A low-order quasigeostrophic double-gyre ocean model is subjected to an aperiodic forcing that mimics time dependence dominated by interdecadal variability. This model is used as a prototype of an unstable and nonlinear dynamical system with time-dependent forcing to explore basic features of climate change in the presence of natural variability. The study relies on the theoretical framework of nonautonomous dynamical systems and of their pullback attractors (PBAs), that is, of the time-dependent invariant sets attracting all trajectories initialized in the remote past. The existence of a global PBA is rigorously demonstrated for this weakly dissipative nonlinear model. Ensemble simulations are carried out and the convergence to PBAs is assessed by computing the probability density function (PDF) of localization of the trajectories. A sensitivity analysis with respect to forcing amplitude shows that the PBAs experience large modifications if the underlying autonomous system is dominated by small-amplitude limit cycles, while less dramatic changes occur in a regime characterized by large-amplitude relaxation oscillations. The dependence of the attracting sets on the choice of the ensemble of initial states is then analyzed. Two types of basins of attraction coexist for certain parameter ranges; they contain chaotic and nonchaotic trajectories, respectively. The statistics of the former does not depend on the initial states whereas the trajectories in the latter converge to small portions of the global PBA. This complex scenario requires separate PDFs for chaotic and nonchaotic trajectories. General implications for climate predictability are finally discussed.

Oceanic variability on interannual, interdecadal, and longer timescales plays a key role in climate variability and climate change. Paleoclimatic records suggest major changes in the location and rate of deepwater formation in the Atlantic and Southern oceans on timescales from millennia to millions of years. Instrumental records of increasing duration and spatial coverage document substantial variability in the path and intensity of ocean surface currents on timescales of months to decades. We review recent theoretical and numerical results that help explain the physical processes governing the large-scale ocean circulation and its intrinsic variability. To do so, we apply systematically the methods of dynamical systems theory. The dynamical systems approach is proving successful for more and more detailed and realistic models, up to and including oceanic and coupled ocean-atmosphere general circulation models. In this approach one follows the road from simple, highly symmetric model solutions, through a “bifurcation tree,” toward the observed, complex behavior of the system under investigation. The observed variability can be shown to have its roots in simple transitions from a circulation with high symmetry in space and regularity in time to circulations with successively lower symmetry in space and less regularity in time. This road of successive bifurcations leads through multiple equilibria to oscillatory and eventually chaotic solutions. Key features of this approach are illustrated in detail for simplified models of two basic problems of the ocean circulation. First, a barotropic model is used to capture major features of the wind-driven ocean circulation and of the changes in its behavior as wind stress increases. Second, a zonally averaged model is used to show how the thermohaline ocean circulation changes as buoyancy fluxes at the surface increase. For the wind-driven circulation, multiple separation patterns of a “Gulf-Stream like” eastward jet are obtained. These multiple equilibria are followed by subannual and interannual oscillations of the jet and of the entire basin's circulation. The multiple equilibria of the thermohaline circulation include deepwater formation near the equator, near either pole or both, as well as intermediate possibilities that bear some degree of resemblance to the currently observed Atlantic overturning pattern. Some of these multiple equilibria are subject, in turn, to oscillatory instabilities with timescales of decades, centuries, and millennia. Interdecadal and centennial oscillations are the ones of greatest interest in the current debate on global warming and on the relative roles of natural and anthropogenic variability in it. They involve the physics of the truly three-dimensional coupling between the wind-driven and thermohaline circulation. To arrive at this three-dimensional picture, the bifurcation tree is sketched out for increasingly complex models for both the wind-driven and the thermohaline circulation.

The mid-latitude ocean's response to time-dependent zonal wind-stress forcing is studied using a reduced-gravity, 1.5-layer, shallow-water model in two rectangular ocean basins of different sizes. The small basin is 1000 km $\times$ 2000 km and the larger one is 3000 km $\times$ 2010 km; the aspect ratio of the larger basin is quite similar to that of the North Atlantic between 20$\deg$N and 60$\deg$N. The parameter dependence of the model solutions and their spatio-temporal variability subject to time-independent wind stress forcing serve as the reference against which the results for time-dependent forcing are compared. For the time-dependent forcing case, three zonal-wind profiles that mimic the seasonal cycle are considered in this study: (1) a fixed-profile wind-stress forcing with periodically varying intensity; (2) a wind-stress profile with fixed intensity, but north–south migration of the mid-latitude westerly wind maximum; and (3) a north–south migrating profile with periodically varying intensity. Results of the small-basin simulations show the intrinsic variability found for time-independent forcing to persist when the intensity of the wind forcing varies periodically. It thus appears that the physics behind the upper ocean's variability is mainly controlled by internal dynamics, although the solutions’ spatial patterns are now more complex, due to the interaction between the external and internal modes of variability. The north–south migration of wind forcing, however, does inhibit the inertial recirculation; its suppression increases with the amplitude of north–south migration in the wind-stress forcing. Model solutions in the larger rectangular basin and at smaller viscosity exhibit more realistic recirculation gyres, with a small meridional-to-zonal aspect ratio, and an elongated eastward jet; the low-frequency variability of these solutions is dominated by periodicities of 14 and 6–7 years. Simulations performed in this setting with a wind-stress profile that involves seasonal variations of realistic amplitude in both the intensity and the position of the atmospheric jet show the seven-year periodicity in the oceanic circulation to be robust. The intrinsic variability is reinforced by the periodic variations in the jet's intensity and weakened by periodic variations in the meridional position; the two effects cancel, roughly speaking, thus preserving the overall characteristics of the seven-year mode.

A novel mechanism of decadal midlatitude coupled variability, which crucially depends on the nonlinear dynamics of both the atmosphere and the ocean, is presented. The coupled model studied involves quasigeostrophic atmospheric and oceanic components, which communicate with each other via a constant-depth oceanic mixed layer. A series of coupled and uncoupled experiments show that the decadal coupled mode is active across parameter ranges that allow the bimodality of the atmospheric zonal flow to coexist with oceanic turbulence. The latter is most intense in the regions of inertial recirculation (IR). Bimodality is associated with the existence of two distinct anomalously persistent zonal-flow modes, which are characterized by different latitudes of the atmospheric jet stream. The IR reorganizations caused by transitions of the atmosphere from its high- to low-latitude state and vice versa create sea surface temperature anomalies that tend to induce transition to the opposite atmospheric state. The decadal–interdecadal time scale of the resulting oscillation is set by the IR adjustment; the latter depends most sensitively on the oceanic bottom drag. The period T of the nonlinear oscillation is 7–25 yr for the range of parameters explored, with the most realistic parameter values yielding T \approx 20 yr. Aside from this nonlinear oscillation, an interannual Rossby wave mode is present in all coupled experiments. This coupled mode depends neither on atmospheric bimodality, nor on ocean eddy dynamics; it is analogous to the mode found previously in a channel configuration. Its time scale in the model with a closed ocean basin is set by cross-basin wave propagation and equals 3–5 yr for a basin width comparable with the North Atlantic.

This study aims at a global description of climatic phenomena that exhibit some regularity during the twentieth century. Multi-channel singular spectrum analysis is used to extract long-term trends and quasi-regular oscillations of global sea-surface temperature (SST) fields since 1901. Regional analyses are also performed on the Pacific, (Northern and Southern) Atlantic, and Indian Ocean basins. The strongest climatic signal is the irregular long-term trend, characterized by overall warming during 1910–1940 and since 1975, with cooling (especially of the Northern Hemisphere) between these two warming intervals. Substantial cooling prevailed in the North Pacific between 1950 and 1980, and continues in the North Atlantic today. Both cooling and warming are preceded by SST anomalies of the same sign in the subpolar North Atlantic. Near-decadal oscillations are present primarily over the North Atlantic, but also over the South Atlantic and the Indian Ocean. A 13–15-y oscillation exhibits a seesaw pattern between the Gulf-Stream region and the North-Atlantic Drift and affects also the tropical Atlantic. Another 7–8-y oscillation involves the entire double-gyre circulation of the North Atlantic, being mostly of one sign across the basin, with a minor maximum of opposite sign in the subpolar gyre and the major maximum in the northwestern part of the subtropical gyre. Three distinct interannual signals are found, with periods of about 60–65, 45 and 24–30 months. All three are strongest in the tropical Eastern Pacific. The first two extend throughout the whole Pacific and still exhibit some consistent, albeit weak, patterns in other ocean basins. The latter is weaker overall and has no consistent signature outside the Pacific. The 60-month oscillation obtains primarily before the 1960s and the 45-month oscillation afterwards.

The double-gyre circulation induced by a symmetric wind-stress pattern in a quasi-geostrophic model of the mid-latitude ocean is studied analytically and numerically. The model is discretized vertically by projection onto normal modes of the mean stratification. Within its horizontally rectangular domain, the numerical model captures the wind-driven circulation’s three dynamic regimes: (1) a basin-scale double-gyre circulation, cyclonic in the basin’s northern part and anticyclonic in the south, which is dominated by Sverdrup balance; (2) a swift western boundary current in either gyre, with dissipation most important near the coast and inertial balance further out; and (3) a strong recirculating dipole near the intersection of the western boundary with the symmetry line of zero wind-stress curl. The flow inside this stationary dipole is highly nonlinear, and equivalent-barotropic. An analytical solution to the potential vorticity equation with variable stratification describes the dipole, and fits well the full numerical model’s steady-state solutions. Changes in the numerical model’s solutions are investigated systematically as a function of changes in the strength of the wind stress $\tau$ and the Rossby radius of deformation LR. The main changes occur in the recirculation region, while the basin-scale gyres and the western boundary currents are affected but little. A unique symmetric dipole is observed for small $\tau$, and agrees in its properties with the analytical solution. As $\tau$ increases, multiple asymmetric equilibria arise due to pitchfork bifurcation and are stable for large enough LR. The numerically obtained asymmetric equilibria also agree in their main properties with the analytical ones, as well as with the corresponding solutions of a shallow-water model. Increasing $\tau$ further results in two successive Hopf bifurcations, that lead to limit cycles with periods near 10 and 1 years, respectively. Both oscillatory instabilities have a strong baroclinic component. Above a certain threshold in $\tau$ the solutions become chaotic. Flow pattern evolution in this chaotic regime resembles qualitatively the circulation found in the Gulf Stream and Kuroshio current systems after their separation from the continent.

The atmospheric effects of sea surface temperature (SST) anomalies over and near western boundary currents are a matter of renewed interest. The general circulation model (GCM) of the Laboratoire de Météorologie Dynamique (LMD-Z) has a zooming capability that allows a regionally increased resolution. This GCM is used to analyze the impact of a sharp SST front in the North Atlantic Ocean: two simulations are compared, one with climatological SSTs and the other with an enhanced Gulf Stream front. The results corroborate the theory developed previously by the present team to explain the impact of oceanic fronts. In this theory, the vertical velocity at the top of the atmospheric boundary layer has two components: mechanical and thermal. It is the latter that is dominant in the tropics, while in midlatitudes both play a role in determining the wind convergence above the boundary layer. The strengthened SST front does generate the previously predicted stronger ascent above the warmer water south of the front and stronger descent above the colder waters to the north. In the GCM simulations, the ascent over the warm anomalies is deeper and more intense than the descent.

Successive bifurcations—from steady states through periodic to aperiodic solutions—are studied in a shallow- water, reduced-gravity, 2 ½ -layer model of the midlatitude ocean circulation subject to time-independent wind stress. The bifurcation sequence is studied in detail for a rectangular basin with an idealized spatial pattern of wind stress. The aperiodic behavior is studied also in a North Atlantic–shaped basin with realistic continental contours. The bifurcation sequence in the rectangular basin is studied in Part I, the present article. It follows essentially the one reported for single-layer quasigeostrophic and 1 ½ -layer shallow-water models. As the intensity of the north– south-symmetric, zonal wind stress is increased, the nearly symmetric double-gyre circulation is destabilized through a perturbed pitchfork bifurcation. The low-stress steady solution, with its nearly equal subtropical and subpolar gyres, is replaced by an approximately mirror-symmetric pair of stable equilibria. The two solution branches so obtained are named after the inertial recirculation cell that is stronger, subtropical or subpolar, respectively. This perturbed pitchfork bifurcation and the associated Hopf bifurcations are robust to changes in the interface friction between the two active layers and the thickness H 2 of the lower active layer. They persist in the presence of asymmetries in the wind stress and of changes in the model’s spatial resolution and finite- difference scheme. Time-dependent model behavior in the rectangular basin, as well as in the more realistic, North Atlantic–shaped one, is studied in Part II.