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\section{Model Formulation} |
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\label{sec:model} |
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%Traditionally, probably for historical reasons and the ease of |
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%treating the Coriolis term, most standard sea-ice models are |
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%discretized on Arakawa-B-grids \citep[e.g.,][]{hibler79, harder99, |
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% kreyscher00, zhang98, hunke97}, although there are sea ice models |
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%discretized on a C-grid \citep[e.g.,][]{ip91, tremblay97, |
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% lemieux08}. % |
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%\ml{[there is also MI-IM, but I only found this as a reference: |
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% \url{http://retro.met.no/english/r_and_d_activities/method/num_mod/MI-IM-Documentation.pdf}]} |
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%From the perspective of coupling a sea ice-model to a C-grid ocean |
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%model, the exchange of fluxes of heat and fresh-water pose no |
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%difficulty for a B-grid sea-ice model \citep[e.g.,][]{timmermann02a}. |
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%However, surface stress is defined at velocity points and thus needs |
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%to be interpolated between a B-grid sea-ice model and a C-grid ocean |
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%model. Smoothing implicitly associated with this interpolation may |
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%mask grid scale noise and may contribute to stabilizing the solution. |
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%On the other hand, by smoothing the stress signals are damped which |
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%could lead to reduced variability of the system. By choosing a C-grid |
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%for the sea-ice model, we circumvent this difficulty altogether and |
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%render the stress coupling as consistent as the buoyancy coupling. |
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%A further advantage of the C-grid formulation is apparent in narrow |
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%straits. In the limit of only one grid cell between coasts there is no |
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%flux allowed for a B-grid (with no-slip lateral boundary conditions), |
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%and models have used topographies with artificially widened straits to |
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%avoid this problem \citep{holloway07}. The C-grid formulation on the |
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%other hand allows a flux of sea-ice through narrow passages if |
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%free-slip along the boundaries is allowed. We demonstrate this effect |
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%in the Canadian Arctic Archipelago (CAA). |
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The MITgcm sea ice model is based on a variant of the |
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viscous-plastic (VP) dynamic-thermodynamic sea-ice model of |
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\citet{zhang97} first introduced by \citet{hibler79, hibler80}. In |
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order to adapt this model to the requirements of coupled ice-ocean |
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state estimation, many aspects of the original code have been |
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modified to permit accurate and automatic differentiation of the model: |
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\begin{itemize} |
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\item the model has been rewritten for an Arakawa C-grid, both B- and |
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C-grid variants are available; the C-grid code allows for no-slip |
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and free-slip lateral boundary conditions, |
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\item two different solution methods for solving the nonlinear |
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momentum equations, LSOR \citep{zhang97} and EVP |
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\citep{hunke97, hunke01}, have been adopted, |
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\item ice-ocean stress can be formulated as in \citet{hibler87}, |
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\item ice concentration and thickness, snow, and ice salinity or enthalpy can |
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be advected by sophisticated, conservative |
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advection schemes with flux limiters, and |
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\item growth and melt parameterizations have been refined and extended |
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in order to allow for automatic differentiation of the code. |
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\end{itemize} |
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The sea ice model is tightly coupled to the ocean component of the |
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MITgcm \citep{marshall97:_finit_volum_incom_navier_stokes, mitgcm02}. |
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Heat, fresh water fluxes and surface stresses are computed from the |
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atmospheric state and modified by the ice model at every time step. |
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The remainder of this section describes the model equations and |
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details of their numerical realization. Further documentation and |
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model code can be found at \url{http://mitgcm.org}. |
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\subsection{Dynamics} |
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\label{sec:dynamics} |
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Sea-ice motion is driven by ice-atmosphere, ice-ocean and internal |
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stresses. The internal stresses are evaluated following a |
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viscous-plastic (VP) constitutive law with an elliptic yield curve as |
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in \citet{hibler79}. The full momentum equations for the sea-ice model |
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and the solution by line successive over-relaxation (LSOR) are |
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described in \citet{zhang97}. Alternatively, the momentum equation |
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can be solved with an elastic-viscous-plastic (EVP) solver following |
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\citet{hunke01}. In this technique, the evolution equations for the |
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internal stress tensor components are solved by sub-cycling the sea ice |
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momentum solver within one ocean model time step. |
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In both cases, the bulk viscosities can be bounded from above (if |
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required for numerical reasons). For stress tensor computations the |
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replacement pressure \citep{hibler95} is used so that the stress state |
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always lies on the elliptic yield curve by definition. Alternatively, |
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in the so-called truncated ellipse method (TEM) the shear viscosity is |
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capped to suppress any tensile stress \citep{hibler97, geiger98}. |
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The horizontal gradient of the ocean's surface is estimated directly |
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from ocean sea surface height and pressure loading from atmosphere, |
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ice and snow \citep{campin08}. Ice does not float on top of the |
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ocean, instead it depresses the ocean surface according to its thickness and |
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buoyancy. |
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Lateral boundary conditions are naturally ``no-slip'' for B-grids, as |
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the tangential velocities points lie on the boundary. For C-grids, the |
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lateral boundary condition for tangential velocities is realized via |
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``ghost points'', allowing alternatively no-slip or free-slip |
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conditions. In ocean models free-slip boundary conditions in |
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conjunction with piecewise-constant (``castellated'') coastlines have |
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been shown to reduce to no-slip boundary conditions |
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\citep{adcroft98:_slippery_coast}; for sea-ice models the effects of |
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lateral boundary conditions have not yet been studied (as far as we |
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know). |
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Moving sea ice exerts a surface stress on the ocean. In coupling the |
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sea-ice model to the ocean model, this stress is applied directly to |
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the surface layer of the ocean model. An alternative ocean stress |
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formulation is given by \citet{hibler87}. Rather than applying the |
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interfacial stress directly, the stress is derived from integrating |
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over the ice thickness to the bottom of the oceanic surface layer. In |
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the resulting equation for the \emph{combined} ocean-ice momentum, the |
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interfacial stress cancels and the total stress appears as the sum of |
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wind stress and divergence of internal ice stresses \citep[see also |
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Eq.\,2 of][]{hibler87}. While this formulation tightly embeds the |
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sea-ice into the surface layer of the ocean, its disadvantage is that |
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the velocity in the surface layer of the ocean that is used to |
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advect ocean tracers is really an average over the ocean surface |
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velocity and the ice velocity, leading to an inconsistency as the ice |
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temperature and salinity are different from the oceanic variables. |
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Both stress coupling options are available for a direct comparison of |
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the their effects on the sea-ice solution. |
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The discretization of the momentum equation is straightforward. It is |
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similar to that of \citet{zhang98, zhang03}, but differs fundamentally |
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in the underlying grid, namely the Arakawa C-grid. The EVP model, in |
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particular, is discretized naturally on the C-grid with the diagonal |
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components of the stress tensor on the center points and the |
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off-diagonal term on the corner (or vorticity) points of the grid. |
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With this choice all derivatives are discretized as central |
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differences and very little averaging is involved. Apart from the |
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standard C-grid implementation, the original B-grid implementation of |
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\citet{zhang97} is also available as an option in the code. |
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\subsection{Thermodynamics} |
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\label{sec:thermodynamics} |
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In its original formulation the sea ice model \citep{menemenlis05} |
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uses simple thermodynamics following the appendix of |
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\citet{semtner76}. This formulation does not allow storage of heat, |
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that is, the heat capacity of ice is zero. Upward conductive heat flux |
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is parameterized assuming a linear temperature profile and a constant |
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ice conductivity. This type of model is often referred to as a |
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``zero-layer'' model. The surface heat flux is computed in a similar |
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way to that of \citet{parkinson79} and \citet{manabe79}. |
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The conductive heat flux depends strongly on the ice thickness $h$. |
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However, the ice thickness in the model represents a mean over a |
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potentially very heterogeneous thickness distribution. In order to |
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parameterize a sub-grid scale distribution for heat flux computations, |
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the mean ice thickness $h$ is split into seven thickness categories |
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$H_{n}$ that are equally distributed between $2h$ and a minimum |
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imposed ice thickness of $5\text{\,cm}$ by $H_n= \frac{2n-1}{7}\,h$ |
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for $n\in[1,7]$. The heat fluxes computed for each thickness category |
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is area-averaged to give the total heat flux \citep{hibler84}. |
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The atmospheric heat flux is balanced by an oceanic heat flux. |
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The oceanic flux is proportional to the difference between |
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ocean surface temperature and the freezing point temperature of sea |
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water, which is a function of salinity. Contrary to |
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\citet{menemenlis05}, this flux is not assumed to instantaneously melt |
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or create ice, but a time scale of three days is used to relax the |
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ocean temperature to the freezing point. While this |
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parameterization is not new \citep[it follows the ideas of, |
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e.g.,][]{mellor86, mcphee92, lohmann98, notz03}, it avoids a |
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discontinuity in the functional relationship between model variables, |
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which is crucial for making the code differentiable for adjoint code |
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generation (I. Fenty, pers. comm. 2008). |
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%\ml{[ONCE IT IS SUBMITTED, otherwise pers. communcations:]}\citep{fen09} |
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The parameterization of lateral and vertical growth of sea ice follows |
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that of \citet{hibler79, hibler80}. |
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On top of the ice there is a layer of snow that modifies the heat flux |
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and the albedo as in \citet{zhang98}. If enough snow accumulates so |
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that its weight submerges the ice and the snow is flooded, a simple |
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mass conserving parameterization of snow ice formation (a flood-freeze |
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algorithm following Archimedes' principle) turns snow into ice until |
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the ice surface is back at $z=0$ \citep{leppaeranta83}. |
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The concentration $c$, effective ice thickness (ice volume per unit |
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area, $c\cdot{h}$), effective snow thickness ($c\cdot{h}_{s}$), and effective |
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ice salinity (in g\,m$^{-2}$) are advected by ice velocities. |
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% |
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From the various advection scheme that are available in the MITgcm |
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\citep{mitgcm02}, we choose flux-limited schemes, i.e., multidimensional 2nd |
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and 3rd-order advection schemes with flux limiters |
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\citep{roe85, hundsdorfer94}, to preserve sharp gradients and |
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edges that are typical of sea ice distributions and to rule out |
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unphysical over- and undershoots (negative thickness or |
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concentration). These schemes conserve volume and horizontal area and |
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are unconditionally stable, so that no extra diffusion is required. |
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The original 2nd order central differences scheme, which requires additional |
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diffusion, has been retained for legacy tests and for comparison |
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with the newer schemes. |
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Finally, there is considerable doubt about the reliability of a |
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``zero-layer'' thermodynamic model --- \citet{semtner84} found |
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significant errors in phase (one month lead) and amplitude |
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($\approx$50\%\,overestimate) in such models --- so that today many |
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sea ice models employ more complex thermodynamics. The MITgcm |
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sea ice model provides the option to use the thermodynamics model of |
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\citet{winton00}, which in turn |
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is based on the 3-layer model of \citet{semtner76} and which treats brine |
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content by means of enthalpy conservation. This model requires |
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additional state variables, namely the enthalpy of the two ice |
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layers (instead of effective ice salinity), to be advected by ice velocities. |
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% \ml{[Jean-Michel, your |
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% turf: ]Care must be taken in advecting these quantities in order to |
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% ensure conservation of enthalpy. Currently this can only be |
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% accomplished with a 2nd-order advection scheme with flux limiter |
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% \citep{roe85}.} |
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The internal sea ice temperature is inferred from ice enthalpy. |
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Again, to avoid unphysical (negative) values for ice thickness and |
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concentration, a positive 2nd-order advection scheme with a SuperBee |
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flux limiter \citep{roe85} |
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is used in this study to advect all sea-ice-related |
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quantities of the \citet{winton00} thermodynamic model. |
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Because of the non-linearity of the advection scheme, |
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care must be taken in advecting these quantities: when simply using |
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ice velocity to advect enthalpy, the total energy (i.e., the volume |
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integral of enthalpy) is not conserved. Alternatively, one can advect |
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the energy content (i.e., product of ice-volume and enthalpy) |
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but then false enthalpy extrema can occur, |
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which then leads to unrealistic ice temperature. |
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The solution currently implemented consists in |
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using the sea ice mass flux to advect the enthalpy: this |
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ensures conservation of enthalphy and prevents |
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the occurrence of false enthalpy extrema. |
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In \refsec{globalmodel} and \ref{sec:arcticmodel} we provide example |
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applications of the MITgcm sea ice model and we exercise and compare several |
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of the options, which have been discussed above. |
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|
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%%% Local Variables: |
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%%% mode: latex |
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%%% TeX-master: "ceaice_part1" |
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%%% End: |