Gravity waves (GWs) are relatively small-scale dynamical phenomena that can shape the atmospheric structure and circulation by transporting energy and momentum across distances and atmospheric layers. Though excited mainly in the lower atmosphere, the primary wave influence of GWs occur in the middle and upper atmosphere due to decreasing density and increasing wave amplitudes with altitude. The dynamical effects of GW depend on their wavelength, frequency, and phase speed characteristics, which are mainly determined by their exciting sources, for example, orography, convection, and jet/front systems (Fritts & Alexander, 2003).Martian GWs have been detected using temperature or density profiles by remote sensing or in situ measurements. Rovers and landers such as Curiosity and InSight have detected GW signals near the surface, either excited by topography or convections (Banfield et al., 2020;Guzewich et al., 2021). Lower and middle atmospheric GW activity and their propagation are mainly observed through radio occultation and thermal infrared sounding by orbiters like the Thermal Emission Spectrometer (TES) onboard Mars Global Surveyor (MGS) and the Mars Abstract Gravity waves (GWs) are ubiquitous in the Martian atmosphere and critical for coupling the entire atmospheric system. Recent observations reveal a significant enhancement of thermospheric GW activity in global dust storm conditions, which could increase hydrogen escape. However, the source of these highaltitude GWs and their link to the lower atmosphere are still unknown. We investigate detailed GW distributions and evolutions in three altitude ranges covering the lower, middle, and middle-to-upper transition layers (Lp, Mp, and Hp) of the Martian atmosphere based on multiyear observations from Mars Climate Sounder. The nighttime Mp-layer GWs in the northern tropical region increase significantly after the peak time of regional dust storms, with potential energy 4 times larger than before or at other latitudes. These GWs correlate well with a zonally distributed detached dust layer during storm time, both of which may be generated by a tropical jet system. The upper atmospheric GWs observed during global dust storms are mainly excited in the Hp-layer (∼50-70 km) above the main dust layer, except for Mars year 28 global dust storm, when the polar jet in the Mp-layer (∼30-50 km) at high northern latitudes may be a major excitation source.Plain Language Summary Gravity waves (GWs), a common phenomenon often experienced when encountering airplane turbulence, are important for the movement and structure of the Martian atmosphere. Recent observations found that in very large dust storms spreading over the entire planet, GW activity at an altitude above ∼80 km strongly increases and can promote the process of water escape from Mars. However, the source of these high-altitude GWs and their connection with the lower atmosphere is still unknown. This work studied the detailed GW distribution and evolution throughout the Martian atmosphere from near the ground to ...

The study of dynamic features of the ocean, in which complex physical, chemical, and biological interactions evolve on multiple time scales, poses significant sampling challenges because the required spatial and temporal resolutions are not possible by ship or satellite studies alone. Satellite remote sensing captures only surface effects while expensive research vessels can only make discrete observations in finite periods of time. Our work with networked marine robotics in the aerial, surface, and underwater domains is at the vanguard of a new approach to scientific exploration and observation, which brings together several technologies to enable oceanographic vessels and robots to work in tandem, thus expanding the observational footprint of these vessels. We describe a scientific cruise in the Spring of 2018 in the open waters of the Pacific where we deployed a fleet of autonomous robots to demonstrate this approach for the synoptic observation of mesoscale and sub-mesoscale features of a frontal zone. We articulate the elements and methods to multi-vehicle coordination and challenges that lie ahead in ocean observation.