Wide-Area Debris Field and Seabed Characterization of a Deep Ocean Dump Site Surveyed by Autonomous Underwater Vehicles.

Disposal of industrial and hazardous waste in the ocean was a pervasive global practice in the 20th century. Uncertainty in the quantity, location, and contents of dumped materials underscores ongoing risks to marine ecosystems and human health. This study presents an analysis of a wide-area side-scan sonar survey conducted with autonomous underwater vehicles (AUVs) at a dump site in the San Pedro Basin, California. Previous camera surveys located 60 barrels and other debris. Sediment analysis in the region showed varying concentrations of the insecticidal chemical dichlorodiphenyltrichloroethane (DDT), of which an estimated 350-700 t were discarded in the San Pedro Basin between 1947 and 1961. A lack of primary historical documents specifying DDT acid waste disposal methods has contributed to the ambiguity surrounding whether dumping occurred via bulk discharge or containerized units. Barrels and debris observed during previous surveys were used for ground truth classification algorithms based on size and acoustic intensity characteristics. Image and signal processing techniques identified over 74,000 debris targets within the survey region. Statistical, spectral, and machine learning methods characterize seabed variability and classify bottom-type. These analytical techniques combined with AUV capabilities provide a framework for efficient mapping and characterization of uncharted deep-water disposal sites.

Synthetic baseline navigation using phase-coherent acoustic communication signals.

The development of a synthetic baseline navigation technique that self-localizes an autonomous underwater vehicle (AUV) using intermittent acoustic communications signals received by a single transducer is described, along with field results from in-ocean tests. The method uses the phase measurement at the output of a second-order phase-locked loop to create fine-scale pseudorange estimates in addition to, or in the absence of, a one-way travel time measurement based on the arrival time of the acoustic data packet. These range measurements are incorporated by an adaptive particle filter. This technique allows the vehicle navigation system to take advantage of multiple phase-derived range measurements made over the duration of a communication packet. These measurements, when incorporated with an appropriate filter and vehicle kinematic model, improve vehicle navigation at no additional cost in navigation-specific acoustic transmissions. This approach was demonstrated and evaluated with data collected at-sea using a REMUS 100 AUV (Hydroid, Inc., Pocasset, MA).

Ocean outfall plume characterization using an Autonomous Underwater Vehicle.

A monitoring mission to map and characterize the Point Loma Ocean Outfall (PLOO) wastewater plume using an Autonomous Underwater Vehicle (AUV) was performed on 3 March 2011. The mobility of an AUV provides a significant advantage in surveying discharge plumes over traditional cast-based methods, and when combined with optical and oceanographic sensors, provides a capability for both detecting plumes and assessing their mixing in the near and far-fields. Unique to this study is the measurement of Colored Dissolved Organic Matter (CDOM) in the discharge plume and its application for quantitative estimates of the plume's dilution. AUV mission planning methodologies for discharge plume sampling, plume characterization using onboard optical sensors, and comparison of observational data to model results are presented. The results suggest that even under variable oceanic conditions, properly planned missions for AUVs equipped with an optical CDOM sensor in addition to traditional oceanographic sensors, can accurately characterize and track ocean outfall plumes at higher resolutions than cast-based techniques.

Small-scale effects of underwater bubble clouds on ocean reflectance: 3-D modeling results.

We examined the effect of individual bubble clouds on remote-sensing reflectance of the ocean with a 3-D Monte Carlo model of radiative transfer. The concentrations and size distribution of bubbles were defined based on acoustical measurements of bubbles in the surface ocean. The light scattering properties of bubbles for various void fractions were calculated using Mie scattering theory. We show how the spatial pattern, magnitude, and spectral behavior of remote-sensing reflectance produced by modeled bubble clouds change due to variations in their geometric and optical properties as well as the background optical properties of the ambient water. We also determined that for realistic sizes of bubble clouds, a plane-parallel horizontally homogeneous geometry (1-D radiative transfer model) is inadequate for modeling water-leaving radiance above the cloud.

Towards a Fishing Pressure Prediction System for a Western Pacific EEZ.

Fisheries management faces numerous monitoring and enforcement challenges that are becoming more complex as fish stocks are depleted; and illegal, unregulated, and unreported fishing becomes more sophisticated. For remote island nations, the challenges are compounded by a loosely understood association of pelagic stocks to the ocean environment, and the tyranny of distance in monitoring and surveilling large exclusive economic zones (EEZ). An approach to ocean conservation is establishing protected areas, with the Pacific island nation of Palau as a leader with the recently established National Marine Sanctuary, which closes 80% of their EEZ to commercial fishing in 2020. Here we present an EEZ-wide analysis of Palau commercial fishing over a 6-year period (2011-2016), and develop a system for predicting fishing activity accounting for oceanic variables, climate indices, and vessel flag. Linking pelagic habitat to fishing activity provides high-resolution decision aids for management, highlighting the need for EEZ-specific analyses in addressing fisheries.

An assessment of the transport of southern California stormwater ocean discharges.

The dominant source of coastal pollution adversely affecting the regional coastal water quality is the seasonally variable urban runoff discharged via southern California's rivers. Here, we use a surface transport model of coastal circulation driven by current maps from high frequency radar to compute two-year hindcasts to assess the temporal and spatial statistics of 20 southern California stormwater discharges. These models provide a quantitative, statistical measure of the spatial extent of the discharge plumes in the coastal receiving waters, defined here as a discharge's "exposure". We use these exposure maps from this synthesis effort to (1) assess the probability of stormwater connectivity to nearby Marine Protected Areas, and (2) develop a methodology to estimate the mass transport of stormwater discharges. The results of the spatial and temporal analysis are found to be relevant to the hindcast assessment of coastal discharges and for use in forecasting transport of southern California discharges.

Monitoring Spawning Activity in a Southern California Marine Protected Area Using Molecular Identification of Fish Eggs.

In order to protect the diverse ecosystems of coastal California, a series of marine protected areas (MPAs) have been established. The ability of these MPAs to preserve and potentially enhance marine resources can only be assessed if these habitats are monitored through time. This study establishes a baseline for monitoring the spawning activity of fish in the MPAs adjacent to Scripps Institution of Oceanography (La Jolla, CA, USA) by sampling fish eggs from the plankton. Using vertical plankton net tows, 266 collections were made from the Scripps Pier between 23 August 2012 and 28 August 2014; a total of 21,269 eggs were obtained. Eggs were identified using DNA barcoding: the COI or 16S rRNA gene was amplified from individual eggs and sequenced. All eggs that were successfully sequenced could be identified from a database of molecular barcodes of California fish species, resulting in species-level identification of 13,249 eggs. Additionally, a surface transport model of coastal circulation driven by current maps from high frequency radar was used to construct probability maps that estimate spawning locations that gave rise to the collected eggs. These maps indicated that currents usually come from the north but water parcels tend to be retained within the MPA; eggs sampled at the Scripps Pier have a high probability of having been spawned within the MPA. The surface transport model also suggests that although larvae have a high probability of being retained within the MPA, there is also significant spillover into nearby areas outside the MPA. This study provides an important baseline for addressing the extent to which spawning patterns of coastal California species may be affected by future changes in the ocean environment.

Assessing coastal plumes in a region of multiple discharges: the U.S.-Mexico border.

The San Diego/Tijuana border region has several environmental challenges with regard to assessing water quality impacts resulting from local coastal ocean discharges for which transport is not hindered by political boundaries. While an understanding of the fate and transport of these discharged plumes has a broad audience, the spatial and temporal scales of the physical processes present numerous challenges in conducting assessment with any fidelity. To address these needs, a data-driven model of the transport of both shoreline and offshore discharges is developed and operated in a hindcast mode for a four-year period to analyze regional connectivity between the discharges and the receiving of waters and the coastline. The plume exposure hindcast model is driven by surface current data generated by a network of high-frequency radars. Observations provided by both boat-based CTD measurements and fixed oceanographic moorings are used with the Roberts-Snyder-Baumgartner model to predict the plume rise height. The surface transport model outputs are compared with shoreline samples of fecal indicator bacteria (FIB), and the skill of the model to assess low water quality is evaluated using receiver operating characteristic (ROC) analysis.

Active control of passive acoustic fields: passive synthetic aperture/Doppler beamforming with data from an autonomous vehicle.

The maneuverability of autonomous underwater vehicles (AUVs) equipped with hull-mounted arrays provides the opportunity to actively modify received acoustic fields to optimize extraction of information. This paper uses ocean acoustic data collected by an AUV-mounted two-dimensional hydrophone array, with overall dimension one-tenth wavelength at 200-500 Hz, to demonstrate aspects of this control through vehicle motion. Source localization is performed using Doppler shifts measured at a set of receiver velocities by both single elements and a physical array. Results show that a source in the presence of a 10-dB higher-level interferer having exactly the same frequency content (as measured by a stationary receiver) is properly localized and that white-noise-constrained adaptive beamforming applied to the physical aperture data in combination with Doppler beamforming provides greater spatial resolution than physical-aperture-alone beamforming and significantly lower sidelobes than single element Doppler beamforming. A new broadband beamformer that adjusts for variations in vehicle velocity on a sample by sample basis is demonstrated with data collected during a high-acceleration maneuver. The importance of including the cost of energy expenditure in determining optimal vehicle motion is demonstrated through simulation, further illustrating how the vehicle characteristics are an integral part of the signal/array processing structure.

Influence of forward and multiple light scatter on the measurement of beam attenuation in highly scattering marine environments.

Using three-dimensional Monte Carlo radiative transfer simulations, we examine the effect of beam transmissometer geometry on the relative error in the measurement of the beam-attenuation coefficient in an aquatic environment characterized by intense light scattering, especially within submerged bubble clouds entrained by surface-wave breaking. We discuss the forward-scattering error associated with the detection of photons scattered at small angles (< 1 degrees) and the multiple-scattering error associated with the detection of photons scattered more than once along the path length of the instrument. Several scattering phase functions describing bubble clouds at different bubble void fractions in the water are considered. Owing to forward-scattering error, a beam-attenuation meter (beam transmissometer) with a half-angle of receiver acceptance of 1.0 degrees and a path length of 0.1 m can underestimate the true beam attenuation within the bubble cloud by more than 50%. For bubble clouds with a beam attenuation of as much as 100 m(-1), the multiple-scattering error is no more than a few percent. These results are compared with simulations for some example phase functions that are representative of other scattering regimes found in natural waters. The forward-scattering error for the Petzold phase function of turbid waters is 16% for a typical instrument geometry, whereas for the Henyey-Greenstein phase function with the asymmetry parameter of 0.7 and 0.9 the error range is 8-28%.