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% $Header: /u/gcmpack/manual/part3/case_studies/global_oce_estimation/global_oce_estimation.tex,v 1.5 2005/08/02 21:49:07 dfer Exp $ |
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\section[Global Ocean State Estimation Example]{Global Ocean State Estimation at $4^\circ$ Resolution} |
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\label{www:tutorials} |
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\label{sect:eg-global_state_estimate} |
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\begin{rawhtml} |
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<!-- CMIREDIR:eg-global_state_estimate: --> |
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\end{rawhtml} |
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\subsection{Overview} |
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|
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Mean surface heat flux as a control variable : $Q_\mathrm{netm}$ |
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|
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This experiment illustrates the optimization (or data-assimilation) capacity |
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of the MITgcm. Using an ocean configuration with realistic geography and bathymetry on a |
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$4\times4^circ$ spherical polar grid, we estimate a time-independent surface heat flux correction |
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$Q_\mathrm{netm}$ that brings the model climatology into consistency with observations (Levitus |
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climatology). |
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|
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This correction $Q_\mathrm{netm}$ (a 2D field only function of longitude and latitude) is |
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the control variable of an optimization problem. It is inferred by an iterative |
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procedure using an `adjoint technique' and a least-squares method (see, for example, |
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Stammer et al. (2002) and Ferreira et al. (2005)). |
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|
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The ocean model is run forward in time and the quality of the solution is |
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determined by a cost function, $J_1$, a measure of the departure of the model |
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climatology from observations: |
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\begin{equation} |
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J_1=\frac{1}{N}\sum_{i=1}^N \left[ \frac{\overline{T}_i-\overline{T}_i^{lev}}{\sigma_i^T}\right]^2 |
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\end{equation} |
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where $\overline{T}_i$ is the averaged model temperature and $\overline{T}_i^{lev}$ |
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the annual mean observed temperature at each grid point $i$. The differences |
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are weighted by an a priori uncertainty $\sigma_i^T$ on observations (Levitus |
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and Boyer 1994). The error $\sigma_i^T$ is only a function of depth and varies |
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from 0.5 at the surface to 0.05~K at the bottom of the ocean, mainly reflecting |
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the decreasing temperature variance with depth. A value of $J_1$ of order 1 means |
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that the model is, on average, within observational uncertainties. |
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|
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The cost function also places constraints on the correction to insure it is |
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"reasonnable", i.e. of order of the uncertainties on the observed surface heat |
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flux: |
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\begin{equation} |
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J_2 = \frac{1}{N} \sum_{i=1}^N \left[\frac{Q_\mathrm{netm}}{\sigma^x_i} \right]^2 |
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\end{equation} |
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where $\sigma^x_i$ are the a priori errors (2d field from ECCO ..... Fig ?). |
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|
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The total cost function is obtained as $J=\lambda_1 J_1+ \lambda_2 J_2$ where |
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$\lambda_1$ and $\lambda_2$ are weights controlling the relative contribution |
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of the two mcomponents. The adjoint model then provides the sensitivities |
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$\partial J/\partial Q_\mathrm{netm}$ of $J$ relative to the 2D fields |
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$Q_\mathrm{netm}$. Using a line-searching algorithm (Gilbert and Lemar\'{e}chal 1989), |
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$Q_\mathrm{netm}$ is adjusted in the sense to reduce $J$ --- the procedure is |
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repeated until convergence. |
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|
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In the following example, the configuration is identical to the "Global ocean circulation" |
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tutorial where more details can be found. In each iteration, the model is started from |
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rest with temperature and salinity initial conditions taken from Levitus dataset and run |
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for a year. The first guess $Q_\mathrm{netm}$ is chosen to be zero. |
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|
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The experiment employs two executables: one for the MITgcm and its adjoints and |
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one for the line-search algorithmi (offline optimization). The implementation of |
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the control variable $Q_\mathrm{netm}$, the cost function $J$ and the I/O required |
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for the commmunication betwwen the model and the line-search are described in details |
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in section 2. The compilation of the two executables is given in section 3. |
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A method to run the experiment is described in section 4. |
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|
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Gilbert, J. C., and C. Lemar\'echal, 1989: Some numerical experiments with |
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variable-storage quasi-Newton algorithms. \textit{Math. Programm.,} |
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\textbf{45,} 407-435. |
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|
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\subsection{Implemention of the control variable and the cost function} |
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|
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All subroutines that require modifications are found in verifications/Optim/code\_ad |
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|
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\subsubsection{The control variable} |
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|
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The correction $Q_\mathrm{netm}$ is activated by setting ALLOW\_HFLUXM\_CONTROL to "define" in ECCO\_OPTIONS.h. |
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|
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It is first implemented as a forcing variable. It is defined in FFIELDS.h, |
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initialized to zero in ini\_forcing.F, and then used in external\_forcing\_surf.F. |
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|
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$Q_\mathrm{netm}$ is made a control variable in the ctrl package by modifying the following subroutines: |
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|
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\begin{itemize} |
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\item ctrl\_init.F where $Q_\mathrm{netm}$ is defined as the control variable number 24, |
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|
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\item ctrl\_pack.F which writes, at the end of iteration, the sensitivity of the cost function |
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$\partial J/\partial Q_\mathrm{netm}$ into a file to be used by the lins-search algorithm, |
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|
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\item ctrl\_unpack.F which reads, at the start of each iteration, the updated perturbations as |
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provided by the line-search algorithm, |
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|
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\item ctrl\_map\_forcing.F where the updated perturbation is added to the first guess $Q_\mathrm{netm}$. |
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\end{itemize} |
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|
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Note also some minor changes in ctrl.h, ctrl\_readparams.F, and ctrl\_dummy.h (xx\_hfluxm\_file, |
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fname\_hfluxm, xx\_hfluxm\_dummy). |
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|
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\subsubsection{Cost functions} |
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|
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The cost functions are implemented using the cost package. |
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|
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\begin{itemize} |
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|
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\item The temperature cost function $J_1$ which measures the drift of the mean model |
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temperature from the Levitus climatology is implemented cost\_temp.F. It is |
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activated by ALLOW\_COST\_TEMP in ECCO\_OPTIONS.h. It requires the mean temperature of |
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the model which is obtained by accumulating the temperature in cost\_tile.F (called at |
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each time step). |
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The value of the cost function is stored in objf\_temp and its weight $\lambda_1$ |
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in mult\_temp. |
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|
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\item The heat flux cost function penalizing the departure of the surface heat flux from |
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observations is implemented in cost\_hflux.F, and activated by activated |
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ALLOW\_COST\_HFLUXM in ECCO\_OPTIONS.h. The value of the cost function is stored in |
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objf\_hfluxm and its weight $\lambda_2$ in mult\_hfluxm, |
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|
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\item The subroutine cost\_final.F calls the cost\_functions subroutines |
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and make the (weighted) sum of the different contributions. |
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|
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\item The weights used in the cost functions are read is cost\_weights.F. |
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The weigth of the cost functions are read in cost\_readparams.F from the input file |
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data.cost. |
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|
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\end{itemize} |
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|
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\subsection{Code Configuration} |
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\label{www:tutorials} |
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\label{SEC:eg_fourl_code_config} |
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|
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The model configuration for this experiment resides under the |
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directory {\it verification/???/}. The experiment files in code\_ad/ |
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and input\_ad/ contain the code customisations and parameter settings |
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for this experiment. Most of them are identical to those used in |
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the Global ocean experiment. Below we describe the customisations to |
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these files associated with this experiment. |
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\subsubsection{File {\it input/data}} |
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\subsection{Compiling} |
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The optimization experiment requires two executables: 1) the |
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MITgcm and its adjoints (it{mitgcmuv\_ad}) and 2) the line-search |
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algorithm ({\it optim.x}) |
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|
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\subsubsection{Compilation of MITgcm and its adjoint: {\it mitcgmuv\_ad}} |
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|
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Before compiling, first note that, in the directory code\_ad/, two files |
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must be updated: |
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\begin{itemize} |
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\item code\_ad\_diff.list which lists new subroutines to be compiled |
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by the TAF software (cost\_temp.f and cost\_hflux.f here), |
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|
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\item the adjoint\_hfluxm files which provides a list of the control variables |
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and the name of cost function to the TAF sotware. |
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\end{itemize} |
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|
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Then, in the directory build\_ad/, type: |
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\begin{verbatim} |
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% ../../../tools/genmake2 -mods=../code\_ad -adof=../code\_ad/adjoint\_hfluxm |
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% make depend |
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% make adall |
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\end{verbatim} |
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to generate the MITgcm executable mitgcmuv\_ad |
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\subsubsection{Compilation of the line-search algorithm: {\it optim.x}} |
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This is done from the directories lsopt/ and optim/ (under MITgcm/) |
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In lsopt/, unzip the blash1 library you need, and change accordingly the |
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library in the Makefile. Compile with: |
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\begin{verbatim} |
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% make all |
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\end{verbatim} |
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(more details in lsopt\_doc.txt) |
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|
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In optim/, the path of the directory where {\it mitgcm\_ad} was compliled must be specified |
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in the Makefile in the variable INCLUDEDIRS. The file name of the controle variable |
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(xx\_hfluxm\_file here) must be added to the namelist read by optim\_num.F |
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|
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Then use |
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\begin{verbatim} |
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% make depend |
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\end{verbatim} |
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and |
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\begin{verbatim} |
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% make |
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\end{verbatim} |
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to generate the line-search executable {\it optim.x}. |
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|
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\subsection{Running the estimation} |
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Copy the {\it mitgcmuv\_ad} executable to input\_ad and {\it optim.x} |
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to the subdirectory input\_ad/OPTIM. Move into input\_ad/. |
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|
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The first iteration has be done "by hand". Check that the iteration number is set |
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to 0 in data.optim and run the Mitgcm |
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\begin{verbatim} |
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% ./mitgcmuv_ad |
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\end{verbatim} |
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|
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The output files adxx\_hfluxm.0000000000.* and xx\_hfluxm.0000000000.* contain |
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the sensitivity of the cost function to $Q_\mathrm{netm}$ and the perturbations |
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to $Q_\mathrm{netm}$ (zero at the first iteration), respectively. Two other files |
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called ecco\_cost.. and ecco\_ctrl are also generated. They essentially contains |
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the same information as the adxx\_* and xx\_* files, but in a compressed format. |
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These two file are the only ones involved in the communication between the adjoint |
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model {\it mitgcmuv\_ad} and the line-search algorithm {\it optim.x}. The ecco\_cost*n |
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is an ouput of the adjoint model at iteration $n$ and an input of the line-search. The |
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latter returns an updated perturbation in ecco\_ctrl*n+1 to be used as an input of |
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the adjoint model at iteration n+1. |
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|
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At the first iteration, move these two files ecco\_cost and ecco\_ctrl |
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to OPTIM/, open data.optim and check the iteration number is set to 0. |
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The target cost function {\it fmin} needs to be specified: a rule of thumb |
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suggest it should be set to about 0.95-0.90 times the value of the cost |
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function at the first iteration. This value is only used at the first |
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iteration and does not need to be updated afterwards. |
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However, it implicitly specifies the "pace" at which the cost function is |
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going down (if you are lucky and it goes down). More in the ECCO section maybe ? |
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|
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Once this is done, run the line-search algorithm: |
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\begin{verbatim} |
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% ./optim.x |
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\end{verbatim} |
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which computes the updated perturbations for iteration 1 ecco\_ctrl\_1. |
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|
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The following iterations can be executed automatically using the shell |
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script {\it cycsh} |
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found in input\_ad/. This script will take care of changing the iteration numbers in the |
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data.optim, launch the adjoint model, clean and store the ouputs, move the |
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ecco\_cost* and ecco\_ctrl* files, and run the line-search algotrithm. |
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Edit {\it cycsh} to specify the prefix of the directories used to store the ouputs and |
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the maximum number of iteration. |
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|