Extended Data Table 1 The Icefin vehicle carried 11 science sensors for hydrography and ice and sea-floor measurements during the Thwaites Glacier missions

From: Heterogeneous melting near the Thwaites Glacier grounding line

  1. All temperature, salinity and oxygen data were gathered by sensors in the vehicle forward module (Extended Data Fig. 1). Forward-looking sonar was used to drive the vehicle, providing 100 m forward perception that was used for risk avoidance, mission proximity operations and characterizing ice and sea floor. Forward and up/down cameras and lights characterized the ice base and sea floor when in close proximity. Icefin’s upward (or downward) altimeter and downward (or upward) DVL data (Extended Data Fig. 1) provide along-track ice and sea-floor elevation (Figs. 1–4). In addition to cross comparing with the onboard sensors, Icefin CT profile data from the ice base to the sea floor at the TEIS borehole were compared with CT profile data obtained by a Sea-Bird SBE 49 CTD profiler at the same location taken just before the Icefin dive. These comparisons derive offsets/root-mean-square residuals of C: 0.2862 mS cm−1/0.0031 mS cm−1 and T: 0.0236 °C/0.0026 °C. The fact that these residuals are lower than the manufacturer-stated accuracies gives confidence in the quality of data post-application.
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