An adaptive triggering method for capturing peak samples in a thin phytoplankton layer by an autonomous underwater vehicle

Thin layers of phytoplankton have important impacts on coastal ocean ecology. The high spatial and temporal variability of such layers makes autonomous underwater vehicles (AUVs) ideal for their study. We have used an AUV for obtaining repeated high-resolution surveys of thin layers in Monterey Bay, California. The AUV is equipped with ten "gulpers" that can capture water samples when some feature is detected. In this paper, we present an adaptive triggering method for an AUV to capture water samples at fluorescence peaks in a thin layer. The presented method is tested by AUV data from the 2005 Layered Organization in the Coastal Ocean (LOCO) field program in Monterey Bay. Field tests will be conducted in upcoming AUV cruises.