/[MITgcm]/MITgcm/pkg/seaice/seaice_jfnk.F
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revision 1.9 by mlosch, Mon Nov 12 09:46:38 2012 UTC revision 1.29 by mlosch, Wed Jan 27 14:03:34 2016 UTC
# Line 2  C $Header$ Line 2  C $Header$
2  C $Name$  C $Name$
3    
4  #include "SEAICE_OPTIONS.h"  #include "SEAICE_OPTIONS.h"
5    #ifdef ALLOW_AUTODIFF
6    # include "AUTODIFF_OPTIONS.h"
7    #endif
8    
9    C--  File seaice_jfnk.F: seaice jfnk dynamical solver S/R:
10    C--   Contents
11    C--   o SEAICE_JFNK
12    C--   o SEAICE_JFNK_UPDATE
13    
14  CBOP  CBOP
15  C     !ROUTINE: SEAICE_JFNK  C     !ROUTINE: SEAICE_JFNK
# Line 10  C     !INTERFACE: Line 18  C     !INTERFACE:
18    
19  C     !DESCRIPTION: \bv  C     !DESCRIPTION: \bv
20  C     *==========================================================*  C     *==========================================================*
21  C     | SUBROUTINE SEAICE_JFKF  C     | SUBROUTINE SEAICE_JFNK
22  C     | o Ice dynamics using a Jacobian-free Newton-Krylov solver  C     | o Ice dynamics using a Jacobian-free Newton-Krylov solver
23  C     |   following J.-F. Lemieux et al. Improving the numerical  C     |   following J.-F. Lemieux et al. Improving the numerical
24  C     |   convergence of viscous-plastic sea ice models with the  C     |   convergence of viscous-plastic sea ice models with the
# Line 48  C     myThid :: my Thread Id. number Line 56  C     myThid :: my Thread Id. number
56        INTEGER myIter        INTEGER myIter
57        INTEGER myThid        INTEGER myThid
58    
59  #if ( (defined SEAICE_CGRID) && \  #ifdef SEAICE_ALLOW_JFNK
       (defined SEAICE_ALLOW_JFNK) && \  
       (defined SEAICE_ALLOW_DYNAMICS) )  
60  C     !FUNCTIONS:  C     !FUNCTIONS:
61        LOGICAL  DIFFERENT_MULTIPLE        LOGICAL  DIFFERENT_MULTIPLE
62        EXTERNAL DIFFERENT_MULTIPLE        EXTERNAL DIFFERENT_MULTIPLE
63    
64  C     i,j,bi,bj :: loop indices  C     !LOCAL VARIABLES:
65        INTEGER i,j,bi,bj  C     === Local variables ===
66    C     i,j,k,bi,bj :: loop indices
67          INTEGER i,j,k,bi,bj
68  C     loop indices  C     loop indices
69        INTEGER newtonIter        INTEGER newtonIter
70        INTEGER krylovIter, krylovFails        INTEGER krylovIter, krylovFails
71        INTEGER totalKrylovItersLoc        INTEGER totalKrylovItersLoc, totalNewtonItersLoc
72    C     FGMRES parameters
73    C     im      :: size of Krylov space
74    C     ifgmres :: interation counter
75          INTEGER im
76          PARAMETER ( im = 50 )
77          INTEGER ifgmres
78  C     FGMRES flag that determines amount of output messages of fgmres  C     FGMRES flag that determines amount of output messages of fgmres
79        INTEGER iOutFGMRES        INTEGER iOutFGMRES
80  C     FGMRES flag that indicates what fgmres wants us to do next  C     FGMRES flag that indicates what fgmres wants us to do next
81        INTEGER iCode        INTEGER iCode
82        _RL     JFNKresidual, JFNKresidualTile(nSx,nSy)        _RL     JFNKresidual
83        _RL     JFNKresidualKm1        _RL     JFNKresidualKm1
84  C     parameters to compute convergence criterion  C     parameters to compute convergence criterion
85        _RL     phi_e, alp_e, JFNKgamma_lin        _RL     JFNKgamma_lin
86        _RL     FGMRESeps        _RL     FGMRESeps
87        _RL     JFNKtol        _RL     JFNKtol
88  C      C     backward differences extrapolation factors
89          _RL bdfFac, bdfAlpha
90    C
91        _RL     recip_deltaT        _RL     recip_deltaT
92        LOGICAL JFNKconverged, krylovConverged        LOGICAL JFNKconverged, krylovConverged
93        LOGICAL writeNow        LOGICAL writeNow
94        CHARACTER*(MAX_LEN_MBUF) msgBuf        CHARACTER*(MAX_LEN_MBUF) msgBuf
95  C  
96  C     u/vIceRes :: residual of sea-ice momentum equations  C     u/vIceRes :: residual of sea-ice momentum equations
97        _RL uIceRes(1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)        _RL uIceRes(1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
98        _RL vIceRes(1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)        _RL vIceRes(1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
99    C     extra time level required for backward difference time stepping
100          _RL duIcNm1(1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
101          _RL dvIcNm1(1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
102  C     du/vIce   :: ice velocity increment to be added to u/vIce  C     du/vIce   :: ice velocity increment to be added to u/vIce
103        _RL duIce  (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)        _RL duIce  (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
104        _RL dvIce  (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)        _RL dvIce  (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
105  C     precomputed (= constant per Newton iteration) versions of  C     precomputed (= constant per Newton iteration) versions of
106  C     zeta, eta, and DWATN, press  C     zeta, eta, and DWATN, press
107        _RL zetaPre (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)        _RL zetaPre (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
108          _RL zetaZPre(1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
109        _RL etaPre  (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)        _RL etaPre  (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
110        _RL etaZPre (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)        _RL etaZPre (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
111        _RL dwatPre (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)        _RL dwatPre (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
112        _RL pressPre(1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)  C     work arrays
113          _RL rhs(nVec,nSx,nSy), sol(nVec,nSx,nSy)
114          _RL vv(nVec,im+1,nSx,nSy), w(nVec,im,nSx,nSy)
115          _RL wk1(nVec,nSx,nSy), wk2(nVec,nSx,nSy)
116  CEOP  CEOP
117    
118  C     Initialise  C     Initialise
# Line 104  C     Initialise Line 127  C     Initialise
127        recip_deltaT        = 1. _d 0 / SEAICE_deltaTdyn        recip_deltaT        = 1. _d 0 / SEAICE_deltaTdyn
128    
129        iOutFGMRES=0        iOutFGMRES=0
130  C     iOutFgmres=1 gives a little bit of output  C     with iOutFgmres=1, seaice_fgmres prints the residual at each iteration
131        IF ( debugLevel.GE.debLevA .AND.        IF ( debugLevel.GE.debLevC .AND.
132       &     DIFFERENT_MULTIPLE( SEAICE_monFreq, myTime, deltaTClock ) )       &     DIFFERENT_MULTIPLE( SEAICE_monFreq, myTime, deltaTClock ) )
133       &     iOutFGMRES=1       &     iOutFGMRES=1
134    
135  C      C     backward difference extrapolation factors
136          bdfFac = 0. _d 0
137          IF ( SEAICEuseBDF2 ) THEN
138           IF ( myIter.EQ.nIter0 .AND. SEAICEmomStartBDF.EQ.0 ) THEN
139            bdfFac = 0. _d 0
140           ELSE
141            bdfFac = 0.5 _d 0
142           ENDIF
143          ENDIF
144          bdfAlpha = 1. _d 0 + bdfFac
145    
146        DO bj=myByLo(myThid),myByHi(myThid)        DO bj=myByLo(myThid),myByHi(myThid)
147         DO bi=myBxLo(myThid),myBxHi(myThid)         DO bi=myBxLo(myThid),myBxHi(myThid)
148          DO J=1-Oly,sNy+Oly          DO J=1-OLy,sNy+OLy
149           DO I=1-Olx,sNx+Olx           DO I=1-OLx,sNx+OLx
150            uIceRes(I,J,bi,bj) = 0. _d 0            uIceRes(I,J,bi,bj) = 0. _d 0
151            vIceRes(I,J,bi,bj) = 0. _d 0            vIceRes(I,J,bi,bj) = 0. _d 0
152            duIce  (I,J,bi,bj) = 0. _d 0            duIce  (I,J,bi,bj) = 0. _d 0
153            dvIce  (I,J,bi,bj) = 0. _d 0            dvIce  (I,J,bi,bj) = 0. _d 0
154             ENDDO
155            ENDDO
156    C     cycle ice velocities
157            DO J=1-OLy,sNy+OLy
158             DO I=1-OLx,sNx+OLx
159              duIcNm1(I,J,bi,bj) = uIce(I,J,bi,bj) * bdfAlpha
160         &         + ( uIce(I,J,bi,bj) - uIceNm1(I,J,bi,bj) ) * bdfFac
161              dvIcNm1(I,J,bi,bj) = vIce(I,J,bi,bj) * bdfAlpha
162         &         + ( vIce(I,J,bi,bj) - vIceNm1(I,J,bi,bj) ) * bdfFac
163            uIceNm1(I,J,bi,bj) = uIce(I,J,bi,bj)            uIceNm1(I,J,bi,bj) = uIce(I,J,bi,bj)
164            vIceNm1(I,J,bi,bj) = vIce(I,J,bi,bj)            vIceNm1(I,J,bi,bj) = vIce(I,J,bi,bj)
165           ENDDO           ENDDO
166          ENDDO          ENDDO
167    C     As long as IMEX is not properly implemented leave this commented out
168    CML        IF ( .NOT.SEAICEuseIMEX ) THEN
169  C     Compute things that do no change during the Newton iteration:  C     Compute things that do no change during the Newton iteration:
170  C     sea-surface tilt and wind stress:  C     sea-surface tilt and wind stress:
171  C     FORCEX/Y0 - mass*(u/vIceNm1)/deltaT  C     FORCEX/Y0 - mass*(1.5*u/vIceNm1+0.5*(u/vIceNm1-u/vIceNm2))/deltaT
172          DO J=1-Oly,sNy+Oly          DO J=1-OLy,sNy+OLy
173           DO I=1-Olx,sNx+Olx           DO I=1-OLx,sNx+OLx
174            FORCEX(I,J,bi,bj) = FORCEX0(I,J,bi,bj)            FORCEX(I,J,bi,bj) = FORCEX0(I,J,bi,bj)
175       &         + seaiceMassU(I,J,bi,bj)*uIceNm1(I,J,bi,bj)*recip_deltaT           &         + seaiceMassU(I,J,bi,bj)*duIcNm1(I,J,bi,bj)*recip_deltaT
176            FORCEY(I,J,bi,bj) = FORCEY0(I,J,bi,bj)            FORCEY(I,J,bi,bj) = FORCEY0(I,J,bi,bj)
177       &         + seaiceMassV(I,J,bi,bj)*vIceNm1(I,J,bi,bj)*recip_deltaT           &         + seaiceMassV(I,J,bi,bj)*dvIcNm1(I,J,bi,bj)*recip_deltaT
178           ENDDO           ENDDO
179          ENDDO          ENDDO
180    CML        ENDIF
181         ENDDO         ENDDO
182        ENDDO        ENDDO
183  C     Start nonlinear Newton iteration: outer loop iteration  C     Start nonlinear Newton iteration: outer loop iteration
# Line 141  C     Start nonlinear Newton iteration: Line 186  C     Start nonlinear Newton iteration:
186         newtonIter = newtonIter + 1         newtonIter = newtonIter + 1
187  C     Compute initial residual F(u), (includes computation of global  C     Compute initial residual F(u), (includes computation of global
188  C     variables DWATN, zeta, and eta)  C     variables DWATN, zeta, and eta)
189         CALL SEAICE_CALC_RESIDUAL(         IF ( newtonIter .EQ. 1 ) CALL SEAICE_JFNK_UPDATE(
190       I      uIce, vIce,       I      duIce, dvIce,
191       O      uIceRes, vIceRes,       U      uIce, vIce, JFNKresidual,
192       I      newtonIter, 0, myTime, myIter, myThid )       O      uIceRes, vIceRes,
193         CALL EXCH_UV_XY_RL( uIceRes, vIceRes,.TRUE.,myThid)       I      newtonIter, myTime, myIter, myThid )
194  C     local copies of precomputed coefficients that are to stay  C     local copies of precomputed coefficients that are to stay
195  C     constant for the preconditioner  C     constant for the preconditioner
196         DO bj=myByLo(myThid),myByHi(myThid)         DO bj=myByLo(myThid),myByHi(myThid)
197          DO bi=myBxLo(myThid),myBxHi(myThid)          DO bi=myBxLo(myThid),myBxHi(myThid)
198           DO j=1-Oly,sNy+Oly           DO j=1-OLy,sNy+OLy
199            DO i=1-Olx,sNx+Olx            DO i=1-OLx,sNx+OLx
200              zetaPre(I,J,bi,bj) =  zeta(I,J,bi,bj)             zetaPre(I,J,bi,bj) =  zeta(I,J,bi,bj)
201               etaPre(I,J,bi,bj) =   eta(I,J,bi,bj)             zetaZPre(I,J,bi,bj)= zetaZ(I,J,bi,bj)
202              etaZPre(I,J,bi,bj) =  etaZ(I,J,bi,bj)              etaPre(I,J,bi,bj) =   eta(I,J,bi,bj)
203              dwatPre(I,J,bi,bj) = DWATN(I,J,bi,bj)             etaZPre(I,J,bi,bj) =  etaZ(I,J,bi,bj)
204             pressPre(I,J,bi,bj) = press(I,J,bi,bj)             dwatPre(I,J,bi,bj) = DWATN(I,J,bi,bj)
205            ENDDO            ENDDO
206           ENDDO           ENDDO
207          ENDDO          ENDDO
208         ENDDO         ENDDO
 C      
        DO bj=myByLo(myThid),myByHi(myThid)  
         DO bi=myBxLo(myThid),myBxHi(myThid)  
          JFNKresidualTile(bi,bj) = 0. _d 0  
          DO J=1,sNy  
           DO I=1,sNx  
 #ifdef CG2D_SINGLECPU_SUM  
            JFNKlocalBuf(I,J,bi,bj) =  
 #else  
            JFNKresidualTile(bi,bj) = JFNKresidualTile(bi,bj) +  
 #endif  
      &          uIceRes(I,J,bi,bj)*uIceRes(I,J,bi,bj) +  
      &          vIceRes(I,J,bi,bj)*vIceRes(I,J,bi,bj)  
           ENDDO  
          ENDDO  
         ENDDO  
        ENDDO  
        JFNKresidual = 0. _d 0  
 #ifdef CG2D_SINGLECPU_SUM  
        CALL GLOBAL_SUM_SINGLECPU_RL(  
      &         JFNKlocalBuf,JFNKresidual, 0, 0, myThid)  
 #else  
        CALL GLOBAL_SUM_TILE_RL( JFNKresidualTile,JFNKresidual,myThid )  
 #endif  
        JFNKresidual = SQRT(JFNKresidual)  
209  C     compute convergence criterion for linear preconditioned FGMRES  C     compute convergence criterion for linear preconditioned FGMRES
210         JFNKgamma_lin = JFNKgamma_lin_max         JFNKgamma_lin = JFNKgamma_lin_max
211         IF ( newtonIter.GT.1.AND.newtonIter.LE.100         IF ( newtonIter.GT.1.AND.newtonIter.LE.SEAICE_JFNK_tolIter
212       &      .AND.JFNKresidual.LT.JFNKres_t ) THEN       &      .AND.JFNKresidual.LT.JFNKres_t ) THEN
213  C     Eisenstat, 1996, equ.(2.6)        C     Eisenstat and Walker (1996), eq.(2.6)
214          phi_e = 1. _d 0          JFNKgamma_lin = SEAICE_JFNKphi
215          alp_e = 1. _d 0       &       *( JFNKresidual/JFNKresidualKm1 )**SEAICE_JFNKalpha
         JFNKgamma_lin = phi_e*( JFNKresidual/JFNKresidualKm1 )**alp_e  
216          JFNKgamma_lin = min(JFNKgamma_lin_max, JFNKgamma_lin)          JFNKgamma_lin = min(JFNKgamma_lin_max, JFNKgamma_lin)
217          JFNKgamma_lin = max(JFNKgamma_lin_min, JFNKgamma_lin)          JFNKgamma_lin = max(JFNKgamma_lin_min, JFNKgamma_lin)
218         ENDIF         ENDIF
219  C     save the residual for the next iteration  C     save the residual for the next iteration
220         JFNKresidualKm1 = JFNKresidual         JFNKresidualKm1 = JFNKresidual
221  C  
222  C     The Krylov iteration using FGMRES, the preconditioner is LSOR  C     The Krylov iteration using FGMRES, the preconditioner is LSOR
223  C     for now. The code is adapted from SEAICE_LSR, but heavily stripped  C     for now. The code is adapted from SEAICE_LSR, but heavily stripped
224  C     down.  C     down.
# Line 207  C     krylovIter is mapped into "its" in Line 226  C     krylovIter is mapped into "its" in
226  C     in that routine  C     in that routine
227         krylovIter    = 0         krylovIter    = 0
228         iCode         = 0         iCode         = 0
229         IF ( debugLevel.GE.debLevA ) THEN    
         _BEGIN_MASTER( myThid )  
         WRITE(msgBuf,'(2A,2(1XI6),2E12.5)')  
      &       ' S/R SEAICE_JFNK: newtonIter,',  
      &       ' total newtonIter, JFNKgamma_lin, initial norm = ',  
      &       newtonIter,SEAICEnewtonIterMax*(myIter-nIter0)+newtonIter,  
      &       JFNKgamma_lin, JFNKresidual  
         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,  
      &       SQUEEZE_RIGHT, myThid )  
         _END_MASTER( myThid )  
        ENDIF  
 C  
230         JFNKconverged = JFNKresidual.LT.JFNKtol         JFNKconverged = JFNKresidual.LT.JFNKtol
231  C  
232  C     do Krylov loop only if convergence is not reached  C     do Krylov loop only if convergence is not reached
233  C  
234         IF ( .NOT.JFNKconverged ) THEN         IF ( .NOT.JFNKconverged ) THEN
235  C  
236  C     start Krylov iteration (FGMRES)  C     start Krylov iteration (FGMRES)
237  C  
238          krylovConverged = .FALSE.          krylovConverged = .FALSE.
239          FGMRESeps = JFNKgamma_lin * JFNKresidual          FGMRESeps = JFNKgamma_lin * JFNKresidual
240          DO WHILE ( .NOT.krylovConverged )  C     map first guess sol; it is zero because the solution is a correction
241           CALL SEAICE_MAP2VEC(nVec,duIce,dvIce,sol,.TRUE.,myThid)
242    C     map rhs and change its sign because we are solving J*u = -F
243            CALL SEAICE_MAP2VEC(nVec,-uIceRes,-vIceRes,rhs,.TRUE.,myThid)
244            DO WHILE ( .NOT.krylovConverged )
245  C     solution vector sol = du/vIce  C     solution vector sol = du/vIce
246  C     residual vector (rhs) Fu = u/vIceRes  C     residual vector (rhs) Fu = u/vIceRes
247  C     output work vectors wk1, -> input work vector wk2  C     output work vectors wk1, -> input work vector wk2
248    
249    C     map preconditioner results or Jacobian times vector,
250    C     stored in du/vIce to wk2, for iCode=0, wk2 is set to zero,
251    C     because du/vIce = 0
252             CALL SEAICE_MAP2VEC(nVec,duIce,dvIce,wk2,.TRUE.,myThid)
253    C
254             CALL SEAICE_FGMRES (nVec,im,rhs,sol,ifgmres,krylovIter,
255         U        vv,w,wk1,wk2,
256         I        FGMRESeps,SEAICEkrylovIterMax,iOutFGMRES,
257         U        iCode,
258         I        myThid)
259  C      C    
260           CALL SEAICE_FGMRES_DRIVER(           IF ( iCode .EQ. 0 ) THEN
261       I        uIceRes, vIceRes,  C     map sol(ution) vector to du/vIce
262       U        duIce, dvIce, iCode,            CALL SEAICE_MAP2VEC(nVec,duIce,dvIce,sol,.FALSE.,myThid)
263       I        FGMRESeps, iOutFGMRES,           ELSE
264       I        newtonIter, krylovIter, myTime, myIter, myThid )  C     map work vector to du/vIce to either compute a preconditioner
265    C     solution (wk1=rhs) or a Jacobian times wk1
266              CALL SEAICE_MAP2VEC(nVec,duIce,dvIce,wk1,.FALSE.,myThid)
267             ENDIF
268    C     Fill overlaps in updated fields
269             CALL EXCH_UV_XY_RL( duIce, dvIce,.TRUE.,myThid)
270  C     FGMRES returns iCode either asking for an new preconditioned vector  C     FGMRES returns iCode either asking for an new preconditioned vector
271  C     or product of matrix (Jacobian) times vector. For iCode = 0, terminate  C     or product of matrix (Jacobian) times vector. For iCode = 0, terminate
272  C     iteration  C     iteration
273           IF (iCode.EQ.1) THEN           IF (iCode.EQ.1) THEN
274  C     Call preconditioner  C     Call preconditioner
275            IF ( SOLV_MAX_ITERS .GT. 0 )            IF ( SOLV_MAX_ITERS .GT. 0 )
276       &         CALL SEAICE_PRECONDITIONER(       &         CALL SEAICE_PRECONDITIONER(
277       U         duIce, dvIce,       U         duIce, dvIce,
278       I         zetaPre, etaPre, etaZpre, dwatPre, pressPre,       I         zetaPre, etaPre, etaZpre, zetaZpre, dwatPre,
279       I         newtonIter, krylovIter, myTime, myIter, myThid )       I         newtonIter, krylovIter, myTime, myIter, myThid )
280           ELSEIF (iCode.GE.2) THEN           ELSEIF (iCode.GE.2) THEN
281  C     Compute Jacobian times vector  C     Compute Jacobian times vector
282            CALL SEAICE_JACVEC(            CALL SEAICE_JACVEC(
283       I         uIce, vIce, uIceRes, vIceRes,       I         uIce, vIce, uIceRes, vIceRes,
284       U         duIce, dvIce,         U         duIce, dvIce,
285       I         newtonIter, krylovIter, myTime, myIter, myThid )       I         newtonIter, krylovIter, myTime, myIter, myThid )
286           ENDIF           ENDIF
287           krylovConverged = iCode.EQ.0           krylovConverged = iCode.EQ.0
# Line 263  C     End of Krylov iterate Line 291  C     End of Krylov iterate
291  C     some output diagnostics  C     some output diagnostics
292          IF ( debugLevel.GE.debLevA ) THEN          IF ( debugLevel.GE.debLevA ) THEN
293           _BEGIN_MASTER( myThid )           _BEGIN_MASTER( myThid )
294             totalNewtonItersLoc =
295         &        SEAICEnewtonIterMax*(myIter-nIter0)+newtonIter
296             WRITE(msgBuf,'(2A,2(1XI6),2E12.5)')
297         &        ' S/R SEAICE_JFNK: Newton iterate / total, ',
298         &        'JFNKgamma_lin, initial norm = ',
299         &        newtonIter, totalNewtonItersLoc,
300         &        JFNKgamma_lin,JFNKresidual
301             CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
302         &        SQUEEZE_RIGHT, myThid )
303           WRITE(msgBuf,'(3(A,I6))')           WRITE(msgBuf,'(3(A,I6))')
304       &        ' S/R SEAICE_JFNK: Newton iterate / total = ', newtonIter,       &        ' S/R SEAICE_JFNK: Newton iterate / total = ',newtonIter,
305       &        ' / ', SEAICEnewtonIterMax*(myIter-nIter0)+newtonIter,       &        ' / ', totalNewtonItersLoc,
306       &        ', Nb. of FGMRES iterations = ', krylovIter       &        ', Nb. of FGMRES iterations = ', krylovIter
307           CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,           CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
308       &        SQUEEZE_RIGHT, myThid )       &        SQUEEZE_RIGHT, myThid )
# Line 274  C     some output diagnostics Line 311  C     some output diagnostics
311          IF ( krylovIter.EQ.SEAICEkrylovIterMax ) THEN          IF ( krylovIter.EQ.SEAICEkrylovIterMax ) THEN
312           krylovFails = krylovFails + 1           krylovFails = krylovFails + 1
313          ENDIF          ENDIF
314    C     Set the stopping criterion for the Newton iteration and the
315    C     criterion for the transition from accurate to approximate FGMRES
316            IF ( newtonIter .EQ. 1 ) THEN
317             JFNKtol=JFNKgamma_nonlin*JFNKresidual
318             IF ( JFNKres_tFac .NE. UNSET_RL )
319         &        JFNKres_t = JFNKresidual * JFNKres_tFac
320            ENDIF
321  C     Update linear solution vector and return to Newton iteration  C     Update linear solution vector and return to Newton iteration
322    C     Do a linesearch if necessary, and compute a new residual.
323    C     Note that it should be possible to do the following operations
324    C     at the beginning of the Newton iteration, thereby saving us from
325    C     the extra call of seaice_jfnk_update, but unfortunately that
326    C     changes the results, so we leave the stuff here for now.
327            CALL SEAICE_JFNK_UPDATE(
328         I       duIce, dvIce,
329         U       uIce, vIce, JFNKresidual,
330         O       uIceRes, vIceRes,
331         I       newtonIter, myTime, myIter, myThid )
332    C     reset du/vIce here instead of setting sol = 0 in seaice_fgmres_driver
333          DO bj=myByLo(myThid),myByHi(myThid)          DO bj=myByLo(myThid),myByHi(myThid)
334           DO bi=myBxLo(myThid),myBxHi(myThid)           DO bi=myBxLo(myThid),myBxHi(myThid)
335            DO J=1-Oly,sNy+Oly            DO J=1-OLy,sNy+OLy
336             DO I=1-Olx,sNx+Olx             DO I=1-OLx,sNx+OLx
             uIce(I,J,bi,bj) = uIce(I,J,bi,bj)+duIce(I,J,bi,bj)  
             vIce(I,J,bi,bj) = vIce(I,J,bi,bj)+dvIce(I,J,bi,bj)  
 C     reset du/vIce here instead of setting sol = 0 in seaice_fgmres_driver  
337              duIce(I,J,bi,bj)= 0. _d 0              duIce(I,J,bi,bj)= 0. _d 0
338              dvIce(I,J,bi,bj)= 0. _d 0              dvIce(I,J,bi,bj)= 0. _d 0
339             ENDDO             ENDDO
340            ENDDO            ENDDO
341           ENDDO           ENDDO
342          ENDDO          ENDDO
 C     Set the stopping criterion for the Newton iteration  
         IF ( newtonIter .EQ. 1 ) JFNKtol=JFNKgamma_nonlin*JFNKresidual  
343         ENDIF         ENDIF
344  C     end of Newton iterate  C     end of Newton iterate
345        ENDDO        ENDDO
346  C  
347  C--   Output diagnostics  C--   Output diagnostics
348  C  
349        IF ( SEAICE_monFreq .GT. 0. _d 0 ) THEN        IF ( SEAICE_monFreq .GT. 0. _d 0 ) THEN
350  C     Count iterations  C     Count iterations
351         totalJFNKtimeSteps = totalJFNKtimeSteps + 1         totalJFNKtimeSteps = totalJFNKtimeSteps + 1
# Line 304  C     Count iterations Line 354  C     Count iterations
354  C     Record failure  C     Record failure
355         totalKrylovFails   = totalKrylovFails + krylovFails         totalKrylovFails   = totalKrylovFails + krylovFails
356         IF ( newtonIter .EQ. SEAICEnewtonIterMax ) THEN         IF ( newtonIter .EQ. SEAICEnewtonIterMax ) THEN
357          totalNewtonFails = totalNewtonFails + 1          totalNewtonFails = totalNewtonFails + 1
358         ENDIF         ENDIF
359        ENDIF        ENDIF
360  C     Decide whether it is time to dump and reset the counter  C     Decide whether it is time to dump and reset the counter
361        writeNow = DIFFERENT_MULTIPLE(SEAICE_monFreq,        writeNow = DIFFERENT_MULTIPLE(SEAICE_monFreq,
362       &     myTime+deltaTClock, deltaTClock)       &     myTime+deltaTClock, deltaTClock)
363  #ifdef ALLOW_CAL  #ifdef ALLOW_CAL
364        IF ( useCAL ) THEN        IF ( useCAL ) THEN
365         CALL CAL_TIME2DUMP(         CALL CAL_TIME2DUMP(
366       I      zeroRL, SEAICE_monFreq,  deltaTClock,       I      zeroRL, SEAICE_monFreq,  deltaTClock,
367       U      writeNow,       U      writeNow,
368       I      myTime+deltaTclock, myIter+1, myThid )       I      myTime+deltaTclock, myIter+1, myThid )
# Line 320  C     Decide whether it is time to dump Line 370  C     Decide whether it is time to dump
370  #endif  #endif
371        IF ( writeNow ) THEN        IF ( writeNow ) THEN
372         _BEGIN_MASTER( myThid )         _BEGIN_MASTER( myThid )
373         WRITE(msgBuf,'(A)')         WRITE(msgBuf,'(A)')
374       &' // ======================================================='       &' // ======================================================='
375         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
376       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
377         WRITE(msgBuf,'(A)') ' // Begin JFNK statistics'         WRITE(msgBuf,'(A)') ' // Begin JFNK statistics'
378         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
379       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
380         WRITE(msgBuf,'(A)')         WRITE(msgBuf,'(A)')
381       &' // ======================================================='       &' // ======================================================='
382         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
383       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
384         WRITE(msgBuf,'(A,I10)')         WRITE(msgBuf,'(A,I10)')
385       &      ' %JFNK_MON: time step              = ', myIter+1       &      ' %JFNK_MON: time step              = ', myIter+1
386         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
387       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
388         WRITE(msgBuf,'(A,I10)')         WRITE(msgBuf,'(A,I10)')
389       &      ' %JFNK_MON: Nb. of time steps      = ', totalJFNKtimeSteps       &      ' %JFNK_MON: Nb. of time steps      = ', totalJFNKtimeSteps
390         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
391       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
392         WRITE(msgBuf,'(A,I10)')         WRITE(msgBuf,'(A,I10)')
393       &      ' %JFNK_MON: Nb. of Newton steps    = ', totalNewtonIters       &      ' %JFNK_MON: Nb. of Newton steps    = ', totalNewtonIters
394         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
395       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
396         WRITE(msgBuf,'(A,I10)')         WRITE(msgBuf,'(A,I10)')
397       &      ' %JFNK_MON: Nb. of Krylov steps    = ', totalKrylovIters       &      ' %JFNK_MON: Nb. of Krylov steps    = ', totalKrylovIters
398         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
399       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
400         WRITE(msgBuf,'(A,I10)')         WRITE(msgBuf,'(A,I10)')
401       &      ' %JFNK_MON: Nb. of Newton failures = ', totalNewtonFails       &      ' %JFNK_MON: Nb. of Newton failures = ', totalNewtonFails
402         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
403       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
404         WRITE(msgBuf,'(A,I10)')         WRITE(msgBuf,'(A,I10)')
405       &      ' %JFNK_MON: Nb. of Krylov failures = ', totalKrylovFails       &      ' %JFNK_MON: Nb. of Krylov failures = ', totalKrylovFails
406         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
407       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
408         WRITE(msgBuf,'(A)')         WRITE(msgBuf,'(A)')
409       &' // ======================================================='       &' // ======================================================='
410         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
411       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
412         WRITE(msgBuf,'(A)') ' // Begin JFNK statistics'         WRITE(msgBuf,'(A)') ' // End JFNK statistics'
413         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
414       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
415         WRITE(msgBuf,'(A)')         WRITE(msgBuf,'(A)')
416       &' // ======================================================='       &' // ======================================================='
417         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
418       &      SQUEEZE_RIGHT, myThid )       &      SQUEEZE_RIGHT, myThid )
# Line 379  C     Print more debugging information Line 429  C     Print more debugging information
429        IF ( debugLevel.GE.debLevA ) THEN        IF ( debugLevel.GE.debLevA ) THEN
430         IF ( newtonIter .EQ. SEAICEnewtonIterMax ) THEN         IF ( newtonIter .EQ. SEAICEnewtonIterMax ) THEN
431          _BEGIN_MASTER( myThid )          _BEGIN_MASTER( myThid )
432          WRITE(msgBuf,'(A,I10)')          WRITE(msgBuf,'(A,I10)')
433       &       ' S/R SEAICE_JFNK: JFNK did not converge in timestep ',       &       ' S/R SEAICE_JFNK: JFNK did not converge in timestep ',
434       &       myIter+1       &       myIter+1
435          CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,          CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
# Line 388  C     Print more debugging information Line 438  C     Print more debugging information
438         ENDIF         ENDIF
439         IF ( krylovFails .GT. 0 ) THEN         IF ( krylovFails .GT. 0 ) THEN
440          _BEGIN_MASTER( myThid )          _BEGIN_MASTER( myThid )
441          WRITE(msgBuf,'(A,I4,A,I10)')          WRITE(msgBuf,'(A,I4,A,I10)')
442       &       ' S/R SEAICE_JFNK: FGMRES did not converge ',       &       ' S/R SEAICE_JFNK: FGMRES did not converge ',
443       &       krylovFails, ' times in timestep ', myIter+1       &       krylovFails, ' times in timestep ', myIter+1
444          CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,          CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
# Line 396  C     Print more debugging information Line 446  C     Print more debugging information
446          _END_MASTER( myThid )          _END_MASTER( myThid )
447         ENDIF         ENDIF
448         _BEGIN_MASTER( myThid )         _BEGIN_MASTER( myThid )
449         WRITE(msgBuf,'(A,I6,A,I10)')         WRITE(msgBuf,'(A,I6,A,I10)')
450       &      ' S/R SEAICE_JFNK: Total number FGMRES iterations = ',       &      ' S/R SEAICE_JFNK: Total number FGMRES iterations = ',
451       &      totalKrylovItersLoc, ' in timestep ', myIter+1       &      totalKrylovItersLoc, ' in timestep ', myIter+1
452         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,         CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
# Line 404  C     Print more debugging information Line 454  C     Print more debugging information
454         _END_MASTER( myThid )         _END_MASTER( myThid )
455        ENDIF        ENDIF
456    
457  #endif /* SEAICE_ALLOW_DYNAMICS and SEAICE_CGRID and SEAICE_ALLOW_JFNK */        RETURN
458          END
459    
460    C---+----1----+----2----+----3----+----4----+----5----+----6----+----7-|--+----|
461    CBOP
462    C     !ROUTINE: SEAICE_JFNK_UPDATE
463    C     !INTERFACE:
464    
465          SUBROUTINE SEAICE_JFNK_UPDATE(
466         I     duIce, dvIce,
467         U     uIce, vIce, JFNKresidual,
468         O     uIceRes, vIceRes,
469         I     newtonIter, myTime, myIter, myThid )
470    
471    C     !DESCRIPTION: \bv
472    C     *==========================================================*
473    C     | SUBROUTINE SEAICE_JFNK_UPDATE
474    C     | o Update velocities with incremental solutions of FGMRES
475    C     | o compute residual of updated solutions and do
476    C     | o linesearch:
477    C     |   reduce update until residual is smaller than previous
478    C     |   one (input)
479    C     *==========================================================*
480    C     | written by Martin Losch, Jan 2013
481    C     *==========================================================*
482    C     \ev
483    
484    C     !USES:
485          IMPLICIT NONE
486    
487    C     === Global variables ===
488    #include "SIZE.h"
489    #include "EEPARAMS.h"
490    #include "PARAMS.h"
491    #include "SEAICE_SIZE.h"
492    #include "SEAICE_PARAMS.h"
493    
494    C     !INPUT/OUTPUT PARAMETERS:
495    C     === Routine arguments ===
496    C     myTime :: Simulation time
497    C     myIter :: Simulation timestep number
498    C     myThid :: my Thread Id. number
499    C     newtonIter :: current iterate of Newton iteration
500          _RL     myTime
501          INTEGER myIter
502          INTEGER myThid
503          INTEGER newtonIter
504    C     JFNKresidual :: Residual at the beginning of the FGMRES iteration,
505    C                     changes with newtonIter (updated)
506          _RL     JFNKresidual
507    C     du/vIce   :: ice velocity increment to be added to u/vIce (input)
508          _RL duIce  (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
509          _RL dvIce  (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
510    C     u/vIce    :: ice velocity increment to be added to u/vIce (updated)
511          _RL uIce   (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
512          _RL vIce   (1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
513    C     u/vIceRes :: residual of sea-ice momentum equations (output)
514          _RL uIceRes(1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
515          _RL vIceRes(1-OLx:sNx+OLx,1-OLy:sNy+OLy,nSx,nSy)
516    
517    C     !LOCAL VARIABLES:
518    C     === Local variables ===
519    C     i,j,bi,bj :: loop indices
520          INTEGER i,j,bi,bj
521          INTEGER l
522          _RL     resLoc, facLS
523          LOGICAL doLineSearch
524    C     nVec    :: size of the input vector(s)
525    C     resTmp  :: vector version of the residuals
526          INTEGER nVec
527          PARAMETER ( nVec  = 2*sNx*sNy )
528          _RL resTmp (nVec,1,nSx,nSy)
529    
530          CHARACTER*(MAX_LEN_MBUF) msgBuf
531    CEOP
532    
533    C     Initialise some local variables
534          l = 0
535          resLoc = JFNKresidual
536          facLS = 1. _d 0
537          doLineSearch = .TRUE.
538          DO WHILE ( doLineSearch )
539    C     Create update
540           DO bj=myByLo(myThid),myByHi(myThid)
541            DO bi=myBxLo(myThid),myBxHi(myThid)
542             DO J=1-OLy,sNy+OLy
543              DO I=1-OLx,sNx+OLx
544               uIce(I,J,bi,bj) = uIce(I,J,bi,bj)+facLS*duIce(I,J,bi,bj)
545               vIce(I,J,bi,bj) = vIce(I,J,bi,bj)+facLS*dvIce(I,J,bi,bj)
546              ENDDO
547             ENDDO
548            ENDDO
549           ENDDO
550    C     Compute current residual F(u), (includes re-computation of global
551    C     variables DWATN, zeta, and eta, i.e. they are different after this)
552           CALL SEAICE_CALC_RESIDUAL(
553         I      uIce, vIce,
554         O      uIceRes, vIceRes,
555         I      newtonIter, 0, myTime, myIter, myThid )
556    C     Important: Compute the norm of the residual using the same scalar
557    C     product that SEAICE_FGMRES does
558           CALL SEAICE_MAP2VEC(nVec,uIceRes,vIceRes,resTmp,.TRUE.,myThid)
559           CALL SEAICE_SCALPROD(nVec,1,1,1,resTmp,resTmp,resLoc,myThid)
560           resLoc = SQRT(resLoc)
561    C     Determine, if we need more iterations
562           doLineSearch = resLoc .GE. JFNKresidual
563    C     Limit the maximum number of iterations arbitrarily to four
564           doLineSearch = doLineSearch .AND. l .LT. 4
565    C     For the first iteration du/vIce = 0 and there will be no
566    C     improvement of the residual possible, so we do only the first
567    C     iteration
568           IF ( newtonIter .EQ. 1 ) doLineSearch = .FALSE.
569    C     Only start a linesearch after some Newton iterations
570           IF ( newtonIter .LE. SEAICE_JFNK_lsIter ) doLineSearch = .FALSE.
571    C     Increment counter
572           l = l + 1
573    C     some output diagnostics
574           IF ( debugLevel.GE.debLevA .AND. doLineSearch ) THEN
575            _BEGIN_MASTER( myThid )
576            WRITE(msgBuf,'(2A,2(1XI6),3E12.5)')
577         &       ' S/R SEAICE_JFNK_UPDATE: Newton iter, LSiter, ',
578         &       'facLS, JFNKresidual, resLoc = ',
579         &        newtonIter, l, facLS, JFNKresidual, resLoc
580            CALL PRINT_MESSAGE( msgBuf, standardMessageUnit,
581         &       SQUEEZE_RIGHT, myThid )
582            _END_MASTER( myThid )
583           ENDIF
584    C     Get ready for the next iteration: after adding du/vIce in the first
585    C     iteration, we substract 0.5*du/vIce from u/vIce in the next
586    C     iterations, 0.25*du/vIce in the second, etc.
587           facLS = - 0.5 _d 0 * ABS(facLS)
588          ENDDO
589    C     This is the new residual
590          JFNKresidual = resLoc
591    
592    #endif /* SEAICE_ALLOW_JFNK */
593    
594        RETURN        RETURN
595        END        END
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