
Fig. 1
A single timestep from the data assimilation trajectory from timestep t−1 to t. Step 3 defines as a single model timestep from the data assimilation trajectory at timestep t−1 using the model f with the prior parameterisation G b .

Fig. 2
Estimated parameter values from state augmentation, for the parameters described in eq. (38).
Table 1. Analysis parameterisations from parameterisation estimation method for different observation densities
Observations at all space-time pointsObservations at every three gridpoints and every timestepObservations at every gridpoint and every three timestepsObservations at every three gridpoints and every three timesteps
