Variations in Earth’s orbit pace the glacial-interglacial cycles of the Quaternary, but the mechanisms that transform regional and seasonal variations in solar insolation into glacial-interglacial cycles are still elusive. Here, we present transient simulations of coevolution of climate, ice sheets, and carbon cycle over the past 3 million years. We show that a gradual lowering of atmospheric CO2and regolith removal are essential to reproduce the evolution of climate variability over the Quaternary. The long-term CO2decrease leads to the initiation of Northern Hemisphere glaciation and an increase in the amplitude of glacial-interglacial variations, while the combined effect of CO2decline and regolith removal controls the timing of the transition from a 41,000- to 100,000-year world. Our results suggest that the current CO2concentration is unprecedented over the past 3 million years and that global temperature never exceeded the preindustrial value by more than 2°C during the Quaternary.

It has long been believed that climate shifts during the last 2 million years had a pivotal role in the evolution of our genus Homo1–3. However, given the limited number of representative palaeo-climate datasets from regions of anthropological interest, it has remained challenging to quantify this linkage. Here, we use an unprecedented transient Pleistocene coupled general circulation model simulation in combination with an extensive compilation of fossil and archaeological records to study the spatiotemporal habitat suitability for five hominin species over the past 2 million years. We show that astronomically forced changes in temperature, rainfall and terrestrial net primary production had a major impact on the observed distributions of these species. During the Early Pleistocene, hominins settled primarily in environments with weak orbital-scale climate variability. This behaviour changed substantially after the mid-Pleistocene transition, when archaic humans became global wanderers who adapted to a wide range of spatial climatic gradients. Analysis of the simulated hominin habitat overlap from approximately 300–400 thousand years ago further suggests that antiphased climate disruptions in southern Africa and Eurasia contributed to the evolutionary transformation of Homo heidelbergensis populations into Homo sapiens and Neanderthals, respectively. Our robust numerical simulations of climate-induced habitat changes provide a framework to test hypotheses on our human origin.

Abstract. We introduce the coupled model of the Greenland glacial system IGLOO 1.0, including the polythermal ice sheet model SICOPOLIS (version 3.3) with hybrid dynamics, the model of basal hydrology HYDRO and a parameterization of submarine melt for marine-terminated outlet glaciers. The aim of this glacial system model is to gain a better understanding of the processes important for the future contribution of the Greenland ice sheet to sea level rise under future climate change scenarios. The ice sheet is initialized via a relaxation towards observed surface elevation, imposing the palaeo-surface temperature over the last glacial cycle. As a present-day reference, we use the 1961–1990 standard climatology derived from simulations of the regional atmosphere model MAR with ERA reanalysis boundary conditions. For the palaeo-part of the spin-up, we add the temperature anomaly derived from the GRIP ice core to the years 1961–1990 average surface temperature field. For our projections, we apply surface temperature and surface mass balance anomalies derived from RCP 4.5 and RCP 8.5 scenarios created by MAR with boundary conditions from simulations with three CMIP5 models. The hybrid ice sheet model is fully coupled with the model of basal hydrology. With this model and the MAR scenarios, we perform simulations to estimate the contribution of the Greenland ice sheet to future sea level rise until the end of the 21st and 23rd centuries. Further on, the impact of elevation–surface mass balance feedback, introduced via the MAR data, on future sea level rise is inspected. In our projections, we found the Greenland ice sheet to contribute between 1.9 and 13.0 cm to global sea level rise until the year 2100 and between 3.5 and 76.4 cm until the year 2300, including our simulated additional sea level rise due to elevation–surface mass balance feedback. Translated into additional sea level rise, the strength of this feedback in the year 2100 varies from 0.4 to 1.7 cm, and in the year 2300 it ranges from 1.7 to 21.8 cm. Additionally, taking the Helheim and Store glaciers as examples, we investigate the role of ocean warming and surface runoff change for the melting of outlet glaciers. It shows that ocean temperature and subglacial discharge are about equally important for the melting of the examined outlet glaciers.

a b s t r a c tThe PlioceneePleistocene Transition (PPT), from around 3.2 to 2.5 million years ago (Ma), represented a major shift in the climate system and was characterized by a gradual cooling trend and the appearance of large continental ice sheets over northern Eurasia and North America. Paleo evidence indicates that the PPT was accompanied and possibly caused by a decrease in atmospheric CO 2 , but the temporal resolution of CO 2 reconstructions is low for this period of time and uncertainties remain large. Therefore, instead of applying existent CO 2 reconstructions we solved an 'inverse' problem by finding a schematic CO 2 concentration scenario that allows us to simulate the temporal evolution of key climate characteristics in agreement with paleoclimate records. To this end, we performed an ensemble of transient simulations with an Earth system model of intermediate complexity from which we derived a best guess transient CO 2 scenario for the interval from 3.2 to 2.4 Ma that gives the best fit between the simulated and reconstructed benthic d 18 O and global sea surface temperature evolution. Our data-constrained CO 2 scenarios are consistent with recent CO 2 reconstructions and suggest a gradual CO 2 decline from 375e425 to 275e300 ppm, between 3.2 and 2.4 Ma. In addition to a gradual decline, the best fit to paleoclimate data requires the existence of pronounced CO 2 variability coherent with the 41-kyr (1 kyr ¼ 1000 years) obliquity cycle. In our simulations the long-term CO 2 decline is accompanied by a relatively abrupt intensification of Northern Hemisphere glaciation at around 2.7 Ma. This is the result of a threshold behaviour of the ice sheets response to gradual CO 2 decrease and orbital forcing. The simulated Northern Hemisphere ice sheets during the early Pleistocene glacial cycles reach a maximum volume equivalent to a sea level drop of about 40 m. Both ice volume and benthic d 18 O are dominated by 41-kyr cyclicity. Our simulations suggest that before 2.7 Ma Greenland was ice free during summer insolation maxima and only partly ice covered during periods of minimum summer insolation. A fully glaciated Greenland comparable to its present-day ice volume is modelled only during glacial maxima after 2.7 Ma and more continuously after 2.5 Ma.

Several large-scale cryosphere elements such as the Arctic summer sea ice, the mountain glaciers, the Greenland and West Antarctic Ice Sheet have changed substantially during the last century due to anthropogenic global warming. However, the impacts of their possible future disintegration on global mean temperature (GMT) and climate feedbacks have not yet been comprehensively evaluated. Here, we quantify this response using an Earth system model of intermediate complexity. Overall, we find a median additional global warming of 0.43 °C (interquartile range: 0.39−0.46 °C) at a CO2 concentration of 400 ppm. Most of this response (55%) is caused by albedo changes, but lapse rate together with water vapour (30%) and cloud feedbacks (15%) also contribute significantly. While a decay of the ice sheets would occur on centennial to millennial time scales, the Arctic might become ice-free during summer within the 21st century. Our findings imply an additional increase of the GMT on intermediate to long time scales.

Abstract. The understanding of the statistical properties and of the dynamics of multistable systems is gaining more and more importance in a vast variety of scientific fields. This is especially relevant for the investigation of the tipping points of complex systems. Sometimes, in order to understand the time series of given observables exhibiting bimodal distributions, simple one-dimensional Langevin models are fitted to reproduce the observed statistical properties, and used to investing-ate the projected dynamics of the observable. This is of great relevance for studying potential catastrophic changes in the properties of the underlying system or resonant behaviours like those related to stochastic resonancelike mechanisms. In this paper, we propose a framework for encasing this kind of studies, using simple box models of the oceanic circulation and choosing as observable the strength of the thermohaline circulation. We study the statistical properties of the transitions between the two modes of operation of the thermohaline circulation under symmetric boundary forcings and test their agreement with simplified one-dimensional phenomenological theories. We extend our analysis to include stochastic resonance-like amplification processes. We conclude that fitted one-dimensional Langevin models, when closely scrutinised, may result to be more ad-hoc than they seem, lacking robustness and/or wellposedness. They should be treated with care, more as an empiric descriptive tool than as methodology with predictive power.

Abstract. In recent decades, the Greenland Ice Sheet has experienced an accelerated mass loss, contributing to approximately 25 % of contemporary sea level rise (SLR). This mass loss is caused by increased surface melt over a large area of the ice sheet and by the thinning, retreat and acceleration of numerous Greenland outlet glaciers. The latter is likely connected to enhanced submarine melting that, in turn, can be explained by ocean warming and enhanced subglacial discharge. The mechanisms involved in submarine melting are not yet fully understood and are only simplistically incorporated in some models of the Greenland Ice Sheet. Here, we investigate the response of 12 representative Greenland outlet glaciers to atmospheric and oceanic warming using a coupled line–plume glacier–flow line model resolving one horizontal dimension. The model parameters have been tuned for individual outlet glaciers using present-day observational constraints. We then run the model from present to the year 2100, forcing the model with changes in surface mass balance and surface runoff from simulations with a regional climate model for the RCP8.5 scenario, and applying a linear ocean temperature warming with different rates of changes representing uncertainties in the CMIP5 model experiments for the same climate change scenario. We also use different initial temperature–salinity profiles obtained from direct measurements and from ocean reanalysis data. Using different combinations of submarine melting and calving parameters that reproduce the present-day state of the glaciers, we estimate uncertainties in the contribution to global SLR for individual glaciers. We also perform a sensitivity analysis of the three forcing factors (changes in surface mass balance, ocean temperature and subglacial discharge), which shows that the roles of the different forcing factors are diverse for individual glaciers. We find that changes in ocean temperature and subglacial discharge are of comparable importance for the cumulative contribution of all 12 glaciers to global SLR in the 21st century. The median range of the cumulative contribution to the global SLR for all 12 glaciers is about 18 mm (the glaciers' dynamic response to changes of all three forcing factors). Neglecting changes in ocean temperature and subglacial discharge (which control submarine melt) and investigating the response to changes in surface mass balance only leads to a cumulative contribution of 5 mm SLR. Thus, from the 18 mm we associate roughly 70 % with the glaciers' dynamic response to increased subglacial discharge and ocean temperature and the remaining 30 % (5 mm) to the response to increased surface mass loss. We also find a strong correlation (correlation coefficient 0.74) between present-day grounding line discharge and their future contribution to SLR in 2100. If the contribution of the 12 glaciers is scaled up to the total present-day discharge of Greenland, we estimate the midrange contribution of all Greenland glaciers to 21st-century SLR to be approximately 50 mm. This number adds to SLR derived from a stand-alone ice sheet model (880 mm) that does not resolve outlet glaciers and thus increases SLR by over 50 %. This result confirms earlier studies showing that the response of the outlet glaciers to global warming has to be taken into account to correctly assess the total contribution of Greenland to sea level change.

Abstract. The newly developed fast Earth system model CLIMBER-X is presented. The climate component of CLIMBER-X consists of a 2.5-D semi-empirical statistical–dynamical atmosphere model, a 3-D frictional–geostrophic ocean model, a dynamic–thermodynamic sea ice model and a land surface model. All the model components are discretized on a regular lat–long grid with a horizontal resolution of 5∘×5∘. The model has a throughput of ∼ 10 000 simulation years per day on a single node with 16 CPUs on a high-performance computer and is designed to simulate the evolution of the Earth system on temporal scales ranging from decades to >100 000 years. A comprehensive evaluation of the model performance for the present day and the historical period shows that CLIMBER-X is capable of realistically reproducing many observed climate characteristics, with results that generally lie within the range of state-of-the-art general circulation models. The analysis of model performance is complemented by a thorough assessment of climate feedbacks and model sensitivities to changes in external forcings and boundary conditions. Limitations and applicability of the model are critically discussed. CLIMBER-X also includes a detailed representation of the global carbon cycle and is coupled to an ice sheet model, which will be described in separate papers. CLIMBER-X is available as open-source code and is expected to be a useful tool for studying past climate changes and for the investigation of the long-term future evolution of the climate.