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1029/2009JE003542, 2010
1. Introduction (2–20 days) are known to exist and are attributable to plan-
etary wave modulations of tidal components and the side-
[2] Solar thermal tides represent an important mechanism
band (“sum” and “difference”) waves that are generated by
for vertically coupling the lower, middle, and upper atmo-
planetary wave‐tide nonlinear interactions [Beard et al.,
spheres of Earth and Mars [e.g., Forbes and Garrett, 1979;
1999; Cevolani and Kingsley, 1992; Kamalabadi et al.,
Moudden and Forbes, 2008a; Forbes and Miyahara, 2006].
1997; Palo et al., 1999; Pancheva, 2000; Teitelbaum and
Because the rotation rates of Earth and Mars are so close,
Vial, 1991]. The interaction referred to here arises because
atmospheric tides on the two planets share many similarities
of the nonlinear advection of momentum and heat in the
[Lindzen, 1970]. In Earth’s atmosphere, insolation absorp-
presence of independently generated vertically propagating
tion by tropospheric water vapor and stratospheric ozone
waves at or below the altitude of interest. For instance,
excite vertically propagating diurnal and semidiurnal tides,
consider the interaction of the migrating semidiurnal tide
respectively, that are dominated by a Sun‐synchronous (SW2) with the quasi 2 day wave (QTDW). The QTDW is a
component that “migrates” westward at the speed of the Sun
mesospheric oscillation common to the summer season of
to a ground‐based observer. Local time variations due to
each hemisphere and is traditionally thought to be a west-
migrating tides are invariant with longitude. Insolation
ward propagating Rossby normal mode [Salby, 1981a,
absorption by dust on Mars excites a vertically propagating
1981b] with s = 3. The SW2‐QTDW interaction consists of a
semidiurnal tide with attributes similar to the ozone‐forced
2 day modulation of SW2 or, equivalently, two sideband or
tide in Earth’s atmosphere [Leovy and Zurek, 1979; Forbes
secondary (“sum” and “difference”) oscillations: a westward
and Miyahara, 2006]. Important “nonmigrating” tides in
propagating wave with a 9.6 h period and s = 5 and a
Earth’s atmosphere are forced by latent heating due to deep
16 h period eastward propagating wave with s = −1. These
tropical convection, which is strongly influenced by the
sidebands have been observed in wind spectra of the meso-
land‐sea distribution [Forbes et al., 2001] in much the same sphere and lower thermosphere [e.g., Cevolani and Kingsley,
way that Mars’ topography modulates the excitation of
1992] and, moreover, have been simulated within a terrestrial
thermal tides near its surface [Conrath, 1976; Zurek, 1976;
general circulation model (GCM) [Palo et al., 1999] and
Moudden and Forbes, 2008b]. shown to propagate well into the thermosphere as indepen-
[3] Another shared characteristic of Earth’s and Mars’
dent oscillations above the region of excitation.
atmospheres is that planetary waves do not propagate above
[4] Given that traveling planetary waves and thermal tides
∼100 km because of mean wind filtering and dissipation of
are also known to exist in Mars’ atmosphere [Banfield et al.,
these low‐frequency waves. However, in Earth’s thermo-
2004; Wilson et al., 2002; Collins et al., 1995; Wilson, 2002;
sphere and ionosphere, oscillations at planetary wave periods
Forbes and Hagan, 2000], one might ask what the analogous
situation might be for Mars’ atmosphere above 100 km.
1
Department of Aerospace Engineering Sciences, University of
[5] There is an extensive amount of study devoted to the
Colorado at Boulder, Boulder, Colorado, USA. observation and simulation of planetary waves in Mars’
atmosphere. Both Viking landers showed a consistent pattern
Copyright 2010 by the American Geophysical Union. of two dominating periods in planetary waves (PWs).
0148‐0227/10/2009JE003542
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E09005 MOUDDEN AND FORBES: WAVES INTERACTION ON MARS E09005
According to Barnes [1980a, 1980b], these landers show a In the above, one can see that the produced waves have the
dominating period in the range of 2–3 Martian solar days sums and differences of the time frequencies and zonal wave
(sols) and a secondary period in the range of 6–7 sols with numbers, respectively, as their proper frequencies and zonal
zonal wave numbers between 1 and 4. The Thermal Emis- wave numbers. When the planetary wave has a relatively
sion Spectrometer’s (TES) [Christensen et al., 1998] tem- long period (d 1), n + d and n − d are usually very close to
perature profiles helped in the understanding of the n. In a time‐frequency spectrum, the secondary waves appear
longitudinal and vertical structures of PWs. Banfield et al. as two sidebands on either side of the tide with a shift in
[2004] detected a clear dominance of the zonal wave num- frequency equal to the planetary wave’s frequency d. It is
ber 1 in the TES profiles. Other zonal wave numbers (2 and 3) these frequency shifts that indicate nonlinear interaction, a
are confined near the surface with negligible amplitudes in feature not captured in classical tidal theory.
the rest of the atmosphere. According to Banfield et al. [8] In a local time frame,
[2004], the strongest PWs have their highest amplitudes
around the winter polar jet near the northern winter solstice
t‘ ¼ t þ sol; ð1Þ
(solar longitude (Ls) = 270°). These waves with amplitudes 2
up to 20 K are mostly located at high latitudes and extend
a tide of the form cos(nWt + sl) appears as a wave of the
vertically with periods ranging from 2.5 to 30 sols.
form
[6] Our knowledge of thermal tides in Mars’ aerobraking
region (∼100–160 km) is largely due to measurements of cosðnWt‘ þ ðs nÞÞ; ð2Þ
longitudinal variations in density, as viewed from Sun‐
synchronous orbit, which are now generally attributed to with a zonal wave number s − n. A secondary wave pro-
nonmigrating thermal tides [Wilson, 2002; Forbes and duced by a planetary wave‐tide interaction appears as a
Hagan, 2000]. Mars Global Surveyor (MGS) and Mars wave of the form
Reconnaissance Orbiter (MRO) accelerometer measure-
ments revealed that the Martian thermospheric densities cos½ðn ÞWt‘ þ ðs m n Þ; ð3Þ
undergo up to 30%–50% orbit‐to‐orbit variability [Tolson
et al., 1999, 2008] and 15%–20% day‐to‐day variability where s ± m − n ∓ d is the apparent zonal wave number in a
[Withers et al., 2003]. Specifically, one might ask what constant local time frame.
sort of density variability exists in Mars’ aerobraking [9] In the above, one can see the equivalency between
region owing to planetary wave modulation of tides? In time and longitude in a fixed local time configuration.
this paper, through analysis of MGS and MRO aerobraking Spectral analysis of a field containing waves of the form in
densities, we demonstrate that sideband waves exist near (2) or (3) equally informs us about n and s and therefore the
“tidal” spectral peaks in the longitude domain as would be time and longitude features of the wave. It can also be
expected from planetary wave‐tide interactions. directly seen in (1), where time and longitude are propor-
tional to each other while local time is constant. This time‐
longitude equivalency allows us to transition seamlessly
between time and longitude and affects the wording used in
2. Principles of Wave Interaction this paper.
[7] Solar thermal tidal oscillations of various quantities [10] Throughout the remainder of this paper, we utilize the
(e.g., temperature, density, wind) in Mars’ and Earth’s notation DWs or DEs to denote a westward or eastward
atmospheres are generally represented in the form cos(nWt + propagating diurnal tide, respectively, with zonal wave
sl), where l denotes the longitude, W is the planetary rota- number s. For semidiurnal and terdiurnal oscillations, “S”
tion frequency, s is the zonal wave number, and t is time; and “T” replace “D.” The standing oscillations are denoted
here n = 1, 2, and 3 corresponds to diurnal, semidiurnal, and D0, S0, and T0. Planetary waves are abbreviated as PWs.
terdiurnal tides, respectively. In this notation, and where s The secondary waves resulting from a tide’s modulation by
can be positive or negative, the phase speed −nW/s > 0 (< 0) a planetary wave are indicated by adding superscript plus
corresponds to eastward (westward) zonal propagation. The and minus to the tide’s abbreviation. For example, DW1+
special case s = n corresponds to a phase speed of −W, which and DW1− refer to the secondary waves produced by the
is the westward migration speed of the Sun to a ground‐ diurnal migrating tide having a frequency of 1 + d and 1 − d,
based observer. These Sun‐synchronous tides are referred to respectively.
as “migrating” tides, whereas the remainder are called
“nonmigrating” tides. The same notation applies to a plan-
etary wave: cos(dWt + ml) describes a single planetary wave 3. Signature of Wave Interaction in MGS
having a frequency d (per sol) and a zonal wave number m. Aerobraking Densities
Since planetary waves have larger periods than tides, d is [11] Aerobraking densities are currently the only data sets
expected to be less than 1 (d < 1 usually d 1) which is the suitable for searching for any PW‐tide interaction signatures.
frequency of the diurnal tides (1 cycle per sol). The modu- MGS density observations used in this study were collected
lation of tides by the slower (in terms of phase speed) during the aerobraking phase of the MGS spacecraft
planetary waves is expected to yield secondary waves in the [Keating et al., 1998], which required more than 1200 orbits
following manner: to bring the apoapsis to the desired altitudes. The phase I
portion of the aerobraking lasted for about 200 orbits, the
½cosðWt þ mÞ cosðnWt þ sÞ ¼ 1=2 cos½ðn þ ÞWt þ ðs þ mÞ
periapsis (the closest the spacecraft comes to the planet)
þ1=2 cos½ðn ÞWt þ ðs mÞ: latitudes were mostly in the 40°N–60°N band, and the local
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E09005 MOUDDEN AND FORBES: WAVES INTERACTION ON MARS E09005
3 of 8
E09005 MOUDDEN AND FORBES: WAVES INTERACTION ON MARS E09005
Figure 2. Constructed MGS aerobraking density map from a succession of 360° longitude maps in the
near‐Sun‐synchronous portion of aerobraking (see Figure 1). Each increment of 1 along the x axis
corresponds to a complete coverage of Mars in longitude by MGS.
Figure 3. (left) Three density times series at selected latitudes extracted from the data set in Figure 2 and
(right) their spectral analysis. The dominant planetary wave frequency in each spectrum is represented by d.
4 of 8
E09005 MOUDDEN AND FORBES: WAVES INTERACTION ON MARS E09005
Table 1. Possible Tides Seen as Major Peaks (Integer Values) in right sideband at 1 + d in Figures 3d and 3f can, however, be
Figure 3 attributed to PW interaction with migrating tides.
s−n
[18] Figure 3d shows the spectrum of MGS densities at
36°S shown in Figure 3c. Here again all sidebands point to a
shift in frequency equal to 1/9 sol−1. The zonal wave
0 1 2 3 4
a
DW1 D0 DE1 DE2 SE2 number of the PW is more likely to be m = 0 or m = ±1. This
SW2a SW1 S0 SE1 of course assumes that the PW has a direct signature in the
TW3a TW1
spectrum through a local presence. We actually have no way
a
Migrating tides. to determine that without other observations. There are
multiple sidebands surrounding the frequency 1, and they all
correspond to successive increments of d = 1/9 sol−1. Mul-
total) that flank the different integers (0, 1, 2, and 3) and tiple sidebands of the same frequency could be due to a
correspond to a shift in frequency equal to 1/9 sol−1. strong PW’s autointeraction, in which case m = ±1, or to a
Although the spectrum is of a pseudolongitude series and PW’s interaction with strong secondary waves. At 70°S, the
the frequency should be 1/9 (2p)−1, we use sol−1 as a unit shift in frequency is equal to 1/8 sol−1 (Figure 3f). We need
since time and pseudolongitude are equivalent, as explained to point to the importance of the length of the density series. It
above. This indicates the likely presence of a planetary wave is about 11 × 2p in Figure 3e and about 15 × 2p in Figures 3a
of a period of 9 sols, either locally or in remote regions. The and 3c. This length directly affects the aptitude of the least
sidebands can either be a signature of the PW itself, in squares spectral analysis to accurately resolve small fre-
which case we are dealing with a locally and directly quencies. Theoretically, the cutoff frequency in Figure 3f is
observed PW, or, more likely, an interaction that takes about 1/11 sol−1 which is very close to the targeted fre-
places at lower altitudes with solar tides, in which case the quencies here (1/8 or 1/9 sol−1), and it is possible that all the
sidebands are a signature of the interaction. In the first case frequency shifts in Figures 3b, 3d, and 3f are produced by
(local PW presence), the frequency corresponding to the the same planetary wave.
sideband informs us about the values of m − d; in the second
case (remote PW interaction), it informs us about the pos- 4. Signature of Wave Interaction in MRO
sible values of s ± m − n ∓ d. Since we have no way of
Aerobraking Densities
independently inferring the value of m (the PW’s zonal
wave number), we cannot determine which sidebands, if [19] The MRO aerobraking experiment offers similar
any, are due to a local presence of a PW; m = 0, ±2, or ±3 density data sets to MGS and an additional opportunity to
are all possible values in Figure 3b. Since the simultaneous search for PW‐tide interactions. Densities used in this study
presence of several PWs with different zonal wave numbers were collected during the main phase of aerobraking that
m and exactly the same period (9 sols) is unlikely, we lasted nearly 5 months and 500 orbits. Figure 4 shows the
deduce that at least some of the sidebands are the result of altitude, local time, and latitude of the periapsis of each
PW‐tide interactions that take place remotely at lower alti- orbit. The altitude remained between 100 and 110 km, and
tudes and propagate to aerobraking altitudes. We thus know starting from orbit 197, the local time was between 0300
that some and probably most of the sidebands are a measure and 0320 LST. During the same period, the latitude pro-
of s ± m − n ∓ d. The issue remains that this is largely gressively shifted from 80°S to 7°S. These important orbit
an underdetermined problem; that is, we know the values of features allowed us to construct near‐Sun‐synchronous
s ± m − n ∓ d, and consequently, we know the values of s ± density maps that cover the southern hemisphere. As was
m − n (since d is the only noninteger), which constitutes a done with the MGS densities, successive MRO passes were
single piece of information for three unknowns: s, m, and n. used to construct longer density series suitable for the
So delineating the individual parent waves responsible for detection of multisol period waves. All densities measured
the sidebands is mathematically not possible. within 20 km of periapsis are used and normalized to an
[17] We do, however, know the different tides responsible altitude of 100 km. The resulting density map is shown in
for major integer peaks in Figure 3 and the ones likely to Figure 5. Figure 5 is similar to Figure 2 and can be regarded
produce the sidebands. Table 1 shows the dominant tides at as a continuous succession of individual maps each cover-
higher altitudes in the atmosphere of Mars likely to produce ing 360°in longitude.
the major tidal peaks in Figure 3 [Moudden and Forbes, [20] The result of the spectral analysis at three represen-
2008b]. Table 2 shows the possible tides responsible for tative latitudes (30°S, 59°S, and 75°S) is shown in Figure 6.
the sidebands in the case of m = −1 as given by Banfield As the length of the density series increases from Figures 6a,
et al. [2004]. The s ± m − n values in Table 2 represent 6c, and 6e (see Figure 5), the spectral resolution improves
the integer values in the x axes of Figures 3b, 3d, and 3f. The accordingly (Figures 6b, 6d, and 6f). Contrary to MGS
s − n values indicate the apparent zonal wave number in a
Sun‐synchronous frame of the tides involved in possible Table 2. Possible Tides Responsible for Producing the Sidebands
interactions (assuming that m = −1). Note that tides that in Figure 3
produce a major peak are not the ones producing the side- s±m−n=1 s±m−n=2 s±m−n=3
bands in this case where m = −1. It is important to know that
s−n=0 s−n=2 s−n=1 s−n=3 s−n=2 s−n=4
the migrating tides which produce a value of s − n = 0
− −
cannot be seen in Figures 3b, 3d, and 3f since they con- DW1 +
DE1 D0 +
DE2 DE1 +
SE2−
tribute to the average value which is usually higher. The SW2+ S0− SW1+ SE1− S0+
TW3+ TW1− TW1+
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E09005 MOUDDEN AND FORBES: WAVES INTERACTION ON MARS E09005
Figure 5. Constructed MRO aerobraking density map from a succession of 360° longitude maps in the
near‐Sun‐synchronous portion of aerobraking (see Figure 4). Each increment of 1 along the x axis
corresponds to a complete coverage of Mars in longitude by MRO.
6 of 8
E09005 MOUDDEN AND FORBES: WAVES INTERACTION ON MARS E09005
Figure 6. (left) Three density series at selected latitudes extracted from the data set in Figure 5 and
(right) their spectral analysis.
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