1. The Adaptive Sampling and Prediction (ASAP) Program A Multi-University Research Initiative (MURI) Learn how to deploy, direct, and utilize autonomous vehicles most efficiently to sample the ocean, assimilate the data into numerical models in real or near-real time, and predict future conditions with minimal error. Close the heat budget in a three dimensional upwelling center in a major eastern boundary current Princeton, NPS, Harvard, Caltech, MIT, Scripps, WHOI

2. ASAP Achievements Adaptively mapped a 20 km x 40 km box continuously for 25 days using 4 Spray and 6 Slocum gliders with autonomous coordinated control. Believed to be longest fully autonomous coordinated control of network of robotic vehicles in 3D environment. Data collected includes XXX profiles, designed to be maximally information rich. Coordinated complementary sampling: –Rapidly sampled boundaries of the region using the DORADO AUV as demanded. –Obtained 14 rapid synoptic scale surveys with a low-flying aircraft. –Moved moored current data to shore in real time using undersea networking. Assimilated data into HOPS, NCOM, and ROMS numerical models and produced updated nowcasts and forecasts every day throughout the month-long experiment. Developed new means to evaluate and compare model output. Developed and demonstrated a virtual control room using the collaborative ocean observatory portal (COOP) web page. The virtual control room allowed team members from any location to assess the state of the experiment, interactively study possibilities for adapting the experiment and participate in team decision making. Recorded all data and decision making activities in central archive. Allows future possibilities to gain from experience and automate and/or better aid decision making. Tightly integrated advanced methods of data collection, coordinated control, ocean modeling and supervisory human decision making to yield a uniquely efficient, robust and versatile ocean observing and prediction system.

3. Glider sampling performance during ASAP 2006 Results of automated coordinated control of 6 Slocum gliders, ASAP 2006