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Abstract Acoustically-tracked subsurface floats provide insights into ocean complexity and were first deployed over 60 years ago. A standard tracking method uses a Least-Squares algorithm to estimate float trajectories based on acoustic ranging from moored sound sources. However, infrequent or imperfect data challenge such estimates, and Least-Squares algorithms are vulnerable to non-Gaussian errors. Acoustic tracking is currently the only feasible strategy for recovering float positions in the sea ice region, a focus of this study. Acoustic records recovered from under-ice floats frequently lack continuous sound source coverage. This is because environmental factors such as surface sound channels and rough sea ice attenuate acoustic signals, while operational considerations make polar sound sources expensive and difficult to deploy. Here we present a Kalman Smoother approach that, by including some estimates of float behavior, extends tracking to situations with more challenging data sets. The Kalman Smoother constructs dynamically constrained, error-minimized float tracks and variance ellipses using all possible position data. This algorithm outperforms the Least-Squares approach and a Kalman Filter in numerical experiments. The Kalman Smoother is applied to previously-tracked floats from the southeast Pacific (DIMES experiment), and the results are compared with existing trajectories constructed using the Least- Squares algorithm. The Kalman Smoother is also used to reconstruct the trajectories of a set of previously untracked, acoustically-enabled Argo floats in the Weddell Sea. 

Abstract The core Argo array has operated with the design goal of uniform spatial distribution of 3° in latitude and longitude. Recent studies have acknowledged that spatial and temporal scales of variability in some parts of the ocean are not resolved by 3° sampling and have recommended increased core Argo density in the equatorial region, boundary currents, and marginal seas with an integrated vision of other Argo variants. Biogeochemical (BGC) Argo floats currently observe the ocean from a collection of pilot arrays, but recently funded proposals will transition these pilot arrays to a global array. The current BGC Argo implementation plan recommends uniform spatial distribution of BGC Argo floats. For the first time, we estimate the effectiveness of the existing BGC Argo array to resolve the anomaly from the mean using a subset of modeled, full-depth BGC fields. We also study the effectiveness of uniformly distributed BGC Argo arrays with varying float densities at observing the ocean. Then, using previous Argo trajectories, we estimate the Argo array’s future distribution and quantify how well it observes the ocean. Finally, using a novel technique for sequentially identifying the best deployment locations, we suggest the optimal array distribution for BGC Argo floats to minimize objective mapping uncertainty in a subset of BGC fields and to best constrain BGC temporal variability. 

Abstract The Argo array provides nearly 4000 temperature and salinity profiles of the top 2000 m of the ocean every 10 days. Still, Argo floats will never be able to measure the ocean at all times, everywhere. Optimized Argo float distributions should match the spatial and temporal variability of the many societally important ocean features that they observe. Determining these distributions is challenging because float advection is difficult to predict. Using no external models, transition matrices based on existing Argo trajectories provide statistical inferences about Argo float motion. We use the 24 years of Argo locations to construct an optimal transition matrix that minimizes estimation bias and uncertainty. The optimal array is determined to have a 2° × 2° spatial resolution with a 90-day time step. We then use the transition matrix to predict the probability of future float locations of the core Argo array, the Global Biogeochemical Array, and the Southern Ocean Carbon and Climate Observations and Modeling (SOCCOM) array. A comparison of transition matrices derived from floats using Argos system and Iridium communication methods shows the impact of surface displacements, which is most apparent near the equator. Additionally, we demonstrate the utility of transition matrices for validating models by comparing the matrix derived from Argo floats with that derived from a particle release experiment in the Southern Ocean State Estimate (SOSE). 

Abstract Argo‐type profiling floats do not receive satellite positioning while under sea ice. Common practice is to approximate unknown positions by linearly interpolating latitude‐longitude between known positions before and after ice cover, although it has been suggested that some improvement may be obtained by interpolating along contours of planetary‐geostrophic potential vorticity. Profiles with linearly interpolated positions represent 16% of the Southern Ocean Argo data set; consequences arising from this approximation have not been quantified. Using three distinct data sets from the Weddell Gyre—10‐day satellite‐tracked Argo floats, daily‐tracked RAFOS‐enabled floats, and a particle release simulation in the Southern Ocean State Estimate—we perform a data withholding experiment to assess position uncertainty in latitude‐longitude and potential vorticity coordinates as a function of time since last fix. A spatial correlation analysis using the float data provides temperature and salinity uncertainty estimates as a function of distance error. Combining the spatial correlation scales and the position uncertainty, we estimate uncertainty in temperature and salinity as a function of duration of position loss. Maximum position uncertainty for interpolation during 8 months without position data is 116 ± 148 km for latitude‐longitude and 92 ± 121 km for potential vorticity coordinates. The estimated maximum uncertainty in local temperature and salinity over the entire 2,000‐m profiles during 8 months without position data is 0.66 ^∘C and 0.15 psu in the upper 300 m and 0.16 ^∘C and 0.01 psu below 300 m.