Underwater gliders are autonomous vehicles that profile vertically by controlling buoyancy and move horizontally on wings. Gliders are reviewed, from their conception by Henry Stommel as an extension of autonomous profiling floats, through their development in three models, and including their first deployments singly and in numbers. The basics of glider function are discussed as implemented by University of Washington in Seaglider, Scripps Institution of Oceanography in Spray, and Webb Research in Slocum. Gliders sample in the archetypical modes of sections and of "virtual moorings." Preliminary results are presented from a recent demonstration project that used a network of gliders off Monterey. A wide range of sensors has already been deployed on gliders, with many under current development, and an even wider range of future possibilities. Glider networks appear to be one of the best approaches to achieving subsurface spatial resolution necessary for ocean research.

The OceanGliders program started in 2016 to support active coordination and enhancement of global glider activity. OceanGliders contributes to the international efforts of the Global Ocean Observation System (GOOS) for Climate, Ocean Health, and Operational Services. It brings together marine scientists and engineers operating gliders around the world: (1) to observe the long-term physical, biogeochemical, and biological ocean processes and phenomena that are relevant for societal applications; and, (2) to contribute to the GOOS through real-time and delayed mode data dissemination. The OceanGliders program is distributed across national and regional observing systems and significantly contributes to integrated, multi-scale and multi-platform sampling strategies. OceanGliders shares best practices, requirements, and scientific knowledge needed for glider operations, data collection and analysis. It also monitors global glider activity and supports the dissemination of glider data through regional and global databases, in realtime and delayed modes, facilitating data access to the wider community. OceanGliders currently supports national, regional and global initiatives to maintain and expand the capabilities and application of gliders to meet key global challenges such as improved measurement of ocean boundary currents, water transformation and storm forecast.

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.

In this study, a 2-yr time series of velocity profiles to 1000 m from meridional glider surveys is used to characterize the wake in the lee of a large island in the western tropical North Pacific Ocean, Palau. Surveys were completed along sections to the east and west of the island to capture both upstream and downstream conditions. Objectively mapped in time and space, mean sections of velocity show the incident westward North Equatorial Current accelerating around the island of Palau, increasing from 0.1 to 0.2 m s−1 at the surface. Downstream of the island, elevated velocity variability and return flow in the lee are indicative of boundary layer separation. Isolating for periods of depth-average westward flow reveals a length scale in the wake that reflects local details of the topography. Eastward flow is shown to produce an asymmetric wake. Depth-average velocity time series indicate that energetic events (on time scales from weeks to months) are prevalent. These events are associated with mean vorticity values in the wake up to 0.3f near the surface and with instantaneous values that can exceed f (the local Coriolis frequency) during periods of sustained, anomalously strong westward flow. Thus, ageostrophic effects become important to first order.

The data-assimilating California State Estimate (CASE) enables the explicit evaluation of spatiotemporally varying volume and heat budgets in the coastal California Current System (CCS). An analysis of over 10 years of CASE model output diagnoses the physical drivers of the CCS mean state, annual cycles, and the 2014-16 temperature anomalies associated with a marine heat wave and an El Niño event. The largest terms in the mean mixed layer (from250 to 0 m) volume budgets are upward vertical transport at the coast and offshore-flowing ageostrophic Ekman transport at the surface, the two branches of the coastal upwelling overturning cell. Contributions from onshore geostrophic flow in the Southern California Bight and alongshore geostrophic convergence in the central CCS balance the mean volume budgets. The depthdependent annual cycle of vertical velocity exhibits the strongest upward velocity between 240and 230-m depth in April. Interannual volume budgets show that over 50% of the 2013.5-16.5 time period experienced downwelling anomalies, which were balanced predominantly by alongshore transport convergence and, less often, by onshore transport anomalies. Mixed layer temperature anomalies persisted for the entirety of 2014-16, reaching a maximum of 138 in October 2015. The mixed layer heat budget shows that intermittent high air-sea heat flux anomalies and alongshore and vertical heat advection anomalies all contributed to warming during 2014-16. A subsurface (from 2210 to 2100 m) heat budget reveals that in September 2015 anomalous poleward heat advection into the Southern California Bight by the California Undercurrent caused deeper warming during the 2015/16 El Niño.

The California Current System (CCS) has experienced large fluctuations in environmental conditions in recent years that have dramatically affected the biological community. Here we synthesize remotely sensed, hydrographic, and biological survey data from throughout the CCS in 2019–2020 to evaluate how recent changes in environmental conditions have affected community dynamics at multiple trophic levels. A marine heatwave formed in the north Pacific in 2019 and reached the second greatest area ever recorded by the end of summer 2020. However, high atmospheric pressure in early 2020 drove relatively strong Ekman-driven coastal upwelling in the northern portion of the CCS and warm temperature anomalies remained far offshore. Upwelling and cooler temperatures in the northern CCS created relatively productive conditions in which the biomass of lipid-rich copepod species increased, adult krill size increased, and several seabird species experienced positive reproductive success. Despite these conditions, the composition of the fish community in the northern CCS remained a mixture of both warm- and cool-water-associated species. In the southern CCS, ocean temperatures remained above average for the seventh consecutive year. Abundances of juvenile fish species associated with productive conditions were relatively low, and the ichthyoplankton community was dominated by a mixture of oceanic warm-water and cosmopolitan species. Seabird species associated with warm water also occurred at greater densities than cool-water species in the southern CCS. The population of northern anchovy, which has been resurgent since 2017, continued to provide an important forage base for piscivorous fishes, offshore colonies of seabirds, and marine mammals throughout the CCS. Coastal upwelling in the north, and a longer-term trend in warming in the south, appeared to be controlling the community to a much greater extent than the marine heatwave itself.

Ocean boundary current systems are key components of the climate system, are home to highly productive ecosystems, and have numerous societal impacts. Establishment of a global network of boundary current observing systems is a critical part of ongoing development of the Global Ocean Observing System. The characteristics of boundary current systems are reviewed, focusing on scientific and societal motivations for sustained observing. Techniques currently used to observe boundary current systems are reviewed, followed by a census of the current state of boundary current observing systems globally. The next steps in the development of boundary current observing systems are considered, leading to several specific recommendations.

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