Geodetic observations in the oceans are important for understanding plate tectonics, earthquake cycles and volcanic processes. One approach to seafloor geodesy is the use of seafloor pressure gauges to sense vertical changes in the elevation of the seafloor after correcting for variations in the weight of the overlying oceans and atmosphere. A challenge of using pressure gauges is the tendency for the sensors to drift. The A-0-A method is a new approach for correcting drift. A valve is used to periodically switch, for a short time, the measured pressure from the external ocean to the inside of the instrument housing at atmospheric pressure. The internal pressure reading is compared to an accurate barometer to measure the drift which is assumed to be the same at low and high pressures. We describe a 30-months test of the A-0-A method at 900 m depth on the MARS cabled observatory in Monterey Bay using an instrument that includes two A-0-A calibrated pressure gauges and a three-component accelerometer. Prior to the calibrations, the two pressure sensors drift by 6 and 2 hPa, respectively. After the calibrations, the offsets of the corrected pressure sensors are consistent with each other to within 0.2 hPa. The drift corrected detided external pressure measurements show a 0.5 hPa/yr trend of increasing pressures during the experiment. The measurements are corrected for instrument subsidence based on the changes in tilt measured by the accelerometer, but the trend may include a component of subsidence that did not affect tilt. However, the observed trend of increasing pressure, closely matches that calculated from satellite altimetry and repeat conductivity, temperature and depth casts at a nearby location, and increasing pressures are consistent with the trend expected for the El Niño Southern Oscillation. We infer that the A-0-A drift corrections are accurate to better than one part in 10⁵ per year. Additional long-term tests and comparisons with oceanographic observations and other methods for drift correction will be required to understand if the accuracy the A-0-A drift corrections matches the observed one part in 10⁶ per year consistency between the two pressure sensors.

Autonomous platforms already make observations over a wide range of temporal and spatial scales, measuring salinity, temperature, nitrate, pressure, oxygen, biomass, and many other parameters. However, the observations are not comprehensive. Future autonomous systems need to be more affordable, more modular, more capable and easier to operate. Creative new types of platforms and new compact, low power, calibrated and stable sensors are under development to expand autonomous observations. Communications and recharging need bandwidth and power which can be supplied by standardized docking stations. In situ power generation will also extend endurance for many types of autonomous platforms, particularly autonomous surface vehicles. Standardized communications will improve ease of use, interoperability, and enable coordinated behaviors. Improved autonomy and communications will enable adaptive networks of autonomous platforms. Improvements in autonomy will have three aspects: hardware, control, and operations. As sensors and platforms have more onboard processing capability and energy capacity, more measurements become possible. Control systems and software will have the capability to address more complex states and sophisticated reactions to sensor inputs, which allows the platform to handle a wider variety of circumstances without direct operator control. Operational autonomy is increased by reducing operating costs. To maximize the potential of autonomous observations, new standards and best practices are needed. In some applications, focus on common platforms and volume purchases could lead to significant cost reductions. Cost reductions could enable order-of-magnitude increases in platform operations and increase sampling resolution for a given level of investment. Energy harvesting technologies should be integral to the system design, for sensors, platforms, vehicles, and docking stations. Connections are needed between the marine energy and ocean observing communities to coordinate among funding sources, researchers, and end users. Regional teams should work with global organizations such as IOC/GOOS in governance development. International networks such as emerging glider operations (EGO) should also provide a forum for addressing governance. Networks of multiple vehicles can improve operational efficiencies and transform operational patterns. There is a need to develop operational architectures at regional and global scales to provide a backbone for active networking of autonomous platforms.

Workshop participants divided into focus groups to consider resident autonomous undersea vehicle (R-AUV) use cases related to these four application areas: mid-ocean ridges and the overlying water column; gas hydrates and coastal oceans; polar, under-ice, and off-planet oceans; and maintenance and operation of installations.

The following technical elements emerged as clear common themes across R-AUV deployment scenarios: power and data management sub-systems, communications, navigation, capable sensor and payload systems, advanced autonomy functions. The single most important conclusion of the workshop is that incremental technological steps toward realizing routine R-AUV operations could yield revolutionary scientific and operational value.