Free surface computations in mantle convection models

Geodynamic simulations increasingly rely on simulations with a true free surface to investigate questions of dynamic topography, tectonic deformation, gravity perturbations, and global mantle convection. However, implementations of free surface boundary conditions have proven challenging from a standpoint of accuracy, robustness, and stability. In particular, free surfaces tend to suffer from sloshing instabilities, also known as the “drunken sailor” instability, which severely limit time step sizes. Several schemes have been proposed in the literature to deal with these instabilities. Here we analyze the problem of creeping viscous flow with a free surface and discuss the origin of these instabilities. We demonstrate their cause and how existing stabilization schemes work to damp them out. We also propose a new scheme for removing instabilities from free surface calculations. It does not require modifications to the system matrix, nor additional variables, but is instead an explicit scheme based on nonstandard finite differences. It relies on a single stabilization parameter which may be identified with the smallest relaxation timescale of the free surface. Finally, we discuss the implementation of a free surface in the open source, community based mantle convection software ASPECT.