An atmospheric model is a mathematical model constructed around the full set of primitive dynamical equations which govern atmospheric motions. It can supplement these equations with parameterizations for turbulent diffusion, radiation, moist processes (clouds and precipitation), heat exchange, soil, vegetation, surface water, the kinematic effects of terrain, and convection. Most atmospheric models are numerical, i.e. they discretize equations of motion. They can predict microscale phenomena such as tornadoes and boundary layer eddies, sub-microscale turbulent flow over buildings, as well as synoptic and global flows. The horizontal domain of a model is either global, covering the entire Earth, or regional (limited-area), covering only part of the Earth. The different types of models run are thermotropic, barotropic, hydrostatic, and nonhydrostatic. Some of the model types make assumptions about the atmosphere which lengthens the time steps used and increases computational speed. An atmospheric model is a mathematical model constructed around the full set of primitive dynamical equations which govern atmospheric motions. It can supplement these equations with parameterizations for turbulent diffusion, radiation, moist processes (clouds and precipitation), heat exchange, soil, vegetation, surface water, the kinematic effects of terrain, and convection. Most atmospheric models are numerical, i.e. they discretize equations of motion. They can predict microscale phenomena such as tornadoes and boundary layer eddies, sub-microscale turbulent flow over buildings, as well as synoptic and global flows. The horizontal domain of a model is either global, covering the entire Earth, or regional (limited-area), covering only part of the Earth. The different types of models run are thermotropic, barotropic, hydrostatic, and nonhydrostatic. Some of the model types make assumptions about the atmosphere which lengthens the time steps used and increases computational speed. Forecasts are computed using mathematical equations for the physics and dynamics of the atmosphere. These equations are nonlinear and are impossible to solve exactly. Therefore, numerical methods obtain approximate solutions. Different models use different solution methods. Global models often use spectral methods for the horizontal dimensions and finite-difference methods for the vertical dimension, while regional models usually use finite-difference methods in all three dimensions. For specific locations, model output statistics use climate information, output from numerical weather prediction, and current surface weather observations to develop statistical relationships which account for model bias and resolution issues. The main assumption made by the thermotropic model is that while the magnitude of the thermal wind may change, its direction does not change with respect to height, and thus the baroclinicity in the atmosphere can be simulated using the 500 mb (15 inHg) and 1,000 mb (30 inHg) geopotential height surfaces and the average thermal wind between them. Barotropic models assume the atmosphere is nearly barotropic, which means that the direction and speed of the geostrophic wind are independent of height. In other words, no vertical wind shear of the geostrophic wind. It also implies that thickness contours (a proxy for temperature) are parallel to upper level height contours. In this type of atmosphere, high and low pressure areas are centers of warm and cold temperature anomalies. Warm-core highs (such as the subtropical ridge and Bermuda-Azores high) and cold-core lows have strengthening winds with height, with the reverse true for cold-core highs (shallow arctic highs) and warm-core lows (such as tropical cyclones). A barotropic model tries to solve a simplified form of atmospheric dynamics based on the assumption that the atmosphere is in geostrophic balance; that is, that the Rossby number of the air in the atmosphere is small. If the assumption is made that the atmosphere is divergence-free, the curl of the Euler equations reduces into the barotropic vorticity equation. This latter equation can be solved over a single layer of the atmosphere. Since the atmosphere at a height of approximately 5.5 kilometres (3.4 mi) is mostly divergence-free, the barotropic model best approximates the state of the atmosphere at a geopotential height corresponding to that altitude, which corresponds to the atmosphere's 500 mb (15 inHg) pressure surface. Hydrostatic models filter out vertically moving acoustic waves from the vertical momentum equation, which significantly increases the time step used within the model's run. This is known as the hydrostatic approximation. Hydrostatic models use either pressure or sigma-pressure vertical coordinates. Pressure coordinates intersect topography while sigma coordinates follow the contour of the land. Its hydrostatic assumption is reasonable as long as horizontal grid resolution is not small, which is a scale where the hydrostatic assumption fails. Models which use the entire vertical momentum equation are known as nonhydrostatic. A nonhydrostatic model can be solved anelastically, meaning it solves the complete continuity equation for air assuming it is incompressible, or elastically, meaning it solves the complete continuity equation for air and is fully compressible. Nonhydrostatic models use altitude or sigma altitude for their vertical coordinates. Altitude coordinates can intersect land while sigma-altitude coordinates follow the contours of the land. The history of numerical weather prediction began in the 1920s through the efforts of Lewis Fry Richardson who utilized procedures developed by Vilhelm Bjerknes. It was not until the advent of the computer and computer simulation that computation time was reduced to less than the forecast period itself. ENIAC created the first computer forecasts in 1950, and more powerful computers later increased the size of initial datasets and included more complicated versions of the equations of motion. In 1966, West Germany and the United States began producing operational forecasts based on primitive-equation models, followed by the United Kingdom in 1972 and Australia in 1977. The development of global forecasting models led to the first climate models. The development of limited area (regional) models facilitated advances in forecasting the tracks of tropical cyclone as well as air quality in the 1970s and 1980s. Because the output of forecast models based on atmospheric dynamics requires corrections near ground level, model output statistics (MOS) were developed in the 1970s and 1980s for individual forecast points (locations). Even with the increasing power of supercomputers, the forecast skill of numerical weather models only extends to about two weeks into the future, since the density and quality of observations—together with the chaotic nature of the partial differential equations used to calculate the forecast—introduce errors which double every five days. The use of model ensemble forecasts since the 1990s helps to define the forecast uncertainty and extend weather forecasting farther into the future than otherwise possible. The atmosphere is a fluid. As such, the idea of numerical weather prediction is to sample the state of the fluid at a given time and use the equations of fluid dynamics and thermodynamics to estimate the state of the fluid at some time in the future. On land, terrain maps, available at resolutions down to 1 kilometre (0.62 mi) globally, are used to help model atmospheric circulations within regions of rugged topography, in order to better depict features such as downslope winds, mountain waves, and related cloudiness which affects incoming solar radiation. The main inputs from country-based weather services are surface observations from automated weather stations at ground level over land and from weather buoys at sea. The World Meteorological Organization acts to standardize the instrumentation, observing practices and timing of these observations worldwide. Stations either report hourly in METAR reports, or every six hours in SYNOP reports. Models are initialized using this observed data. The irregularly spaced observations are processed by data assimilation and objective analysis methods, which perform quality control and obtain values at locations usable by the model's mathematical algorithms. The grid used for global models is geodesic or icosahedral, spaced by latitude, longitude, and elevation. The data are then used in the model as the starting point for a forecast. A variety of methods are used to gather observational data for use in numerical models. Sites launch radiosondes, which rise through the troposphere and well into the stratosphere. Information from weather satellites is used where traditional data sources are not available. Commerce provides pilot reports along aircraft routes and ship reports along shipping routes. Research projects use reconnaissance aircraft to fly in and around weather systems of interest, such as tropical cyclones. Reconnaissance aircraft are also flown over the open oceans during the cold season into systems which cause significant uncertainty in forecast guidance, or are expected to be of high impact 3–7 days into the future over the downstream continent. Sea ice began to be initialized in forecast models in 1971. Efforts to involve sea surface temperature in model initialization began in 1972 due to its role in modulating weather in higher latitudes of the Pacific.