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CITATION Clague, D.A., J.B. Paduan, D.W. Caress, W.W. Chadwick Jr., M. Le Saout, B.M. Dreyer, and R.A. Portner. 2017. High-resolution AUV mapping and targeted ROV observations of three historic lava flows at Axial Seamount.Oceanography 30(4):82–99, https://doi.org/10.5670/oceanog.2017.426.
DOI https://doi.org/10.5670/oceanog.2017.426
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High-Resolution AUV Mapping and Targeted ROV Observations of Three Historical Lava Flows at Axial Seamount
By David A. Clague, Jennifer B. Paduan, David W. Caress, William W. Chadwick Jr., Morgane Le Saout, Brian M. Dreyer, and Ryan A. Portner
MBARI’s autonomous underwater vehicle. Photo credit: Phil Sammet
82 Oceanography | Vol.30, No.4 ABSTRACT. The lava flows produced by eruptions at Axial Seamount in 1998, using remotely operated vehicles (ROVs), 2011, and 2015 were mapped at 1 m resolution from autonomous underwater vehicles has enabled development of eruptive and (AUVs) developed at the Monterey Bay Aquarium Research Institute (MBARI). tectonic histories of Axial Seamount A portion of the flows erupted in 2011 and 2015 are defined by pre- and post- and of the Endeavour Segment of the eruption AUV surveys. Data processing software, also developed at MBARI, precisely Juan de Fuca Ridge (Clague et al., 2013, coregisters pre- and post-eruption surveys to allow construction of difference maps 2014) that enhance study of recent vol- by subtracting a pre-eruption grid from a post-eruption grid. Such difference maps canic and hydrothermal activity on mid- are key to extracting detailed information about eruptive processes and emplacement ocean ridges. High-resolution mapping of the lava flows. All three eruptions began on the east side of the caldera, and each has also illuminated the distribution of produced ~25 × 106 m3 of thin channelized flows (with sheet lava channels, lobate lava eruptive and non-eruptive fissures, and interiors with pillars, and distal inflated pillow lobes) in the caldera and on the upper the relation of flow types and fissures to south or north rifts. The 1998 and 2011 eruptions propagated down the south rift, pre- and syn-eruptive geophysical obser- and the 2015 eruption propagated down the north rift. The 2011 and 2015 eruptions vations. The mapping data also permit formed shallow grabens surrounding new non-eruptive open fissures on the east rim accurate calculation of flow volumes, of the caldera and produced thick hummocky flows on upper to mid rifts, and the but uncertainties in eruption duration 2011 eruption also produced a thick hummocky flow on the lower south rift. Future still hamper determination of eruption eruptions at Axial Seamount will likely follow this pattern, regardless of which rift is rates. The scientific results made pos- the locus of the eruption. sible by these Monterey Bay Aquarium Research Institute (MBARI) technologi- INTRODUCTION detected a 2015 eruption in real time at cal advancements in high-resolution sea- The most voluminous volcanic activity Axial Seamount that triggered a rapid floor mapping are outlined here as part on Earth occurs in the deep sea (Crisp, response cruise (Chadwick et al., 2016). of this special issue celebrating MBARI’s 1984) along the global 65,000 km-long Axial Seamount is a submarine vol- 30-year anniversary. mid-ocean ridge system. Despite the cano astride the Juan de Fuca Ridge, high frequency of submarine eruptions 400 km offshore the US Pacific Northwest MAPPING AUV SURVEYS AT required to construct oceanic crust, these (Figure 1). It has a horseshoe-shaped AXIAL SEAMOUNT eruptions are rarely detected and even 3 × 8 km summit caldera that is deepest One of the primary tools for building more rarely studied in detail to under- to the northeast and whose rim is buried understanding of submarine eruptive stand eruption processes and lava flow by lava flows to the southeast. The sum- processes is the ability to map the lava emplacement in the submarine realm mit is connected to north- and south- flows and eruptive fissures at high res- (e.g., Fornari et al., 2012; Rubin et al., trending rift zones (Figure 1) and rises olution. Mapping of lava flows on the 2012). Historical submarine eruptions on to a depth of ~1,367 m with the shallow- ridge system using images from ship- mid-ocean ridges have been discovered est area on the southwest rim. The three based sonars, towed side-scan sonars and by water-column surveys that detected detected eruptions at Axial Seamount in cameras, and bottom observations from large water masses with temperature and 1998, 2011, and 2015 are the most recent submersibles began in the late 1970s chemical anomalies (megaplumes) above of >50 mapped lava flows emplaced in the (e.g., Ballard and van Andel, 1977; Ballard eruption sites, during submersible dives last 1,600 years (Clague et al., 2013). et al., 1979). More recent observation and that serendipitously encountered new High-resolution autonomous under- sampling studies have used ROVs that glassy lava flows, by repeat bathymetry water vehicle (AUV) bathymetric map- are spatially located using GPS-based surveys that revealed depth changes of the ping data of the historical flows on Axial long-baseline or ultra-short baseline nav- seafloor, or by recording of seismic activ- Seamount have illuminated how effu- igation. AUV mapping technology and ity on hydrophone arrays that accompa- sive lava flows are emplaced under vary- data processing techniques developed at nied these explorations. Most recently, ing eruptive conditions and the dynam- MBARI have focused on sites of histor- instruments on the Ocean Observatory ics of eruptive activity (Caress et al., 2012; ical (since the mid-1980s) eruptions on Initiative (OOI) cabled undersea net- Chadwick et al., 2013, 2016; Yeo et al., the Juan de Fuca and Gorda Ridges off- work (Kelley et al., 2014, 2015; Wilcock 2013). The mapping, combined with shore northwestern North America. Lava et al., 2016; Nooner and Chadwick, 2016) lava and sediment core sample collection flows produced during these eruptions
Oceanography | December 2017 83 were studied in considerable detail soon a single, comprehensive AUV navigation capable of eight-hour surveys covering after their discovery (e.g., Fox et al., 1992; model. The surveys were conducted with 30 km of survey lines; by 2016, two AUVs Embley et al., 1995, 1999, 2000; Chadwick AUV altitudes between 50 m and 90 m, were operated simultaneously with each and Embley, 1998; Chadwick et al., 1998) with most at 50 m altitude. The current achieving 17-hour survey durations for a and provide context for high-resolution coverage at Axial encompasses 290 km2, total 160 km of surveying per day, along mapping data. including significant areas resurveyed with a fivefold increase in bathymet- Between 2006 and 2016, MBARI map- after the 2011 and 2015 eruptions to ric sounding density. Equally significant, ping AUVs (Caress et al., 2008) col- detect seafloor change. the MB-System software package used lected 1 m lateral, 10 cm vertical resolu- The submarine volcanic process stud- for survey planning and data processing tion bathymetry and side-scan data on ies undertaken at Axial Seamount require (Caress and Chayes, 1996, 2011; Caress Axial Seamount during 37 surveys as part well-navigated, repeatable, efficiently col- et al., 2008) has evolved to solve the prob- of six expeditions on four research ships. lected high-resolution seafloor mapping lems particular to surveying challenging The MBARI surveys were augmented data at depths ranging from 1,400 m to submarine topography. The near-vertical using Woods Hole Oceanographic over 2,500 m. Over the past 15 years, walls of Axial caldera required automated Institution’s (WHOI’s) AUV Sentry for these science requirements have helped pre-planning of the AUV vertical tra- four surveys in 2015, and five in 2017. All to drive continuing innovation in auton- jectory to avoid bottom crashes, and the 41 surveys completed by 2016 have been omous vehicle, sensor, and data process- high and narrow walls of some drained coregistered spatially by matching fea- ing technologies. MBARI began these lava ponds require multistage missions tures in overlapping data and solving for surveys with a single mapping AUV combining sections of constant depth and constant altitude operation. For any deep-ocean AUV-based sea- floor survey, the primary data processing challenge is achieving navigational accu- NorNorth racy similar to the 1 m bathymetric lateral RRiiftft resolution. Although the inertial naviga- Zone tion system (INS) used on MBARI AUVs Caldera limits navigational errors to 0.05% of dis- tance traveled, this translates to as much as 40 m accumulated error for an 80 km trackline survey. Coregistration within and between surveys at the 1 m level is attained by measuring both the lat- eral and the vertical navigational offsets required to match bathymetric features SouthSouth in crossing and overlapping swaths, and RRiifftt then solving for an optimal navigational Zone 45°N model fitting those features while also sat- isfying known feature positions (e.g., vent chimney locations from ROV dives) and minimizing perturbations to vehi-
40°N cle speed. On Axial Seamount, the cal- 130°W 125°W dera floor uplifts slowly as the subsurface magma reservoir inflates and subsides rapidly during eruptions that drain the reservoir (Nooner and Chadwick, 2016). Consequently, bathymetric changes reflect both lava emplacement and verti- cal deformation associated with the erup- FIGURE 1. Oblique view of Axial Seamount. View is to the north and has 3x vertical exaggera- tion cycle. Because it measures horizontal tion with the color ramp from 3,000 m to 1,300 m. The north and south rifts are labeled, as is the and vertical navigation offsets required to summit caldera. Inset shows location of Axial Seamount offshore Oregon and Washington. S is Seattle, P is Portland, G is Gorda Ridge, and JdF is Juan de Fuca Ridge. The gray box is the extent match features, the MB-System naviga- of the map in Figure 2a. tion adjustment tool allows differencing
84 Oceanography | Vol.30, No.4 repeated and coregistered AUV bathym- of sediment cores on the flows, show that 2016). Where flows covered ground that etry surveys to quantitatively measure Axial Seamount has erupted >50 times had only been mapped at low resolu- both types of seafloor change. in the past 1,600 years. The backscatter tion before the eruptions, calculations These advances in data collection and mapping data define regions around the were imprecise, but the post-eruption processing have allowed us to success- summit where volcaniclastic sediments high-resolution maps revealed import- fully address increasingly ambitious sci- blanket the surface and provide a guide ant details obscured in lower-resolution entific questions at Axial Seamount. The to sampling of those deposits (Helo et al., post-eruption ship-based data. The repeat historic flows have now been completely 2011; Portner et al., 2015). surveys used to define the extent of new mapped at high resolution (Caress et al., Difference maps of 1 m resolution flows can also be used to measure vertical 2012; Chadwick et al., 2013, 2016), and a pre- and immediately post-2011 erup- deformation associated with subsurface geological and petrological history of the tion AUV surveys (Caress et al., 2012) magma accumulation between eruptions caldera floor, rim, and upper south rift precisely defined, for first time, new sub- and discharge during eruptions (Caress has been developed (Clague et al., 2013; marine lava flows and their volumes even et al., 2015, 2016). The summit and the Dreyer et al., 2013). The many flows where they are only about 20 cm thick. neo-volcanic axes of the north and south defined in the mapping data, when com- Similar difference maps defined lava rift zones are now mapped at high res- bined with radiocarbon ages of the base flows erupted in 2015 (Chadwick et al., olution (Figure 2). The hope is that
6A FIGURE 2. (a) Axial Seamount a b 6B c Figure 9 46°8'N ship bathymetry (faded) under- 6C lying autonomous under- 10E water vehicle (AUV) 1 m res- Figure 3 46°10'N 10D olution coverage. The shape of the axial magma cham- c ber (AMC) is indicated by the black dashed line, from Arnulf North Rift Zone
45°56'N et al. (2014). Gray boxes in (a) 46°6'N show extents of panels (b) and (c), which are at the same scale, and yellow boxes on (a)–(c) show extents of sub- sequent map figures. Color
46°0'N Caldera ramp is from 2,550–1,375 m depth (blue to orange). (b) The
45°54'N flows of 1998 (Chadwick et al., 46°4'N 2013) and 2011 (modified from Figure 8 Caress at al., 2012). Color ramp is 2,300–1,390 m depth 10C (blue to orange). (c) The 2015 b flows in the summit caldera, on the northeast rim, and in 0 1 0 1 the north rift zone (modified 45°50'N Figure 4 45°52'N km km 46°2'N from Chadwick et al., 2016). Color ramp is 2,300–1,390 m 130°0'W 129°58'W depth (blue to orange). Flow outlines (solid lines) and fis- sures (dotted lines) on sub- Lava ows 10B sequent maps use the same South Rift Zone 2015 10A colors. Labeled stars indi- 2011 cate locations of images in
46°0'N Figures 6 and 10. 1998
45°40'N Figure 5 Fissures 2015 Figure 7 2011 Figure 3 1998
0 5 Images 6A 45°58'N 6B km AMC 6C 130°0'W 129°50'W 130°0'W 129°58'W
Oceanography | December 2017 85 future eruptions at Axial Seamount will 1999; Chadwick et al., 2013). A differ- margins, lobate and drained flow interi- occur where high-resolution bathyme- ence map, subtracting the pre-eruption ors (with lava pillars), and the full range try now exists. grid from the post-eruption grid, only of sheet flow morphologies in channels. The lava flows erupted in 1998 were clearly detected the distal pillow lobes, All are considered to be facies within mapped in their entirety after the erup- as the rest of the flows were too thin. The map-scale channelized flows. tion as described in Chadwick et al. co-eruption earthquake swarm recorded The 1998 eruption produced four (2013), so we will briefly summarize their by the SOSUS hydrophones continued channelized flows from 11 en echelon dis- continuous fissures spread over 11 km (Chadwick et al., 2013). The distal south- ernmost lava flow consisted of a shingled sequence of distal pillow lobes up to 26 m thick where it flowed down a moderate For any deep-ocean AUV-based seafloor slope east of the south rift. The northern- survey, the primary data processing challenge most flow also evolved into pillow lobes up to 13 m thick at the ends of channel- is achieving navigational accuracy similar to ized flows that had well-developed prox- “ the 1 m bathymetric lateral resolution. . imal sheet lava channels. Chadwick et al. (2013) estimated that the eruption pro- duced ~31 × 106 m3 of lava, although this volume is less precise than estimates for the 2011 or 2015 eruptions because the pre- ” eruption surface is defined from much- results and add some new observations. ~50 km down the south rift (Dziak and lower-resolution ship-based bathymetry, The 2011 lava flows were mainly emplaced Fox, 1999), but comparison of pre- and and the flows are generally thin, so small where pre-eruption mapping had been post-eruption ship-based bathymetric errors in thickness result in large errors in completed. The post-eruption and differ- surveys did not detect new lava flows in volume. They also proposed that the erup- ence maps for those flows not yet mapped those distal areas (Chadwick at al., 2013). tion of the northern flow lasted <12 hours when Caress et al. (2012) was published The post-eruption high-resolution AUV based on the 2.5-hour rise and fall of an are presented here. Finally, the 2015 mapping of the summit and proximal instrument package containing a pressure lava flows were also only partly mapped south rift Figure ( 2b), begun in 2006, gauge that was partly engulfed by the flow before and immediately after the erup- resulted in a detailed flow outline and (Fox et al., 2001), and that the channelized tion (Chadwick et al., 2016). Previously also revealed details of flow morphology flows were consistent with high eruption unmapped 2015 flows are presented here. (Chadwick et al., 2013). rates. The minimum 2.5 and maximum Chadwick et al. (2013) introduced 12 hour durations require average erup- 1998 ERUPTION the concept of map-scale flow mor- tion rates from 2,400 to 500 m3 s–1, with Background phology, describing features that are on the lower rate thought to be more likely The eruption in 1998 was detected by the scale of hundreds of meters, based than the higher one. the US Navy’s SOSUS acoustic array largely on high-resolution mapping of (Dziak and Fox, 1999), and additional the 1998 Axial Seamount flows using the New Results data were recovered after the eruption MBARI AUV. They proposed the termi- New AUV mapping of much of the south from instruments deployed as part of nology that “inflated lobate flows” prox- rift (Figure 2a) and comparison to pre- the National Oceanic and Atmospheric imal to the eruptive fissure transition to 1998 ship bathymetry did not detect Administration (NOAA) NeMO obser- distal “inflated pillow flows” as the flow any 1998 lava flows there, in agreement vatory (Baker et al., 1999; Fox, 1999; progresses downslope away from the fis- with earlier results based on pre- and Fox et al., 2001). The eruption began sure. Here, we simplify their terminol- post-eruption ship surveys. Revised vol- on January 25, and the swarm of earth- ogy to channelized flows that combine the umes of the channelized flows erupted in quakes lasted for 11 days (Dziak and facies of inflated lobate flows and inflated the caldera and upper south rift were cal- Fox, 1999). Pre-eruption ship multibeam pillow flows. Soule et al. (2005) used this culated at 24.1 ± 1.5 × 106 m3 based on the and side-scan data (Embley et al., 1990) term to describe similar features on the area of the flows and new measurements were compared with post-eruption ship- East Pacific Rise. The map-scale channel- of average thickness of the similar chan- based surveys (Embley et al., 1999) and ized flows are composed of visual-scale nelized flows erupted in 2011 and 2015 time-series observations (Embley et al., lava morphologies, including pillowed (discussed below, Table 1). This volume is
86 Oceanography | Vol.30, No.4 22% smaller than the 31 × 106 m3 calcu- reused by 2011 flows and that the 2011 collapses, levee-bounded lava ponds, sur- lated by Chadwick et al. (2013) using the eruption largely reused fissures active face tumuli, and off-fissure hummocky same flow area. in 1998 or during prehistoric eruptions. flows fed through tubes. ROV dives done in support of con- This level of mimicry of both fissures and structing the geological history of the channel systems was a new insight into New Results summit of Axial Seamount (Clague et al., understanding eruption and emplace- Mapping data collected in 2014 and pre- 2013) observed rare fragmented pillow ment of channelized flows. sented here shed additional light on the lava in the caldera near a low-tempera- Another map-scale flow morphology emplacement of hummocky flows and ture hydrothermal vent area at the north- described by Chadwick et al. (2013) was the dynamics of the 2011 eruption. It pro- ern end of the 1998 fissures. “pillow mounds” (e.g., Yeo et al., 2013). duced dominantly channelized flows in This morphology was originally detected the caldera and on the upper south rift. 2011 ERUPTION in historic flows by comparing pre- and In contrast, the most distal flows on the Background post-eruption ship bathymetric data for upper south rift are hummocky flows, and During the 2011 eruption, the SOSUS nearby Juan de Fuca Ridge historic erup- the most distal flow on the lower south rift array was not operational, and the tions, including the 1986 North Cleft is a thick, steep-sided hummocky flow. event was discovered serendipitously (Chadwick et al., 1991; Fox et al., 1992) The post-eruption AUV maps allow during ROV dives to refurbish monitor- and the 1982–1991 and 1993 CoAxial us to recalculate the areas and volumes ing instruments deployed at the sum- (Chadwick et al., 2001), and occurs (Table 1) presented in Caress (2012). mit. Bottom pressure recorders, hydro- among the Axial 2011 and 2015 flows. The revised volume is 94.0 × 106 m3 phones, and other instruments that were Here, we modify the terminology to hum- (~5 × 106 m3 less than the prior esti- recovered after the eruption (those not mocky flows that are mostly pillow lavas mate). The volume of the channelized entombed in lava) yielded important that form mounds or coalesced mounds flows in the caldera and on the upper information about the sequence of events. or ridges on or close to eruptive fissures. south rift is 28.7 × 106 m3. However, in The 2011 eruption began on April 6 and In contrast to the “pillow mounds” pro- addition to the channelized flows, the lasted ~6 days, based on when the summit posed and illustrated by Chadwick et al. 2011 eruption also formed hummocky co-eruption deflation ended (Chadwick (2013) that lack molten cores, hummocky flows on the upper south rift with a vol- at al., 2012). Caress et al. (2012) presented flows have small (dike-scale dimension) ume of 5.1 × 106 m3, and hummocky a comparison of pre- and post-2011 AUV to voluminous molten cores. White et al. flows on the lower south rift with a vol- bathymetry and used difference maps to (2000) previously suggested that basal- ume of 60.1 × 106 m3 (~5.9 × 106 m3 less determine the extent, thicknesses, and tic lava domes (pillow mounds) grew than the prior estimated). These revised volume of the summit and upper south endogenously, and therefore had molten volumes are based on coregistered pre- rift flows. Caress et al. (2012) showed that cores. The molten cores of nearly all these and post-eruption AUV surveys, except many pre-existing lava channels were types of flows are evident from summit for the lower rift hummocky flow and a
TABLE 1. Historical Lava Flows on Axial Seamount
Fissure Maximum Average Volume/km Area Volume Flows and Fissures Length Flow Flow of Fissure (x 106 m2) (x 106 m3) (km) Thickness (m) Thickness (m) (x 106 m3/km)
Channelized Flows 8.0 7.14 SR26 3.4* 24.1 3.0
1998 Eruptive and Non-Eruptive Fissures 11.0 7.14 26 3.4* 24.1 2.2
Channelized Flows 8.1 8.20 C16 3.2 28.7 3.5
Upper South Rift Hummocky Flows 1.5 0.37 SR29 22.6 5.1 3.4
2011 Lower South Rift Hummocky Flows 4.8 1.65 SR167 36.4 60.1 12.5
Eruptive and Non-Eruptive Fissures 35.0 10.23 167 9.2 94.0 2.7
Channelized Flows 7.3 6.92 NR24, C12 3.6 24.7 3.4
North Rift Hummocky Flows 4.4 4.59 NR126 28.0 130.5 29.7 2015 Eruptive and Non-Eruptive Fissures 20.0 11.51 126 13.5 155.2 7.8
*Average of channelized flow from 2011 and 2015 SR = South Rift; NR = North Rift; C = Caldera
Oceanography | December 2017 87 small portion of the near-caldera chan- 500 m diameter prehistoric hummocky Figure 4a). Mounds on the upper south nelized flows for which there are no pre- flow composed of pillow lava that is rift coalesced to form a smooth hum- eruption AUV data. For these areas, ship- bisected by the caldera-bounding fault. mocky flow (HF on Figure 4b) up to 27 m collected multibeam bathymetry (MBARI It does, however continue at N12W for thick with a volume of 4.8 × 106 m3. The Mapping Team, 2001) was used for the at least 1.3 km (Figure 3c) as a discontin- northern portion of HF is inferred to be pre-eruption map. The surface area cov- uous, open, non-eruptive fissure within located on top of its eruptive fissure, and ered by the flows increased slightly from a several-meter-deep and roughly 20 m the upper surface is thought to have col- 10.10 × 106 m2 to 10.23 × 106 m2. wide graben (Figure 3d). The flows on lapsed as its molten lava drained out. New post-2011 eruption mapping the east caldera rim have common frag- A series of three small coalesced flows shows channelized flows on the east rim mented lava lobes (Figure 6a) and cov- and one isolated steep hummocky flow of the caldera (Figure 3), hummocky ered volcaniclastic sediment (Portner just downrift of HF are up to 29 m thick. flows just south of the channelized flows et al., 2015) up to several meters thick These upper south rift hummocky flows on the upper south rift Figure ( 4), and (Figure 6b). The southern of the two (combined volume 5.1 × 106 m3) all a lower south rift thick hummocky flow flows cascaded over the 10 m tall caldera- erupted along ~1.7 km of the same fis- (Figure 5). Two lava flows on the east bounding fault (Figure 6c). sure that fed 1998 flows (Figure 4a,b). rim of the caldera erupted from a new Hummocky flows that erupted in 2011 One small offset hummocky flow (OHF fissure (Figure 3) offset 160–220 m east covered 1998 channelized flows and also on Figure 4b) grew west of the fissure that from 1998 eruptive fissures on the cal- filled a gap between 1998 flows where erupted a series of small mounds and the dera floor (Chadwick et al., 2013). The only a non-eruptive fissure was observed lava that flowed down a channel in the fissure did not cut through a pre-existing in the pre-2011 bathymetry (F1 on underlying 1998 channelized flow, then
a b c d
45°5 30 N d 0 500 0 200