1. Introduction
The characterization of surface gravity waves is important for air–sea interaction processes, such as the exchange of energy, momentum, mass, and heat between the ocean and the atmosphere, as well as for risk assessment for offshore structures and related engineering applications. This study is concerned with the characterization of spatial statistics of the sea surface elevation using airborne lidar observations. Several field investigations have reported on the statistics of various parameters describing surface wind waves such as the surface displacement, wave crest and trough displacement, wave heights, and joint statistics of wave periods and amplitudes. These measured statistics have been shown to compare favorably with theoretical distributions of linear and nonlinear waves. However, the vast majority of wave observations in the field come from temporal series at a point or small spatial wave-gauge arrays. In this study we present an analysis of airborne spatiotemporal measurements of the sea surface elevation that provide directional and slope information that cannot be obtained directly using single point measurements. The measurements were collected from the NSF/NCAR C-130 aircraft during the Gulf of Tehuantepec Experiment (GOTEX) in fetch-limited conditions during the month of February 2004 (Romero and Melville 2010a).
A detailed analysis of several statistical parameters, including the probability distribution function (pdf) of wave heights, wave slopes, the joint pdf of wave amplitudes and wavelengths, as well as the length of contours bounding threshold elevations is presented. The measured statistical distributions are used to test analytical linear and nonlinear models, some of which have not been tested previously against field measurements. Another important parameter, which is not directly available from single point measurements, is the length of crests exceeding threshold wave criteria, such as wave height or slope. In this study, the measured crest length distributions are compared against second-order nonlinear stochastic simulations using computed directional wavenumber spectra (Romero and Melville 2010b). Preliminary results of this work have been reported by Melville et al. (2005) and Romero and Melville (2010c).
This paper is organized as follows. In section 2, we provide background information, including relevant definitions and formulas. In section 3, the data and analysis are described. The results are presented and summarized in sections 4 and 5, respectively.
2. Background
a. Surface elevation
Following the theoretical framework by Longuet-Higgins (1963), Forristall (2000) compared measured wave crest displacement distributions against second-order stochastic simulations using measured frequency spectra. His results show that second-order simulations give good agreement with observed wave crest distributions in the field, including hurricane wind conditions.
b. Wave height
It has been shown that, for a narrowband spectrum, second-order nonlinearities produce negligible effects on the statistical distribution of heights of large waves (Tayfun 1983). This is because both the troughs and the crests are raised by comparable amounts in a narrowband system. However, recent higher-order numerical simulations by Socquet-Juglard et al. (2005) have shown that, in a narrowband spectrum with narrow directional spreading, corresponding to long-crested waves, the wave height probabilities can significantly deviate from the Raleigh distribution, giving rise to extreme wave heights due to modulational instabilities. This has also been shown in laboratory experiments of long-crested (one dimensional) waves by Mori et al. (2007). However, for field conditions, the wind sea spectrum has finite directional spreading that inhibits the modulational instability typical of long-crested waves (Socquet-Juglard et al. 2005). A similar conclusion was drawn in a recent theoretical study by Tayfun and Fedele (2007).
Local wave parameters
3. Data
We present an analysis of airborne lidar observations collected from the NSF/NCAR C-130 aircraft during GOTEX in February 2004. The measurements were collected in offshore wind conditions with wind speeds between 10 and 20 m s−1 and fetches between 20 and 500 km. By definition, fetch-limited wind wave conditions require limited fetch, homogeneous and steady winds blowing off an infinite and straight coastline and, most importantly, a steady wave field. Such idealized conditions are only approximately found in nature. In particular, the Gulf of Tehuantepec is well known for having strong offshore winds that last from 3 to 5 days, which could in principle generate steady wave fields. However, since the winds are forced by pressure differences across a narrow mountain gap, the resulting wind field has an inhomogeneous jetlike structure, with maximum speeds and a mean direction due south close to shore and gradually decreasing and veering due west as the wind jet fans out over the Pacific Ocean (Steenburgh et al. 1998). However, the wave data collected during GOTEX have been shown to agree with the classical fetch relations (Romero and Melville 2010a). This implies that the wave measurements were collected in approximately fetch-limited conditions. The evolution of the directional wavenumber spectra was characterized in detail and compared against numerical simulations using a state-of-the-art wind wave model by Romero and Melville (2010a,b). Below, we provide a brief summary of the data.
a. Sea surface topography
The Airborne Topographic Mapper (ATM) is a conical scanning lidar, developed by the National Aeronautics and Space Administration and EG&G, which has been shown to successfully measure the directional properties of ocean surface waves (Hwang et al. 2000a,b; Romero and Melville 2010a). During GOTEX, the ATM conical scanning angle was set to 15° with a pulse repetition and sampling frequency fs = 5 kHz and a scanning frequency fsc = 20 Hz. Because the ATM was operated primarily at a nominal altitude of 400 m above the mean sea level, the radius of the scanning pattern on the sea surface, R, is approximately 100 m. Assuming no pulse return dropouts, the maximum horizontal separation between consecutive measurements in the along-flight direction is given by the ratio of the horizontal aircraft speed Va to the scanning frequency fsc. For the typical speed of Va = 100 m s−1, the horizontal resolution in the along-flight direction is 5 m. The cross-track resolution is approximately 2.5 m, given by the ratio of the perimeter of the circular scan at the surface (P = 2πR ≈ 628 m) and the number of pulses along the scan, N = fs/fsc = 250. According to Krabill and Martin (1987), the calibrated absolute error per pulse in the elevation measured by the ATM is 8 cm, which includes a 3 cm (rms) range error, 5 cm for positioning through differential GPS, and 5 cm for attitude-induced errors.
The ATM data along the circular scanning pattern on the surface of the ocean were separated into forward and rear scans, providing two partially overlapping swaths of the sea surface elevation separated in time by about 1 s. Each spatiotemporal data subset was binned and interpolated to a regular horizontal grid with a resolution of 5 m. All of the data analyzed in this study correspond to data swaths approximately aligned with the dominant waves, including both upwind and downwind legs.
b. Spectral analysis
After the data were gridded and interpolated on a regular grid, the directional wavenumber spectrum was computed from the two-dimensional FFT over typical data segments 200 m wide by 4000 m long. Before Fourier transforming, each data segment was detrended and padded with zeros so that the spectral resolutions were approximately dky = 2π/320 = 0.0196 rad m−1 and dkx = 2π/4000 = 0.0016 rad m−1 in the cross-track and along-track directions, respectively.
c. Data summary
In this statistical study all of the results are presented in nondimensional form. Here a brief summary of the data without normalization is provided. Figure 1 shows the 10-m wind speed U10, significant wave height Hs, dominant wavelength λp, and the alignment factor between the dominant wave direction θp and the wind direction θw, defined as cos(θw − θp), versus the average offshore distance along the dominant wave direction, or effective fetch Xe (Romero and Melville 2010a). The data from research flights (RFs) 5, 7, 9, and 10 are shown with circles, diamonds, stars, and squares, respectively. The 10-m wind speed was corrected from the measurements collected between 30 and 50 m above the mean sea level, including corrections due to atmospheric stability as described by Romero and Melville (2010a). For all four flights the wind speed shows a decreasing trend with increasing fetch, decaying on average from about 18 to 15 m s−1 within roughly 400 km. The significant wave height on average increases from 1.5 to 3.5 m, with most of the growth occurring within the first 100 km off the coast. The dominant wavelength increases from about 50 to 125 m. As discussed in Romero and Melville, the observed winds and the dominant waves at short fetches were typically oriented due south while rotating toward the west with increasing fetch. As shown in Fig. 1d, both wind and waves are mostly aligned, with the exception of a few data points from RF 5 that were collected near the western edge of the wind jet.
d. Data averaging
4. Results
a. Surface elevation and wave heights
The ATM measurements were bin averaged according to the nondimensional fetch χ and the total number of waves in a record as described in section 3, yielding several datasets, each covering an average area of 200 m by 70 km with approximately 2600 dominant waves, and four robust datasets with an average area of 200 m by 330 km and approximately 12 000 dominant waves at intermediate and large nondimensional fetches. Figures 2a,b show the steepness of the dominant waves 〈η2〉1/2kp, also referred to as the significant slope (Huang et al. 1981), and the RMSS
b. Local wave properties
Several studies in the literature have reported on empirical estimates of the joint probability distribution function of wave amplitudes (or heights) and periods from temporal field measurement collected at a point, for example, Longuet-Higgins (1975); Cavanié et al. (1976); Shum and Melville (1984), among others. A more recent study by Xu et al. (2004) derived the joint distribution of wave amplitudes and wavelengths, which compared favorably with laboratory observations. To our knowledge, field measurements of the joint distribution of wave amplitudes and wavelengths have not been made before. Here we present the statistics of local wave properties over a horizontal area, including wave elevation, wavelength, and wave slope calculated from the bandpassed data using the Hilbert transform (for details, see appendix A). The measurements are found to agree well with analytical linear models available in the literature.
Figure 5 shows the measured joint pdfs of dimensionless wavelengths λ′ = 1/k′ and wave amplitudes a′, where
The wave slope characterizes the nonlinearity of the wave field. Here, the wave slope vector
c. Lengths of contours and crests
The two-dimensional spatiotemporal data permit direct estimates of spatial information such as the lengths of crests exceeding threshold wave heights and slopes. Here the statistics of the length of contours surrounding large crests and the distributions of crest length per unit area are presented.
The crest lengths from the two-dimensional wave data were determined as follows. 1) The crests are identified by finding the areas that meet a threshold criterion, η > ηo or s > so, with an additional constraint that the local wave phase of the bandpassed ATM data are within ±10°, where Θ = 0° corresponds to a local maximum of η, thus avoiding negative elevations and zero crossings while restricting the analysis to the crests of the dominant waves. 2) The data are binarized where the thresholded areas are assigned to be equal to one and zero elsewhere. 3) Each binary wave front is contoured, the contour length is calculated, and each contour is fitted to an ellipse. 4) The crest length is approximated using the major axis of the ellipse, and the local wavenumber vector is determined from the mean wavenumber vector within the thresholded area. Figure 8 shows an example of the bandpassed filtered data with contours for different thresholds and sample ellipses fitted to the contours where η > 2.2ηrms.
5. Second-order stochastic simulations
In this section, we investigate the performance of second-order nonlinear Monte Carlo simulations to predict the statistics of crest lengths based on computed directional wavenumber spectra corresponding to research flight 5. This flight was selected because of its strong winds (see Fig. 1) and also because the modeled directional spectra gave the best agreement with the observations (Romero and Melville 2010b). The observed evolution of the significant wave height and dominant wavelength versus the fetch are shown in Figs. 1b,c, respectively. For reference, Figs. 5 and 8 in Romero and Melville (2010a) show examples of the observed directional and one-dimensional wavenumber spectra measured at various fetches.
The numerical wind wave model included forcing by the wind (Snyder et al. 1981), wave dissipation (primarily due to wave breaking), and nonlinear four-wave resonant interactions with the so-called exact method described in van Vledder (2006), based on the work by Tracy and Resio (1982) and Resio and Perrie (1991). The computed directional spectra were validated against the ATM observations, giving good agreement particularly for the lower moments of the spectra, but the directional spectra were in general narrower than the observations by about 10°. Figure 4 in Romero and Melville (2010b) shows a direct comparison between measured and simulated directional wavenumber spectra. For more details on the numerical simulations, see Romero and Melville (2010b).
The approach used for the stochastic simulations follows Forristall (2000). In this study, several linear two-dimensional spatial wave fields, of 5 m by 5 m resolution, approximately covering the same area as the ATM observations, were generated using the computed directional spectra and a uniformly random distribution of wave phases. Then, the second-order nonlinear correction was calculated from the kernels derived by Longuet-Higgins (1963), including a missing factor of ½ (Sharma and Dean 1979). The statistical analysis of the crest length per unit area
Means and standard errors of the moments of the spectrum where
The direct comparison between the measured statistics of the crest lengths and the nonlinear stochastic simulations is shown in Fig. 12 with
Means and standard errors of the moments of the measured and simulated spectra corresponding to RF 5, where mij (i = 0, 2; j = 0, 2) are the moments of the directional wavenumber spectrum defined in Eq. (3). The moments of the simulated data include the linear and second-order nonlinear wave fields computed from the full bandwidth and the bandpassed linear wave field with wavenumbers in the ranges 0.5kp< k1 < 1.75kp and −1.75kp < k2 < 1.75kp, with k1 corresponding to the dominant wave direction and kp is the wavenumber at the peak of the spectrum. The measured ATM spectra include a low-pass filter applied in the spatial domain to reduce the noise as described in section 5, as well as the full spectrum with the high wavenumber noise included.
6. Discussion and conclusions
The analysis of the measured surface waves showed that the significant slope and elevation skewness are weakly dependent on the dimensionless fetch, with the skewness nearly in agreement with that estimated from the Tayfun distribution (Socquet-Juglard et al. 2005) calculated from the measured significant slope. The kurtosis also shares a similar trend, generally decreasing with increasing nondimensional fetch. However, the measured kurtosis is always larger than that predicted by the narrowband Tayfun distribution. Contrary to the predictions by Mori and Janssen (2006), the maximum wave height observed Hmax/Hs is not correlated with the Benjamin–Feir index, with Hmax/Hs being nearly independent of fetch. The pdfs of the sea surface elevation calculated from the data show good agreement with the second-order narrowband distribution by Tayfun (1980), except for very large displacements and particularly for negative displacements, which may be attributed to higher order nonlinear effects and the lack of data at such low probabilities. In general, the exceedance probability of wave height calculated in the direction of the dominant waves using standard zero-crossing techniques shows a good agreement with the distributions by T90 and B00, with the Rayleigh distribution (Cartwright and Longuet-Higgins 1956) overestimating the observed wave height probabilities.
We presented empirical field measurements of the joint distribution of wave amplitudes and wavelengths from bandpassed data, giving a good agreement with the analytical solution derived by Xu et al. (2004), which to our knowledge had not been previously tested against measurements in the field. Following Longuet-Higgins (1957), a linear theoretical distribution of wave slope vectors p(s1, s2) was derived and shown to compare favorably with the measurements. However, the measured distributions of wave slope at large nondimensional fetches gave slightly reduced probabilities of finding steep waves in the direction orthogonal to the dominant waves. The measured distributions of wave slope moduli were shown to compare favorably with theoretical distributions. In particular, the derived distribution of wave slope vectors numerically integrated in azimuth gave excellent agreement with the observations, while the Rayleigh distribution served as an upper bound on the data.
The analytical solution describing the statistics of the length of contours per unit area derived by Longuet-Higgins (1957) was tested for the first time by field measurements. The results are in good agreement with the theory. A similar expression was derived for the lengths of contours bounding areas exceeding wave steepness thresholds. The data and the linear analytical approximation are also in good agreement. Based on an empirical relationship between the length of contour and the crest length, analytical approximations describing the distributions of the crests length with elevation and wave slope thresholds were obtained and shown to be in good agreement with the ATM observations.
The distribution of crest length per unit area
Acknowledgments
We acknowledge the collaboration of Carl A. Friehe and Djamal Khelif at the University of California, Irvine, in planning and conducting the GOTEX experiments and in help with the analysis of the atmospheric boundary layer data. We are grateful to Allen Schanot, Henry Boynton, Lowell Genzlinger, Ed Ringleman, and the support staff at the NCAR Research Aviation Facility. We thank Bill Krabill, Bob Swift, Jim Yungel, John Sonntag, and Robbie Russell at NASA/EG&G for access to the ATM, its deployment, and initial data processing. LR is thankful to Miguel Onorato for useful comments and discussions during preliminary stages of this work. This research was supported by grants to WKM from the National Science Foundation (OCE), the Office of Naval Research (Physical Oceanography).
APPENDIX A
Distributions of Local Wave Parameters
APPENDIX B
Crest and Contour Lengths
The relationship between the estimates of the crest length λc and the length of contour C for several surface elevation thresholds is investigated from their joint distribution, which is shown in Fig. B1. The data show that the population is dominated by both small crests and small contour lengths, with data distributed about a slope of 0.37, which is shown with a solid black line.
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This ambiguity is often resolved in real data by additional environmental information, including the wind direction and the source of the swell.