Ocean state estimation via interior-plus-surface quasigeostrophy integrated with measurements onboard an autonomous underwater vehicle

We develop an ocean state estimation technique that assimilates satellite surface temperature and height anomalies and ocean interior density profiles with a quasigeostrophic ocean model. The technique is computationally minimal and designed to run on an autonomous underwater vehicle. On data collected in a field campaign at the Gulf Stream extension front, the estimates of the three-dimensional density field produced by this technique compare favorably to those from a global operational ocean state estimate.