (SBES). In contrast, SBES provide comparatively limited spatial coverage, as only a single measurement is made from directly under the vessel. Thus, producing a continuous map requires interpolation to fill gaps between transects. This study assesses the performance of demersal fish species distribution models by comparing those derived from interpolated SBES data with full-coverage MBES distribution models. A Random Forest classifier was used to model the distribution of Abalistes stellatus, Gymnocranius grandoculis, Lagocephalus sceleratus, Loxodon macrorhinus, Pristipomoides multidens, and Pristipomoides typus, with depth and depth derivatives (slope, aspect, standard deviation of depth, terrain ruggedness index, mean curvature, and topographic position index) as explanatory variables. The results indicated that distribution models for A. stellatus, G. grandoculis, L. sceleratus, and L. macrorhinus performed poorly for MBES and SBES data with area under the receiver operator curves (AUC) below 0.7. Consequently, the distribution of these species could not be predicted by seafloor characteristics produced from either echo-sounder type. Distribution models for P. multidens and P. typus performed well for MBES and the SBES data with an AUC above 0.8. Depth was the most important variable explaining the distribution of P. multidens and P. typus in both MBES and SBES models. While further research is needed, this study shows that in resource-limited scenarios, SBES can produce comparable results to MBES for use in demersal fish management and conservation.

African manatee (Trichechus senegalensis) habitat suitability at Lake Ossa, Cameroon, using trophic state models and predictions of submerged aquatic vegetation

The present study aims at investigating the past and current trophic status of Lake Ossa and evaluating its potential impact on African manatee health. Lake Ossa is known as a refuge for the threatened African manatees in Cameroon. Little information exists on the water quality and health of the ecosystem as reflected by its chemical and biological characteristics. Aquatic biotic and abiotic parameters including water clarity, nitrogen, phosphorous, and chlorophyll concentrations were measured monthly during four months at each of 18 water sampling stations evenly distributed across the lake. These parameters were then compared with historical values obtained from the literature to examine the dynamic trophic state of Lake Ossa. Results indicate that Lake Ossa's trophic state parameters doubled in only three decades (from 1985 to 2016), moving from a mesotrophic to a eutrophic state. The decreasing nutrient gradient moving from the mouth of the lake (in the south) to the north indicates that the flow of the adjacent Sanaga River is the primary source of nutrient input. Further analysis suggests that the poor transparency of the lake is not associated with chlorophyll concentrations but rather with the suspended sediments brought-in by the Sanaga River. Consequently, our model demonstrated that despite nutrient enrichment, less than 5% of the lake bottom surface sustained submerged aquatic vegetation. Thus, shoreline emergent vegetation is the primary food available for the local manatee population. During the dry season, water recedes drastically and disconnects from the dominant shoreline emergent vegetation, decreasing accessibility for manatees. The current study revealed major environmental concerns (eutrophication and sedimentation) that may negatively impact habitat quality for manatees. The information from the results will be key for the development of the management plan of the lake and its manatee population. Efficient land use and water management across the entire watershed may be necessary to mitigate such issues.

Deriving Large-Scale Coastal Bathymetry from Sentinel-2 Images Using an HIGH-Performance Cluster: A Case Study Covering North Africa's Coastal Zone

Coasts are areas of vitality because they host numerous activities worldwide. Despite their major importance, the knowledge of the main characteristics of the majority of coastal areas (e.g., coastal bathymetry) is still very limited. This is mainly due to the scarcity and lack of accurate measurements or observations, and the sparsity of coastal waters. Moreover, the high cost of performing observations with conventional methods does not allow expansion of the monitoring chain in different coastal areas. In this study, we suggest that the advent of remote sensing data (e.g., Sentinel 2A/B) and high performance computing could open a new perspective to overcome the lack of coastal observations. Indeed, previous research has shown that it is possible to derive large-scale coastal bathymetry from S-2 images. The large S-2 coverage, however, leads to a high computational cost when post-processing the images. Thus, we develop a methodology implemented on a High-Performance cluster (HPC) to derive the bathymetry from S-2 over the globe. In this paper, we describe the conceptualization and implementation of this methodology. Moreover, we will give a general overview of the generated bathymetry map for NA compared with the reference GEBCO global bathymetric product. Finally, we will highlight some hotspots by looking closely to their outputs.

Phlorotannin and Pigment Content of Native Canopy-Forming Sargassaceae Species Living in Intertidal Rockpools in Brittany (France): Any Relationship with Their Vertical Distribution and Phenology?

Five native Sargassaceae species from Brittany (France) living in rockpools were surveyed over time to investigate photoprotective strategies according to their tidal position. We gave evidences for the existence of a species distribution between pools along the shore, with the most dense and smallest individuals in the highest pools. Pigment contents were higher in lower pools, suggesting a photo-adaptive process by which the decreasing light irradiance toward the low shore was compensated by a high production of pigments to ensure efficient photosynthesis. Conversely, no xanthophyll cycle-related photoprotective mechanism was highlighted because high levels of zeaxanthin rarely occurred in the upper shore. Phlorotannins were not involved in photoprotection either; only some lower-shore species exhibited a seasonal trend in phlorotannin levels. The structural complexity of phlorotannins appears more to be a taxonomic than an ecological feature: Ericaria produced simple phloroglucinol while Cystoseira and Gongolaria species exhibited polymers. Consequently, tide pools could be considered as light-protected areas on the intertidal zone, in comparison with the exposed emerged substrata where photoprotective mechanisms are essential.

Retreat of Humboldt Gletscher, North Greenland, Driven by Undercutting From a Warmer Ocean

Humboldt Gletscher is a 100-km wide, slow-moving glacier in north Greenland which holds a 19-cm global sea level equivalent. Humboldt has been the fourth largest contributor to sea level rise since 1972 but the cause of its mass loss has not been elucidated. Multi-beam echo sounding data collected in 2019 indicate a seabed 200 m deeper than previously known. Conductivity temperature depth data reveal the presence of warm water of Atlantic origin at 0°C at the glacier front and a warming of the ocean waters by 0.9 ± 0.1°C since 1962. Using an ocean model, we reconstruct grounded ice undercutting by the ocean, combine it with calculated retreat caused by ice thinning to floatation, and are able to fully explain the observed retreat. Two thirds of the retreat are caused by undercutting of grounded ice, which is a physical process not included in most ice sheet models.

ICESat-2 Elevation Retrievals in Support of Satellite-Derived Bathymetry for Global Science Applications

Bathymetry retrievals from 2D, multispectral imagery, referred to as Satellite-Derived Bathymetry (SDB), afford the potential to obtain global, nearshore bathymetric data in optically clear waters. However, accurate SDB depth retrievals are limited in the absence of "seed depths." The Ice, Cloud, and land Elevation Satellite-2 (ICESat-2) space-based altimeter has proven capable of accurate bathymetry, but methods of employing ICESat-2 bathymetry for SDB retrievals over broad spatial extents are immature. This research aims to establish and test a baseline methodology for generating bathymetric surface models using SDB with ICESat-2. The workflow is operationally efficient (17-37 min processing time) and capable of producing bathymetry of sufficient vertical accuracy for many coastal science applications, with RMSEs of 0.96 and 1.54 m when using Sentinel-2 and Landsat 8, respectively. The highest priorities for further automation have also been identified, supporting the long-range goal of global coral reef habitat change analysis using ICESat-2-aided SDB.

Processing of Bathymetric Data: The Fusion of New Reduction Methods for Spatial Big Data

Floating autonomous vehicles are very often equipped with modern systems that collect information about the situation under the water surface, e.g., the depth or type of bottom and obstructions on the seafloor. One such system is the multibeam echosounder (MBES), which collects very large sets of bathymetric data. The development and analysis of such large sets are laborious and expensive. Reduction of the spatial data obtained from bathymetric and other systems collecting spatial data is currently widely used. In commercial programs used in the development of data from hydrographic systems, methods of interpolation to a specific mesh size are very frequently used. The authors of this article previously proposed original the true bathymetric data reduction method (TBDRed) and Optimum Dataset (OptD) reduction methods, which maintain the actual position and depth for each of the measured points, without their interpolation. The effectiveness of the proposed methods has already been presented in previous articles. This article proposes the fusion of original reduction methods, which is a new and innovative approach to the problem of bathymetric data reduction. The article contains a description of the methods used and the methodology of developing bathymetric data. The proposed fusion of reduction methods allows the generation of numerical models that can be a safe, reliable source of information, and a basis for design. Numerical models can also be used in comparative navigation, during the creation of electronic navigation maps and other hydrographic products.

Accuracy of Trajectory Tracking Based on Nonlinear Guidance Logic for Hydrographic Unmanned Surface Vessels

A new trend in recent years for hydrographic measurement in water bodies is the use of unmanned surface vehicles (USVs). In the process of navigation by USVs, it is particularly important to control position precisely on the measuring profile. Precise navigation with respect to the measuring profile avoids registration of redundant data and thus saves time and survey costs. This article addresses the issue of precise navigation of the hydrographic unit on the measuring profile with the use of a nonlinear adaptive autopilot. The results of experiments concerning hydrographic measurements performed in real conditions using an USV are discussed.

First-Order Estimates of Coastal Bathymetry in Ilulissat and Naajarsuit Fjords, Greenland, from Remotely Sensed Iceberg Observations

Warm water masses circulating at depth off the coast of Greenland play an important role in controlling rates of mass loss from the Greenland Ice Sheet through feedbacks associated with the melting of marine glacier termini. The ability of these warm waters to reach glacier termini is strongly controlled by fjord bathymetry, which was unmapped for the majority of Greenland’s fjords until recently. In response to the need for bathymetric measurements in previously uncharted areas, we developed two companion methods to infer fjord bathymetry using icebergs as depth sounders. The main premise of our methods centers around the idea that deep-drafted icebergs will become stranded in shallow water such that estimates of iceberg surface elevation can be used to infer draft, and thus water depth, under the assumption of hydrostatic equilibrium. When and where available, surface elevations of icebergs stranded on bathymetric highs were extracted from digital elevation models (DEMs) and converted to estimates of iceberg draft. To expand the spatial coverage of our inferred water depths beyond the DEM footprints, we used the DEMs to construct characteristic depth–width ratios and then inferred depths from satellite imagery-derived iceberg widths. We tested and applied the methods in two fjord systems in western Greenland with partially constrained bathymetry, Ilulissat Isfjord and Naajarsuit Fjord, to demonstrate their utility for inferring bathymetry using remote sensing datasets. Our results show that while the uncertainties associated with the methods are high (up to ±93 m), they provide critical first-order constraints on fjord bathymetry.

A Century of Stability of Avannarleq and Kujalleq Glaciers, West Greenland, Explained Using High-Resolution Airborne Gravity and Other Data

The evolution of Greenland glaciers in a warming climate depends on their depth below sea level, flow speed, surface melt, and ocean-induced undercutting at the calving front. We present an innovative mapping of bed topography in the frontal regions of Sermeq Avannarleq and Kujalleq, two major glaciers flowing into the ice-choked Torssukatak Fjord, central west Greenland. The mapping combines a mass conservation algorithm inland, multibeam echo sounding data in the fjord, and high-resolution airborne gravity data at the ice-ocean transition where other approaches have traditionally failed. We obtain a reliable, precision (±40 m) solution for bed topography across the ice-ocean boundary. The results reveal a 700 m deep fjord that abruptly ends on a 100-300 m deep sill along the calving fronts. The shallow sills explain the presence of stranded icebergs, the resilience of the glaciers to ocean-induced undercutting by warm Atlantic water, and their remarkable stability over the past century.

BedMachine v3: Complete Bed Topography and Ocean Bathymetry Mapping of Greenland From Multibeam Echo Sounding Combined With Mass Conservation

Greenland's bed topography is a primary control on ice flow, grounding line migration, calving dynamics, and subglacial drainage. Moreover, fjord bathymetry regulates the penetration of warm Atlantic water (AW) that rapidly melts and undercuts Greenland's marine-terminating glaciers. Here we present a new compilation of Greenland bed topography that assimilates seafloor bathymetry and ice thickness data through a mass conservation approach. A new 150 m horizontal resolution bed topography/bathymetric map of Greenland is constructed with seamless transitions at the ice/ocean interface, yielding major improvements over previous data sets, particularly in the marine-terminating sectors of northwest and southeast Greenland. Our map reveals that the total sea level potential of the Greenland ice sheet is 7.42 ± 0.05 m, which is 7 cm greater than previous estimates. Furthermore, it explains recent calving front response of numerous outlet glaciers and reveals new pathways by which AW can access glaciers with marine-based basins, thereby highlighting sectors of Greenland that are most vulnerable to future oceanic forcing.

Multibeam 3D Underwater SLAM with Probabilistic Registration

This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM) using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., point clouds). An Iterative Closest Point (ICP) with a probabilistic implementation is then used to register the point clouds, taking into account their uncertainties. The registration process is divided in two steps: (1) point-to-point association for coarse registration and (2) point-to-plane association for fine registration. The point clouds of the surfaces to be registered are sub-sampled in order to decrease both the computation time and also the potential of falling into local minima during the registration. In addition, a heuristic is used to decrease the complexity of the association step of the ICP from O(n2) to O(n). The performance of the SLAM framework is tested using two real world datasets: First, a 2.5D bathymetric dataset obtained with the usual down-looking multibeam sonar configuration, and second, a full 3D underwater dataset acquired with a multibeam sonar mounted on a pan and tilt unit.

A trait-based metric sheds new light on the nature of the body size-depth relationship in the deep sea

Variation within species is an often-overlooked aspect of community ecology, despite the fact that the ontogenetic structure of populations influences processes right up to the ecosystem level. Accounting for traits at the individual level is an important advance in the implementation of trait-based approaches in understanding community structure and function. We incorporate individual- and species-level traits into one succinct assemblage structure metric, fractional size, which is calculated as the length of an individual divided by its potential maximum length. We test the implementation of fractional size in demersal fish assemblages along a depth gradient in the deep sea. We use data from an extensive trawl survey at depths of 300-2030 m on the continental slope of the Rockall Trough, Northeast Atlantic, to compare changes in fractional size structure along an environmental gradient to those seen using traditional taxonomic and trait-based approaches. The relationship between fractional size and depth was particularly strong, with the overall pattern being an increase with depth, implying that individuals move deeper as they grow. Body size increased with depth at the intraspecific and assemblage levels. Fractional size, size structure and species composition all varied among assemblages, and this variation could be explained by the depth that the assemblage occupied. The inclusion of individual-level traits and population fractional size structure adds to our understanding at the assemblage level. Fractional size, or where an individual is in its growth trajectory, appears to be an especially important driver of assemblage change with depth. This has implications for understanding fisheries impacts in the deep sea and how these impacts may propagate across depths.

Integrating Sensors into a Marine Drone for Bathymetric 3D Surveys in Shallow Waters

This paper demonstrates that accurate data concerning bathymetry as well as environmental conditions in shallow waters can be acquired using sensors that are integrated into the same marine vehicle. An open prototype of an unmanned surface vessel (USV) named MicroVeGA is described. The focus is on the main instruments installed on-board: a differential Global Position System (GPS) system and single beam echo sounder; inertial platform for attitude control; ultrasound obstacle-detection system with temperature control system; emerged and submerged video acquisition system. The results of two cases study are presented, both concerning areas (Sorrento Marina Grande and Marechiaro Harbour, both in the Gulf of Naples) characterized by a coastal physiography that impedes the execution of a bathymetric survey with traditional boats. In addition, those areas are critical because of the presence of submerged archaeological remains that produce rapid changes in depth values. The experiments confirm that the integration of the sensors improves the instruments’ performance and survey accuracy.

Depth Estimation of Submerged Aquatic Vegetation in Clear Water Streams Using Low-Altitude Optical Remote Sensing

UAVs and other low-altitude remote sensing platforms are proving very useful tools for remote sensing of river systems. Currently consumer grade cameras are still the most commonly used sensors for this purpose. In particular, progress is being made to obtain river bathymetry from the optical image data collected with such cameras, using the strong attenuation of light in water. No studies have yet applied this method to map submergence depth of aquatic vegetation, which has rather different reflectance characteristics from river bed substrate. This study therefore looked at the possibilities to use the optical image data to map submerged aquatic vegetation (SAV) depth in shallow clear water streams. We first applied the Optimal Band Ratio Analysis method (OBRA) of Legleiter et al. (2009) to a dataset of spectral signatures from three macrophyte species in a clear water stream. The results showed that for each species the ratio of certain wavelengths were strongly associated with depth. A combined assessment of all species resulted in equally strong associations, indicating that the effect of spectral variation in vegetation is subsidiary to spectral variation due to depth changes. Strongest associations (R²-values ranging from 0.67 to 0.90 for different species) were found for combinations including one band in the near infrared (NIR) region between 825 and 925 nm and one band in the visible light region. Currently data of both high spatial and spectral resolution is not commonly available to apply the OBRA results directly to image data for SAV depth mapping. Instead a novel, low-cost data acquisition method was used to obtain six-band high spatial resolution image composites using a NIR sensitive DSLR camera. A field dataset of SAV submergence depths was used to develop regression models for the mapping of submergence depth from image pixel values. Band (combinations) providing the best performing models (R²-values up to 0.77) corresponded with the OBRA findings. A 10% error was achieved under sub-optimal data collection conditions, which indicates that the method could be suitable for many SAV mapping applications.

Undercutting of marine-terminating glaciers in West Greenland

Marine-terminating glaciers control most of Greenland's ice discharge into the ocean, but little is known about the geometry of their frontal regions. Here we use side-looking, multibeam echo sounding observations to reveal that their frontal ice cliffs are grounded deeper below sea level than previously measured and their ice faces are neither vertical nor smooth but often undercut by the ocean and rough. Deep glacier grounding enables contact with subsurface, warm, salty Atlantic waters (AW) which melts ice at rates of meters per day. We detect cavities undercutting the base of the calving faces at the sites of subglacial water (SGW) discharge predicted by a hydrological model. The observed pattern of undercutting is consistent with numerical simulations of ice melt in which buoyant plumes of SGW transport warm AW to the ice faces. Glacier undercutting likely enhances iceberg calving, impacting ice front stability and, in turn, the glacier mass balance.

The use of bathymetric data in society and science: a review from the Baltic Sea

Bathymetry, the underwater topography, is a fundamental property of oceans, seas, and lakes. As such it is important for a wide range of applications, like physical oceanography, marine geology, geophysics and biology or the administration of marine resources. The exact requirements users may have regarding bathymetric data are, however, unclear. Here, the results of a questionnaire survey and a literature review are presented, concerning the use of Baltic Sea bathymetric data in research and for societal needs. It is demonstrated that there is a great need for detailed bathymetric data. Despite the abundance of high-quality bathymetric data that are produced for safety of navigation purposes, the digital bathymetric models publicly available to date cannot satisfy this need. Our study shows that DBMs based on data collected for safety of navigation could substantially improve the base data for administrative decision making as well as the possibilities for marine research in the Baltic Sea.