RAFOS float

Last updated

RAFOS floats [1] are submersible devices used to map ocean currents well below the surface. They drift with these deep currents and listen for acoustic "pongs" emitted at designated times from multiple moored sound sources. By analyzing the time required for each pong to reach a float, researchers can pinpoint its position by triangulation. The floats are able to detect the pongs at ranges of hundreds of kilometers because they generally target a range of depths known as the SOFAR (Sound Fixing And Ranging) channel, which acts as a waveguide for sound. The name "RAFOS" derives from the earlier SOFAR floats, [2] which emitted sounds that moored receivers picked up, allowing real-time underwater tracking. When the transmit and receive roles were reversed, so was the name: RAFOS is SOFAR spelled backward. Listening for sound requires far less energy than transmitting it, so RAFOS floats are cheaper and longer lasting than their predecessors, but they do not provide information in real-time: instead they store it on board, and upon completing their mission, drop a weight, rise to the surface, and transmit the data to shore by satellite.

Contents

Introduction

Of the importance of measuring ocean currents

The underwater world is still mostly unknown. The main reason for it is the difficulty to gather information in situ, to experiment, and even to reach certain places. But the ocean nonetheless is of a crucial importance for scientists, as it covers about 71% of the planet.

Knowledge of ocean currents is of crucial importance. In important scientific aspects, as the study of global warming, ocean currents are found to greatly affect the Earth's climate since they are the main heat transfer mechanism. They are the reason for heat flux between hot and cold regions, and in a larger sense drive almost every understood circulation. These currents also affect marine debris, and vice versa. In an economical aspect, a better understanding can help reducing costs of shipping, since the currents would help boats reduce fuel costs. In the sail-ship era knowledge was even more essential. Even today, the round-the-world sailing competitors employ surface currents to their benefit. Ocean currents are also very important in the dispersal of many life forms. An example is the life-cycle of the European Eel.

Sound wave propagation in the SOFAR channel and speed of sound in function of depth Sound trapping in the SOFAR channel.jpg
Sound wave propagation in the SOFAR channel and speed of sound in function of depth

The SOFAR channel

The SOFAR channel (short for Sound Fixing and Ranging channel), or deep sound channel (DSC), is a horizontal layer of water in the ocean at which depth the speed of sound is minimal, in average around 1200 m deep. [2] It acts as a wave-guide for sound, and low frequency sound waves within the channel may travel thousands of miles before dissipating.

The SOFAR channel is centred on the depth where the cumulative effect of temperature and water pressure (and, to a smaller extent, salinity) combine to create the region of minimum sound speed in the water column. Near the surface, the rapidly falling temperature causes a decrease in sound speed, or a negative sound speed gradient. With increasing depth, the increasing pressure causes an increase in sound speed, or a positive sound speed gradient.

The depth where the sound speed is at a minimum is the sound channel axis. This is a characteristic that can be found in optical guides. If a sound wave propagates away from this horizontal channel, the part of the wave furthest from the channel axis travels faster, so the wave turns back toward the channel axis. As a result, the sound waves trace a path that oscillates across the SOFAR channel axis. This principle is similar to long distance transmission of light in an optical fiber. In this channel, a sound has a range of over 2000 km.

RAFOS float

Sound wave correlation Sound wave Correlation.jpg
Sound wave correlation

Global idea

To use a RAFOS float, one has to submerge it in the specified location, so that it will get carried by the current. Then, every so often (usually every 6 or 8 hours) an 80-second sound signal is sent [1] from moored emitters. Using the fact that a signal transmitted in the ocean preserves its phase structure (or pattern) for several minutes, it has been thought to use signals in which the frequency increases linearly of 1.523 Hz from start to end centered around 250 Hz. [3] Then receivers would listen for specific phase structures, by comparing the incoming data with a reference 80-second signal. This permits to get rid of any noise appearing during the travel of the wave by floating particles or fish.

The detection scheme can be simplified by keeping only the information of positive or negative signal, allowing to work with a single bit of new information at each time step. This method works very well, and allows the use of small micro-processors, enabling the float itself to do the listening and computing, and a moored sound source. From the arrival time of the signals from two or more sound sources, and the previous location of the float, its current location can easily be determined to considerable (<1 km) accuracy. For instance, the float will listen for three sources and store the time of arrival for the two largest signals heard from each source. The location of the float will be computed onshore.

Technical characteristics

The interior of a basic RAFOS float Basic Float interior.jpg
The interior of a basic RAFOS float

Mechanical characteristics

The floats consist of 8 cm by 1.5 to 2.2 m long glass pipe that contain a hydrophone, signal processing circuits, a microprocessor, a clock and a battery. A float weighs about 10 kg. The lower end is sealed with a flat aluminium endplate where all electrical and mechanical penetrators are located. The glass thickness is about 5 mm, giving the float a theoretical maximum depth of about 2700 m. The external ballast is suspended by a short piece of wire chosen for its resistance to saltwater corrosion. By dissolving it electrolytically the 1 kg ballast is released and the float returns to the surface. [1]

Electrical characteristics

The electronics can be divided into four categories: [1] a satellite transmitter used after surfacing, the set of sensors, a time reference clock, and a microprocessor. The clock is essential in locating the float, since it is used as reference to calculate the time travel of the sound signals from the moored emitters. It is also useful to have the float work on schedule. The microprocessor controls all subsystems except the clock, and stores the collected data at a regular schedule. The satellite transmitter is used to send data packages to orbiting satellites after the surfacing. It usually takes three days for the satellite to collect all the dataset.

An isopycnal ballast spring Isobaric spring.jpg
An isopycnal ballast spring

The isobaric model

An isobaric float aims to follow a constant pressure plane, by adjusting the ballast's weight to attain buoyancy to a certain depth. It is the most easily achieved model. [1] To achieve an isobaric float, its compressibility must be much lower than that of seawater. In that case, if the float were to be moved upwards from equilibrium, it will expand less than the surrounding seawater, leading to a restoring force pushing it downwards, back to its equilibrium position. Once correctly balanced, the float will remain in a constant pressure field.

The isopycnal model

The aim of an isopycnal float is to follow the density planes, that is to attain neutral buoyancy for constant density. To achieve this, it is necessary to remove pressure induced restoring forces, thus the float has to have the same compressibility as the surrounding seawater. This is often achieved by a compressible element, as a piston in a cylinder, so that the CPU can change the volume according to changes in pressure. An error of about 10% in the setting can lead to a 50 m depth difference once in water. This is why floats are ballasted in tanks working at high pressure. [2] [4]

Measures and projects

Computing the float's trajectory

Once the float's mission is over and the data collected by the satellites, one major step is to compute the float's route over time. This is done by looking at the travel time of the signals from the moored speakers to the float, computed from the emission time (known accurately), the reception time (known from the float's clock and corrected if the clock had moved). Then, because the speed of sound is known to 0.3% in sea, the position of the float can be determined to about 1 km by an iterative circular tracking procedure. [5] The doppler effect can also be taken into account. Since the float's speed is not known, a first closing speed is determined by measuring the shift in time arrival between two transmissions, where the float is considered not to have moved. [1]

The Argo project

The Argo project [6] is an international collaboration between 50 research and operational agencies from 26 countries that aims to measure a global array of temperature, salinity and pressure of the top 2000m of the ocean. It uses over 3000 floats, some of which use RAFOS for underwater geolocation; most simply use the Global Positioning System (GPS) to obtain a position when surfacing every 10 days. This project has greatly contributed to the scientific community and has issued many data that has since been used for ocean parameters cartography and Global change analysis.

Other results

A float trajectory and the corresponding data. Float travel 2.jpg
A float trajectory and the corresponding data.

Many results have been achieved thanks to these floats, on the global mapping of the ocean characteristics, or for example how floats systematically shoal (upwell) as they approach anticyclonic meanders and deepen (downwell) as they approach cyclonic meanders. [7] On the left is a typical set of data from a RAFOS float. Today, such floats remain the best way to systematically probe the ocean's interior, since it is automatic and self-sufficient. In recent developments the floats have been able to measure different amounts of dissolved gases, and even to carry small experiments in situ.

See also

Related Research Articles

<span class="mw-page-title-main">Sonar</span> Technique that uses sound propagation

Sonar is a technique that uses sound propagation to navigate, measure distances (ranging), communicate with or detect objects on or under the surface of the water, such as other vessels.

<span class="mw-page-title-main">Buoy</span> Floating structure or device

A buoy is a floating device that can have many purposes. It can be anchored (stationary) or allowed to drift with ocean currents.

<span class="mw-page-title-main">Speed of sound</span> Speed of sound wave through elastic medium

The speed of sound is the distance travelled per unit of time by a sound wave as it propagates through an elastic medium. At 20 °C (68 °F), the speed of sound in air is about 343 metres per second, or one kilometre in 2.91 s or one mile in 4.69 s. It depends strongly on temperature as well as the medium through which a sound wave is propagating. At 0 °C (32 °F), the speed of sound in air is about 331 m/s.

<span class="mw-page-title-main">Thermocline</span> Thermal layer in a body of water

A thermocline is a thin but distinct layer in a large body of fluid in which temperature changes more drastically with depth than it does in the layers above or below. In the ocean, the thermocline divides the upper mixed layer from the calm deep water below.

<span class="mw-page-title-main">Argo (oceanography)</span> International oceanographic observation program

Argo is an international program that uses profiling floats to observe temperature, salinity, currents, and, recently, bio-optical properties in the Earth's oceans; it has been operational since the early 2000s. The real-time data it provides is used in climate and oceanographic research. A special research interest is to quantify the ocean heat content (OHC). The Argo fleet consists of almost 4000 drifting "Argo floats" deployed worldwide. Each float weighs 20–30 kg. In most cases probes drift at a depth of 1000 metres and, every 10 days, by changing their buoyancy, dive to a depth of 2000 metres and then move to the sea-surface, measuring conductivity and temperature profiles as well as pressure. From these, salinity and density can be calculated. Seawater density is important in determining large-scale motions in the ocean. Average current velocities at 1000 metres are directly measured by the distance and direction a float drifts while parked at that depth, which is determined by GPS or Argos system positions at the surface. The data are transmitted to shore via satellite, and are freely available to everyone, without restrictions.

<span class="mw-page-title-main">Satellite geodesy</span> Measurement of the Earth using satellites

Satellite geodesy is geodesy by means of artificial satellites—the measurement of the form and dimensions of Earth, the location of objects on its surface and the figure of the Earth's gravity field by means of artificial satellite techniques. It belongs to the broader field of space geodesy. Traditional astronomical geodesy is not commonly considered a part of satellite geodesy, although there is considerable overlap between the techniques.

<span class="mw-page-title-main">SOFAR channel</span> Horizontal layer of water in the ocean at which depth the speed of sound is at its minimum

The SOFAR channel, or deep sound channel (DSC), is a horizontal layer of water in the ocean at which depth the speed of sound is at its minimum. The SOFAR channel acts as a waveguide for sound, and low frequency sound waves within the channel may travel thousands of miles before dissipating. An example was reception of coded signals generated by the Navy chartered ocean surveillance vessel Cory Chouest off Heard Island, located in the southern Indian Ocean, by hydrophones in portions of all five major ocean basins and as distant as the North Atlantic and North Pacific.

<span class="mw-page-title-main">Underwater glider</span> Type of autonomous underwater vehicle

An underwater glider is a type of autonomous underwater vehicle (AUV) that employs variable-buoyancy propulsion instead of traditional propellers or thrusters. It employs variable buoyancy in a similar way to a profiling float, but unlike a float, which can move only up and down, an underwater glider is fitted with hydrofoils that allow it to glide forward while descending through the water. At a certain depth, the glider switches to positive buoyancy to climb back up and forward, and the cycle is then repeated.

<span class="mw-page-title-main">Ocean acoustic tomography</span> Technique used to measure temperatures and currents over large regions of the ocean

Ocean acoustic tomography is a technique used to measure temperatures and currents over large regions of the ocean. On ocean basin scales, this technique is also known as acoustic thermometry. The technique relies on precisely measuring the time it takes sound signals to travel between two instruments, one an acoustic source and one a receiver, separated by ranges of 100–5,000 kilometres (54–2,700 nmi). If the locations of the instruments are known precisely, the measurement of time-of-flight can be used to infer the speed of sound, averaged over the acoustic path. Changes in the speed of sound are primarily caused by changes in the temperature of the ocean, hence the measurement of the travel times is equivalent to a measurement of temperature. A 1 °C (1.8 °F) change in temperature corresponds to about 4 metres per second (13 ft/s) change in sound speed. An oceanographic experiment employing tomography typically uses several source-receiver pairs in a moored array that measures an area of ocean.

An underwater explosion is a chemical or nuclear explosion that occurs under the surface of a body of water. While useful in anti-ship and submarine warfare, underwater bombs are not as effective against coastal facilities.

<span class="mw-page-title-main">Weather buoy</span> Floating instrument package which collects weather and ocean data on the worlds oceans

Weather buoys are instruments which collect weather and ocean data within the world's oceans, as well as aid during emergency response to chemical spills, legal proceedings, and engineering design. Moored buoys have been in use since 1951, while drifting buoys have been used since 1979. Moored buoys are connected with the ocean bottom using either chains, nylon, or buoyant polypropylene. With the decline of the weather ship, they have taken a more primary role in measuring conditions over the open seas since the 1970s. During the 1980s and 1990s, a network of buoys in the central and eastern tropical Pacific Ocean helped study the El Niño-Southern Oscillation. Moored weather buoys range from 1.5–12 metres (5–40 ft) in diameter, while drifting buoys are smaller, with diameters of 30–40 centimetres (12–16 in). Drifting buoys are the dominant form of weather buoy in sheer number, with 1250 located worldwide. Wind data from buoys has smaller error than that from ships. There are differences in the values of sea surface temperature measurements between the two platforms as well, relating to the depth of the measurement and whether or not the water is heated by the ship which measures the quantity.

In oceanography, a sofar bomb, occasionally referred to as a sofar disc, is a long-range position-fixing system that uses impulsive sounds in the deep sound channel of the ocean to enable pinpointing of the location of ships or crashed planes. The deep sound channel is ideal for the device, as the minimum speed of sound at that depth improves the signal's traveling ability. A position is determined from the differences in arrival times at receiving stations of known geographic locations. The useful range from the signal sources to the receiver can exceed 3,000 miles (4,800 km).

<span class="mw-page-title-main">Underwater acoustics</span> Study of the propagation of sound in water

Underwater acoustics is the study of the propagation of sound in water and the interaction of the mechanical waves that constitute sound with the water, its contents and its boundaries. The water may be in the ocean, a lake, a river or a tank. Typical frequencies associated with underwater acoustics are between 10 Hz and 1 MHz. The propagation of sound in the ocean at frequencies lower than 10 Hz is usually not possible without penetrating deep into the seabed, whereas frequencies above 1 MHz are rarely used because they are absorbed very quickly. Underwater acoustics is sometimes known as hydroacoustics.

A mooring in oceanography is a collection of devices connected to a wire and anchored on the sea floor. It is the Eulerian way of measuring ocean currents, since a mooring is stationary at a fixed location. In contrast to that, the Lagrangian way measures the motion of an oceanographic drifter, the Lagrangian drifter.

<span class="mw-page-title-main">Drifter (floating device)</span> Oceanographic instrument package floating freely on the surface, transported by currents

A drifter is an oceanographic device floating on the surface to investigate ocean currents by tracking location. They can also measure other parameters like sea surface temperature, salinity, barometric pressure, and wave height. Modern drifters are typically tracked by satellite, often GPS. They are sometimes called Lagrangian drifters since the location of the measurements they make moves with the flow. A major user of drifters is NOAA's Global Drifter Program.

The following are considered essential ocean climate variables by the Ocean Observations Panel for Climate (OOPC) that are currently feasible with current observational systems.

<span class="mw-page-title-main">Current meter</span> Device for measuring the flow in a water current

A current meter is an oceanographic device for flow measurement by mechanical, tilt, acoustical or electrical means.

<span class="mw-page-title-main">Sound speed profile</span>

A sound speed profile shows the speed of sound in water at different vertical levels. It has two general representations:

  1. tabular form, with pairs of columns corresponding to ocean depth and the speed of sound at that depth, respectively.
  2. a plot of the speed of sound in the ocean as a function of depth, where the vertical axis corresponds to the depth and the horizontal axis corresponds to the sound speed. By convention, the horizontal axis is placed at the top of the plot, and the vertical axis is labeled with values that increase from top to bottom, thus reproducing visually the ocean from its surface downward.

The Research Moored Array for African-Asian-Australian Monsoon Analysis and Prediction (RAMA) is a system of moored observation buoys in the Indian Ocean that collects meteorological and oceanographic data. The data collected by RAMA will greatly enhance the ability of scientists to understand climatic events and predict monsoon events. Climatic and oceanic events in the Indian Ocean affect weather and climate throughout the rest of the world, so RAMA will support weather forecasting and climate research worldwide. Although widely supported internationally, the system has only been partially implemented due to pirate activity off the coast of Somalia.

<span class="mw-page-title-main">Float (oceanographic instrument platform)</span> Oceanographic instrument platform used for making subsurface measurements in the ocean

A float is an oceanographic instrument platform used for making subsurface measurements in the ocean without the need for a ship, propeller, or a person operating it. Floats measure the physical and chemical aspects of the ocean in detail, such as measuring the direction and speed of water or the temperature and salinity. A float will descend to a predetermined depth where it will be neutrally buoyant. Once a certain amount of time has passed, most floats will rise back to the surface by increasing its buoyancy so it can transmit the data it collected to a satellite. A float can collect data while it is neutrally buoyant or moving through the water column. Often, floats are treated as disposable, as the expense of recovering them from remote areas of the ocean is prohibitive; when the batteries fail, a float ceases to function, and drifts at depth until it runs aground or floods and sinks. In other cases, floats are deployed for a short time and recovered.

References

  1. 1 2 3 4 5 6 The RAFOS system, T. Rossby D. Dorson J. Fontaine, Journal of atmospheric and oceanic technology, v.3 p.672–680
  2. 1 2 3 , The evolution of the Swallow float to today's RAFOS float
  3. The sound source project
  4. Isopycnal floats
  5. Spain, Diane L., 1980: SOFAR float data report of the POLYMODE Local Dynamics Experiment. Technical report. University of Rhode Island, Narragansett Marine Laboratory, 80-1, 197pp.
  6. "About Argo".
  7. Particle pathways in the Gulf Stream, T. Rossby A.S.Bower P-T Shaw, Bulletin American Meteorological Society, vol 66, n 9