1 Introduction

The ocean has stored approximately 30% of the total CO2 released by human industrial activities during the industrial era (Khatiwala et al. 2013) and has therefore played a significant role in slowing the growth of CO2 concentrations in the atmosphere and mitigating global warming. However, this uptake of CO2 has endangered the health of the ocean through what is referred to as ocean acidification. The absorption of anthropogenic CO2 into seawater increases its acidity (reduces its pH), reduces the saturation levels of calcium carbonate minerals, and is thus very likely to have a variety of adverse impacts on marine ecosystems and human societies (Gattuso et al. 2015). In 2015, the United Nations adopted The 2030 Agenda for Sustainable Development. In the agenda, ocean acidification is target 3 of goal 14, and this target is accompanied by an indicator of global average oceanic pH for SDG 14.3 (United Nations 2015; IOC/UNESCO 2018). A key challenge is to better understand contemporary trends of ocean acidification globally to project future trends in a more informed way.

The change of oceanic CO2 uptake and its impact on the global carbon budget in the future have been other great concerns because they are closely related to global warming projections. Gruber et al. (2019a) have shown that the mean rate of global oceanic CO2 storage for the period 1994–2007 is consistent with the expected increase in ocean uptake, which is proportional to the increase of the atmospheric CO2 concentration. However, earth system models run under the RCP 8.5 scenario project that oceanic CO2 uptake will not grow, and therefore the ratio of oceanic CO2 uptake to anthropogenic CO2 emissions will decrease significantly after roughly the year 2070 (Wang et al. 2016; Schlunegger et al. 2019).

Although oceanic carbon measurements have been conducted around the world for many years, synthesized datasets of sufficient quality to facilitate evaluation of the perturbations caused by anthropogenic CO2 emissions have become available only since the early 2000s. The Global Ocean Data Analysis Project version 2 (GLODAP v2), which has been a successor to the GLODAP (Key et al. 2004), CARINA (Key et al. 2010), and PACIFICA (Suzuki et al. 2013) projects, has completed the synthesis of high-quality carbon measurements for the interior of the global ocean during past decades (Olsen et al. 2016), and that dataset has been updated as version 2019 (GLODAP v2.2019: Olsen et al. 2019). Data synthesis of surface CO2 measurements, i.e., Surface Ocean CO2 Atlas (SOCAT), which contains data from 1950s through recent past, has also been run from 2000s by community efforts (Bakker et al. 2016). These synthesized datasets have been used for numerous studies of the dynamics of global and regional carbon cycles.

Several methods have been developed for the interpolation and extrapolation of surface ocean CO2 partial pressure (pCO2sea) measurements to investigate the variability of the oceanic CO2 sink. An intercomparison exercise, the Surface Ocean pCO2 Mapping Intercomparison (SOCOM), has been conducted during 2010s (Rödenbeck et al. 2015). One of the methods was developed by Iida et al. (2015), who derived empirical equations for mapping global pCO2sea fields using a multiple linear regression (MLR) method with sea surface temperature (SST), sea surface salinity (SSS), and chlorophyll-a (Chl) as independent variables and explicitly taking into account secular trends caused by the accumulation of anthropogenic CO2 in the ocean. However, pCO2sea changes as a thermodynamic function of temperature, salinity, total alkalinity (TA), and the concentration of dissolved inorganic carbon (DIC). Statistical relationships often conflict with thermodynamic relationships in areas such as subpolar and the equatorial divergence zones, where winter vertical mixing or upwelling lowers temperature but raises pCO2sea. More importantly, the CO2 buffering capacity of seawater is decreasing with the accumulation of anthropogenic CO2 in the ocean, and hence the thermodynamic sensitivities of pCO2sea to temperature change and to CO2 uptake/release are increasing. Consequently, the amplitude of the seasonal and interannual variability of pCO2sea is increasing (Rodgers et al. 2008; Landschützer et al. 2018). These changes in thermodynamic equilibria involving pCO2sea make it difficult in principle for a single set of empirical equations for pCO2sea to be applied over a timeframe of decades during which there are significant increases of pCO2sea. Furthermore, increasing concern about the progress of ocean acidification in recent years has added to the importance of accurately mapping the spatiotemporal variability of pCO2sea, sea–air CO2 fluxes, pH, and the saturation state of aragonite (Ωarg) (e.g., Takahashi et al. 2014).

In this work, we attempted to empirically reconstruct the fields of TA (or salinity-normalized TA: nTA, where nTA = TA/SSS × 35) and DIC (or salinity-normalized DIC: nDIC, where nDIC = DIC/SSS × 35) based on the measurements, and then to reconstruct the fields of pCO2sea, pH, and Ωarg from the fields of nTA, nDIC, SST, and SSS (Fig. 1; Table 1). Sea-air CO2 flux fields were then reconstructed. Fields of TA were reconstructed from measurement data using MLR methods (e.g., Millero et al. 1998; Lee et al. 2006; Fry et al. 2016). Takatani et al. (2014) have reconstructed TA fields in the surface layer of the Pacific by using sea surface dynamic height (SSDH) and SSS as explanatory variables to ensure compatibility with ocean circulation and to avoid the use of longitudinal and latitudinal borders that could have created artificial discontinuities in the TA distribution.

Fig. 1
figure 1

Schematic description of the data flow for deriving surface ocean inorganic carbon variables and sea-air CO2 flux products. Light blue, orange, and green arrows indicate the flow of the estimation of (1) alkalinity, (2) DIC, and (3) ocean acidification parameters and CO2 fluxes. Abbreviations are listed in the caption for Table 1 (color figure online)

Table 1 List of data used for this study

Here, we derive statistical relationships to estimate surface TA by an extension of the approach of Takatani et al. (2014) to the global open ocean. Subsequently, we calculate nDIC from TA values derived from the equations and CO2 fugacity (fCO2) data stored in SOCAT. We then derive equations to estimate nDIC using MLR methods and oceanographic variables such as SST, SSS, SSDH, Chl, and mixed layer depth (MLD) as explanatory variables. The sea-air CO2 flux is then estimated from the pCO2sea calculated from DIC and TA in combination with the atmospheric pCO2 and gas exchange coefficients across the sea-air interface that were calculated as a function of wind speed. Finally, we calculate the values of inorganic carbon variables including pH and Ωarg. The global and basin scale oceanic CO2 sink is obtained by integrating the flux over the relevant area, and the trends in pH and Ωarg are derived by averaging the anomaly from the climatologies of mapped data. The same approach has been applied for the quasi-time series data from 137° E in the western North Pacific to assess the trend of accelerating ocean acidification (Ono et al. 2019). These estimates not only help understand the change in the ocean carbon cycle, but also make it possible to evaluate SDG indicator 14.3.1 (Wanninkhof et al. 2019).

2 Data production methods

2.1 Derivation of equations to estimate TA

Takatani et al. (2014) have developed equations to estimate surface TA in the Pacific Ocean and the Pacific sector of the Southern Ocean by using a synthesized and quality-controlled dataset of interior-ocean carbonate system measurements made as a part of the PACIFICA project (Suzuki et al. 2013) and satellite SSDH data (Kuragano and Kamachi 2000). They used SSDHs to define ocean regimes and derived independent equations for each regime. SSDHs are useful for expressing the variability of wind-driven circulation and eddies (e.g., Kida et al. 2015) that are associated with variations in the distribution of surface nTA. We also used SSDH as an explanatory variable in our MLR, in accordance with the method of Takatani et al. (2014). We used TA data that had been adjusted for analytical offsets and stored in the GLODAPv2.2019 database (Olsen et al. 2019).

We extracted data from the surface layer (< 25 m) by using the datum from the shallowest depth at each station and not using data from below the mixed layer, i.e., the depth at which the increase in σθ from the surface (10 m) reached 0.03 kg m−3. As found by Takatani et al. (2014) in the Pacific Ocean and Southern Ocean, nTA was negatively correlated with SSDH, except in areas of the subtropics where nTA was low and nearly constant at ~ 2300 μmol·kg−1 (Fig. 2). Some nTA data from the subpolar region were scattered within a narrow range of SSDHs but where there were variations of SSS. In this study, we used definitions of oceanic zones in the Pacific and Southern Ocean that were similar to but slightly modified from those in Takatani et al. (2014). In a way similar to our use of SSDHs to define zones in the Pacific Ocean, we defined four and two zones in the Atlantic and Indian Ocean, respectively (Fig. 3; Table 4).

Fig. 2
figure 2

Relationships between nTA or nDIC and other variables; a: nTA and SSS, b: nTA and SSDH, c: nDIC and SST, d nDIC and SSS, and e: nDIC and SSDH. Coloring indicates number of data points in a grid

Fig. 3
figure 3

Illustration of monthly maps of zones and subzones for nTA and nDIC estimation for the a Pacific, b Atlantic, c Indian and d Southern Oceans during the representative months of February, May, August, and November of 2018. Black lines show borders of zones for nTA estimation and colouring indicates subzones for nDIC estimation. Note that some colors for nDIC subzones are used in more than one basin. Legends of colors are shown at the bottom. Abbreviations of zones and subzones in the legends are defined in the text (color figure online)

Consequently, nTA was fit to Eq. 1, which uses SSDH and SSS as explanatory variables.

$${\text{nTA}} = a + b \times {\text{SSDH}} + c \times {\text{SSS}}{.}$$
(1)

Constant values of nTA (i.e., the parameters b and c in Eq. 1 set to zero) were applied to areas with small nTA variability, such as the subtropics of the Atlantic, the Indian and Pacific Oceans, and the subarctic Pacific. Some zones needed both variables, and others needed either SSDH or SSS (see Appendix 1 for details).

2.2 Derivation of equations to estimate DIC

The GLODAPv2.2019 database also contains high-quality DIC data and can be used to derive statistical relationships between nDIC and other variables. However, the number of discrete DIC measurements is not large enough to perform regressions with small standard errors because nDIC is more variable in space and time than nTA (e.g., Sarmiento and Gruber 2006), and many more data are required to derive usable relationships. We therefore used the fCO2 data with flags A to D stored in the SOCAT V2019 database, which is a quality-controlled surface fCO2 dataset and contains 25.7 million data of measurements in global oceans over the period from 1957 to 2019 (Bakker et al. 2016). We converted the fCO2 values into DIC by coupling them with the TAs calculated from the equations mentioned in Sect. 2.1 with the SSTs and SSSs in the SOCAT database and climatological phosphate and silicate concentrations taken from the World Ocean Atlas 2018 (WOA18; Garcia et al. 2018) based on seawater CO2 chemistry. For the equilibrium calculation, we used the R seacarb package (seacarb 3.2.12: Gattuso et al. 2019) with default dissociation constants.

The fact that the correlations between nDIC and SST were generally negative (Fig. 2c) indicates that SST is a key explanatory variable for the empirical estimation of nDIC. The negative correlation in part reflects upwelling of cold, nDIC-rich subsurface seawaters to the surface in regions with eastern boundary currents, in the equatorial divergence zone, and in the Arabian Sea (e.g., Alin et al. 2012; Feely et al. 2006; Ishii et al. 2004; Sarma 2003). Convective deep mixing in winter also brings subsurface seawater with lower temperatures and higher DIC to the surface (e.g., Ishii et al. 2011). The use of other physical parameters, including SSDH, SSS, and MLD as explanatory variables, can yield zone-dependent equations that fit data better. For instance, MLD is also a useful explanatory variable in regions such as the northern subtropics and subarctic, especially in the northern North Atlantic (e.g., Olsen et al. 2008). In offshore regions that are subjected to the influence of river discharge, the mixture of river water and seawater has a nDIC/salinity ratio that is higher than expected from the evaporation-precipitation line because river water has a lower salinity than seawater but a substantial DIC content (e.g., Bates et al. 2006; Ibánhez et al. 2015; Kosugi et al. 2016; Chou et al. 2017). In subarctic regions and in the Southern Ocean, where net biological consumption of DIC is prominent especially in summer (e.g., Takahashi et al. 2002), a DIC that is lower than expected from the SST-nDIC relationship is often observed (e.g., Fay and McKinley 2017), and incorporation of Chl as another explanatory variable leads to better fits. What is also critical in empirically mapping nDIC is that it has been increasing with time because of the uptake of anthropogenic CO2. The rate of nDIC increase due to anthropogenic CO2 uptake is potentially different among zones because of differences in CO2 buffering capacity and ocean circulation. We therefore defined a total of 57 smaller zones (subzones) for nDIC by sub-dividing the 14 nTA zones to take into account the characteristics of nDIC variations and by using mainly SSDH distributions as borders (Fig. 3). We also used SST and SSS as indicators to define the subzones of nutrient depletion (e.g., Lee et al. 2002), the equatorial cold tongue (e.g., Inoue et al. 1996; Ishii et al. 2009), and large river plumes (e.g., Körtzinger 2003) that vary with time. Apparent relationships between nDIC and other ocean variables are unique to each subzone. We then developed MLR equations to estimate nDIC from those variables.

$${\text{nDIC}} = f\left( {{\text{time}},{\text{ SST}},{\text{ SSS}},{\text{ SSDH}},{\text{ Chl}},{\text{ MLD}}} \right).$$
(2)

We calculated MLDs from the ocean data assimilation system (MOVE/MRI.COM-G; Toyoda et al. 2013) by using a density-based MLD definition (de Boyer Montégut et al. 2004): the depth at which the density exceeds surface σθ + 0.03 kg m−3. Chl data were obtained from satellite observations (Table 1; Fig. 1). We selected appropriate variables used in each MLR based on possible oceanographic processes that would occur in each subzone. We derived nDIC distributions by using time-varying subzones based on oceanic parameters (not based on meridional and/or parallel borders) (Fig. 3). Further details about the derivation of the equations are described in Appendix 2.

2.3 Mapping inorganic carbon variables

The monthly fields of nTA and nDIC (1° × 1° in longitude and latitude) were derived by applying global gridded datasets of SST, SSS, SSDH, Chl, and MLD to the empirical relationships for nTA and nDIC (Table 1; Fig. 1). The monthly fields of pH in total scale, pCO2sea, and Ωarg were then calculated from the fields of nTA, nDIC, SST, and SSS based on seawater CO2 chemistry. We also calculated the sea-air CO2 flux (F) by using the bulk formula Eq. 3:

$$F = k \times L \times \left( {p{\text{CO}}_{2} {\text{sea}} - p{\text{CO}}_{2} {\text{air}}} \right),$$
(3)

where k denotes the gas transfer velocity expressed as a function of the wind speed 10 m above sea level (U10), L denotes the solubility of CO2 (Weiss 1974), and pCO2air denotes the pCO2 of air above the sea surface derived from atmospheric inversion analysis (Nakamura et al. 2015). Whereas several equations have been proposed to parameterize k as a function of U10, we used Eq. 4, which was proposed by Wanninkhof (2014), in which k is proportional to U102. This equation has been widely used to estimate CO2 fluxes from regional to global scales (e.g., Rödenbeck et al. 2015) and has been compared with direct flux measurements (e.g., Prytherch et al. 2017).

$${\text{k}} = a \times U_{10}^{2} \times \left( {\frac{Sc}{{660}}} \right)^{ - 0.5} .$$
(4)

In Eq. 4, a denotes a scaling factor. A correction to fit to the wind fields of the Japanese 55-year Reanalysis (JRA55; Kobayashi et al. 2015) was made according to Iida et al. (2015), and a value of 0.259 for a was derived. < U102 > denotes the second moment of the wind speed averaged monthly within 1° × 1° quadrats, and Sc denotes the Schmidt number (i.e., the inverse of the ratio of the CO2 molecular diffusion coefficient to seawater kinematic viscosity) calculated from SST based on the equation proposed by Wanninkhof (2014).

2.4 Evaluation of decadal trends of ocean acidification

After 1° × 1° gridded monthly pH and Ωarg fields were obtained, we calculated their rates of change over past decades. First, we detrended the seasonal and regional variabilities of pH and Ωarg by calculating the anomalies of their monthly values for each 1° × 1° grid, and then these anomalies were integrated over the basins and the whole ocean to calculate basin and global scale trends of ocean acidification. We also calculated hypothetical trends of pH on the assumption that pCO2sea was in instantaneous equilibrium with the growth of atmospheric CO2 using the same fields of nTA, SST, and SSS.

3 Results

3.1 Validation of the method

3.1.1 Uncertainty in estimating inorganic carbon variables

We used six explanatory variables in the MLRs to estimate nDIC. The use of many variables possibly causes overfitting and/or multicollinearity. However, we confirmed that the effect of these potential problems was minimal by checking the variance inflation factors in the regressions and the property–property plots between the mapped DICs and gridded variables that were used for the reconstruction. To assess the uncertainty associated with the reconstruction of inorganic carbon variables, robust statistics of bias and median absolute deviation (σ) averaged over time and space for a parameter A were evaluated using Eqs. 5 and 6.

$${\text{bias}} = {\text{median}}\left( {A_{{{\text{est}}}} - A_{{{\text{obs}}}} } \right),$$
(5)
$${\upsigma } = 1.4826 \cdot {\text{median}}\left| {A_{{{\text{est}}}} - A_{{{\text{obs}}}} } \right|,$$
(6)

where the factor 1.4826 was used to ensure comparability with the standard deviation of the normal distribution (e.g., Leys et al. 2013).

Two potential sources of uncertainty were (a) uncertainty associated with regression analysis, and (b) discrepancy between gridded and measured SSTs and SSSs. The former can be quantified by comparing the measured nDICs with the nDICs estimated from the measured SSTs, SSSs, and other variables. That metric corresponds to the standard error of the MLR. The latter can be quantified by comparing the measured nDICs with the nDICs estimated using gridded SSTs and SSSs instead of the observed SSTs and SSSs. In addition, we considered three ways to validate the estimation: (1) using regressions to check the reproducibility of input data. This check was carried out by comparing measured nDIC values with nDICs calculated from empirical equations. The metric therefore had the same meaning as the standard error of the MLR; (2) comparing 10% of subsampled nDIC data for validation with nDICs calculated from the equations derived using the other 90% of the data for learning; and (3) comparing the results with independent data from another source, such as GLODAPv2.2019 DIC measurements.

The globally calculated σ (reproducibility of MLR) for TA estimation was 5.8 μmol kg−1. This σ was comparable to the σ’s estimated with other interpolation methods, such as the σ’s of 8.1 and 7.8 μmol kg−1 reported by Lee et al. (2006) and Takatani et al. (2014), respectively. The TAs estimated more recently (e.g., Fry et al. 2016; Carter et al. 2018; Broullón et al. 2019) were also associated with comparable uncertainties. The biases of most grids were small, i.e., within ± 10 μmol kg−1, but the σ’s of some grids in off California, subarctic regions, and the Bay of Bengal were larger than 20 μmol kg−1 (Fig. 4a). In these regions, there were large variations in the values of SSDH and/or SSS that reflected rapid changes in ocean circulation. These variabilities led to discrepancies between the values of SSDH and/or SSS at the time of the TA observations and the monthly mean values.

Fig. 4
figure 4

Distributions of climatological biases and median absolute errors (left) and histograms of differences between observations and estimates (right) for a nTA and b nDIC. Map areas where no data are available are colored gray (color figure online)

The biases for nDIC estimation were similar to those for nTA: they were generally small, but the σ’s exceeded 20 μmol kg−1 in high latitudes and equatorial divergence zones (Fig. 4b). These high σ values reflected variability of CO2 chemistry on a spatiotemporal scale smaller than 1° in space and shorter than one month in time that may be associated with photosynthesis and upwelling in these regions. The globally averaged σ’s based on the MLR were 6.1 μmol kg−1, 10.9 μatm, 0.011, and 0.06 for nDIC, pCO2sea, pH, and Ωarg, respectively (Table 2). These values were confirmed by comparing with the σ’s from the subsampling method (5.9 μmol kg−1, 10.8 μatm, 0.011, and 0.06, respectively). When integrated globally, SST and SSS themselves had small biases of − 0.05 °C and + 0.01, respectively, but regionally uneven biases of SST and SSS caused relatively large dispersions of nDIC. If the discrepancies between the measured and gridded SSTs and SSSs were taken into account, the errors in nDIC, pCO2sea, pH, and Ωarg were 8.2 μmol kg−1, 12.1 μatm, 0.012, and 0.08, respectively. The σ for pCO2sea calculated by the MLR was comparable with those estimated with other empirical methods, e.g., 14.4 μatm (Landschützer et al. 2014) and 15.73 μatm (Denvil-Sommer et al. 2019). The σ for nDIC based on a comparison with the independent data of GLODAPv2.2019 was 11.5 μmol kg−1, which is larger than the σ of 6.1 μmol kg−1 noted above.

Table 2 Biases and σ’s associated with estimates of nDIC, pCO2sea, pH, and Ωarg

3.1.2 Assessment of uncertainty of CO2 uptake

Uncertainty in the calculation of the globally integrated sea-air CO2 flux from Eq. 3 originates from the estimation of the difference in pCO2 between the sea and air (ΔpCO2) and the gas exchange coefficient (Wanninkhof 2014). First, we assessed the uncertainty in ΔpCO2 following the method of Watson et al. (2009) and Landschützer et al. (2014). If the uncertainty of ΔpCO2 originates mainly from processes involved in the estimation of pCO2sea via MLRs and not from measurements of pCO2sea and pCO2air, the uncertainty of ΔpCO2 on a basin scale can be expressed by superposition of the uncertainties of the pCO2sea gridded to 1° × 1° squares and the uncertainties associated with mapping pCO2sea through the estimation process (Eq. 7) modified from Eqs. 1 and 2 of Landschützer et al. (2014).

$$\begin{aligned} {\text{var}}\left( {\left\langle {\Delta p{\text{CO}}_{2} {\text{sea}}} \right\rangle _{{{\text{basin}}}} } \right) & = {\text{var}}\left( {\left\langle {p{\text{CO}}_{2} {\text{sea}}} \right\rangle _{{{\text{basin}}}} } \right)_{{{\text{grid}}}} + {\text{var}}\left( {\left\langle {p{\text{CO}}_{2} {\text{sea}}} \right\rangle _{{{\text{basin}}}} } \right)_{{{\text{map}}}} \\ & = \frac{{{\text{var}}\left( {p{\text{CO}}_{2} {\text{sea}}} \right)_{{{\text{grid}}}} }}{{{\text{N}}_{{{\text{grid}}}}^{{{\text{eff}}}} }} + \frac{{{\text{var}}\left( {p{\text{CO}}_{2} {\text{sea}}} \right)_{{{\text{map}}}} }}{{{\text{N}}_{{{\text{map}}}}^{{{\text{eff}}}} }}, \\ \end{aligned}$$
(7)

where var(< pCO2sea > basin)grid and var(< pCO2sea > basin)map indicate basin scale variances associated with processes gridding pCO2sea to 1° × 1° squares and estimating pCO2sea, respectively, and Ngrideff and Nmapeff represent effective degrees of freedom of the respective processes. In Landschützer et al. (2014), the σ from gridding pCO2 measurements was assumed to be 5 μatm based on an estimate of Sabine et al. (2013), and Ngrideff was estimated to be the total area divided by the square of the global mean autocorrelation length for pCO2sea (400 km2: Jones et al. 2012). The first term in Eq. 7 generated mostly smaller values than the second term, and thus we ignored it and focused on var(< pCO2sea > basin)map, which is related to the pCO2sea estimation process. To estimate the variance, we set nine basins integrated from 57 subzones and derived var(< pCO2sea > basin)map for those basins. The var(< pCO2sea >)map was obtained from the square of the σ discussed in Sect. 3.1.1, and Nmapeff was estimated from the total area and the autocorrelation length of pCO2 estimation residuals obtained from the semivariograms in each basin. Autocorrelation lengths were derived from semivariograms of the variances in the nine basins. This procedure generated basin scale σ = √var(< pCO2sea > basin)map that ranged from 1.0 to 5.0 μatm and CO2 fluxes that ranged from 0.01 to 0.08 PgC year−1 when the mean sensitivity of ΔpCO2 to flux and the total basin area were multiplied. A globally integrated σ of the CO2 flux calculated from the ΔpCO2 estimate of 0.28 PgC year−1 was obtained in this way. The value was slightly larger than the value of 0.17 PgC year−1 obtained by Landschützer et al. (2014). Our value accounted for 14% of the mean global oceanic CO2 uptake of − 1.98 PgC year−1 in 1993–2018. In addition, there is uncertainty in the gas transfer coefficient, k, in Eq. 3 because of the uncertainties in a, U10, and Sc in Eq. 4: its overall σ has been estimated to be around 20% (Wanninkhof et al. 2014). This uncertainty combined with the σ from ΔpCO2 mentioned above gives a σ for global oceanic CO2 uptake of 0.49 PgC year−1, i.e., 25% of the total uptake.

3.2 Trends of global and basin scale CO2 uptake and ocean acidification

Despite the monotonic increase of anthropogenic CO2 emissions during previous decades, the ocean CO2 uptake evaluated in this study has shown decadal variability, i.e., stagnation during the 1990s and an increase after 2000 (Fig. 5a). These trends have also been pointed out by Iida et al. (2015) and in other observation-based studies (Rödenbeck et al. 2015). Three-year mean rates of ocean CO2 uptake were − 1.87 ± 0.05 PgC year−1 for 1993–1995, − 1.59 ± 0.08 PgC year−1 for 2000–2002, and − 2.59 ± 0.07 PgC year−1 for 2016–2018. Note that the values calculated here are contemporary fluxes, and addition of the riverine flux is necessary to derive anthropogenic components. Rates of change of the CO2 uptake in each ocean basin (Table 3) show that the decrease of the uptake in the 1990s was predominantly (> 80%) attributable to a decrease in the Pacific Ocean, particularly in the tropical Pacific because of the increase of CO2 emissions from the equatorial divergence zone. In contrast, the increase of CO2 uptake after 2000 is attributable mainly to an increase in the Southern Ocean (~ 40%) and Pacific Ocean (~ 40%) and to a lesser extent in the Atlantic Ocean (~ 20%). The Southern Ocean did not contribute to the decreased uptake during the 1990s, but the time-series (Fig. 5i) showed a stagnation of uptake during the 1990s and reinvigoration after 2000 that were similar to the patterns in the other basins. Overall, the annual global ocean CO2 uptake increased at a mean rate of − 0.30 ± 0.05 (PgC year−1) decade−1 for the period of 1993–2018. This estimate agrees well with the mean rate of − 0.33 ± 0.02 (PgC year−1) decade−1 assessed by an ensemble of global ocean biogeochemical models for the same period (Friedlingstein et al. 2019).

Fig. 5
figure 5

Time-series representation of monthly sea-air CO2 fluxes in the basins. Fluxes are corrected to yearly values. A positive/negative value indicates a source/sink for atmospheric CO2. Thin and thick lines show monthly and one-year running mean fluxes, respectively. Horizontal lines at the bottom of panel a indicate the time intervals 1993–1995, 2000–2002, and 2016–2018

Table 3 Three-year mean CO2 uptake during (a) 1993–1995, (b) 2000–2002, and (c) 2016–2018 and contributions (%) to global (1) decrease from period (a) to period (b) and (2) increase from period (b) to period (c). Positive values indicate uptake from the atmosphere

Global and basin scale mean trends for pH and Ωarg were also evaluated from the gridded data produced in this work. Time-series of pH and Ωarg anomalies integrated over the global open ocean showed that their mean rates of change were − 0.0181 ± 0.0001 and − 0.082 ± 0.001 decade−1, respectively (Fig. 6). These rates are comparable with the rates that have been reported from the Hawaii Ocean Time-series (HOT) in the North Pacific, Bermuda Atlantic Time-series Study (BATS), and European Station for Time-series in the Ocean, Canary Islands (ESTOC) in the North Atlantic (Bates et al. 2014), and 137° E section in the western North Pacific (P9: Ono et al. 2019). They are also consistent with the rate expected when surface seawater maintains a transient equilibrium with the growth of atmospheric CO2. A large portion of the ocean surface layer exhibited rates of pH decrease similar to those expected from the increase of atmospheric CO2 (Fig. 7a), whereas slower rates of pH change of − 0.0148 ± 0.0002 to − 0.0165 ± 0.001 decade−1, drawn with cold colors in Fig. 7a, were also seen in some regions, such as offshore of western North America in the eastern North Pacific, in the western Pacific tropical zone, in the Angora-Benguela system in the South Atlantic, and in the Southern Ocean (Fig. 7a–d). All these regions are proximate to regions where the upward transport of anthropogenic CO2 from subsurface waters via overturning circulation has been identified with Lagrangian diagnostic of a climatological ocean carbon cycle model (Toyama et al. 2017).

Fig. 6
figure 6

Time-series representation of anomalies of pH and Ωarg. Thick lines indicate mean anomalies of pH and Ωarg, and the shading indicates standard deviations. Thin black lines show long-term trends of pH and Ωarg decreases. The numbers are the rates of change ± standard errors

Fig. 7
figure 7

a The distribution of differences between trends of pH anomalies and trends of atmospheric CO2-induced pH anomalies, and ad time-series representations of pH anomalies and atmospheric CO2-induced pH anomalies. Thick lines indicate monthly pH anomalies, and the gray shading indicates standard deviations. Red lines show monthly atmospheric CO2-induced pH anomalies. Thin black lines show long-term trends of decrease. The numbers are trends ± standard errors and correspond to pH anomalies (black numbers) and atmospheric CO2-induced pH anomalies (red numbers) (color figure online)

4 Discussion and summary

Observation-based diagnostic models of pCO2sea tend to show larger decadal variability of ocean CO2 uptake than that simulated by ocean biogeochemistry models (DeVries et al. 2019). The results of this study indicate that CO2 uptake decreased during the 1990s and has been increasing since 2000 (Fig. 5). Similar patterns have been reported in previous observation-based studies (Rödenbeck et al. 2015), especially in the Southern Ocean (Landschützer et al. 2015; Ritter et al. 2017; Gruber et al. 2019b). These studies have shown that the intensification of the CO2 sink in the Southern Ocean from the early 2000s to around 2010 was induced by a thermal decrease of the pCO2sea due to cooling in the Pacific sector and non-thermal decreases resulted from weakening of the vertical mixing in the Atlantic and Indian Ocean. DeVries et al. (2017) have argued on the basis of an ocean inverse model that was constrained by ocean interior measurements that the decrease of CO2 uptake in the 1990s and the increase after 2000 in the Southern Ocean were caused by changes in the natural CO2 release to the atmosphere associated with a strengthened meridional overturning circulation in the 1990s and a decline of that circulation in the 2000s, especially in the Atlantic and Indian sectors. In this study, 40% of the increase in CO2 uptake after the 2000s in the Southern Ocean resulted from its northern parts of the Pacific, Atlantic, and Indian Ocean sectors (not shown), and there was also an increase of uptake in the South Atlantic during that time (Fig. 5d), supporting some of the conclusions of DeVries et al. (2017).

To investigate factors controlling the variability of CO2 uptake over the Southern Ocean, we first evaluated the contributions of the variability of SST, SSS, nDIC, and nTA to the yearly pCO2sea anomaly over the Southern Ocean and then the contribution of each explanatory variable in the MLRs to the yearly nDIC anomaly (Fig. 8). The physicochemical contributions of SST, SSS, nDIC, and nTA were calculated from their anomalies (differences from monthly climatology) and their sensitivities to the pCO2sea variation based on the carbonate chemistry. The contributions of MLR variables were calculated from differences between the nDICs derived from ordinary explanatory variables and ones derived using climatological values of specific explanatory variables. In the context of thermodynamic components, the variability in pCO2sea is mainly ascribed to the variability of nDIC, followed by that of SST with minor contributions from the variability of SSS and nTA (Fig. 8b). The increase/decrease in nDIC is ascribed to the SST drop/rise in the MLR method because of the negative correlation between them. We found an increase of the magnitude of the negative anomaly of pCO2sea (a change of anomaly from positive toward negative) especially after late 2000s (Fig. 8a/b). In the Indian sector, an increase in negative nDIC anomaly occurred during the period from mid 2000s to 2011. Such change occurred in the Atlantic sector from early 2000s and in the Pacific sector after 2012 (Fig. 8a1–4). The fact that the increase of the negative anomaly of pCO2sea is ascribed to the nDIC decrease that was associated with the SST rise probably reflects the results of stratification in these regions. An increase of Chl concentrations at high latitudes in the Southern Ocean also contributed to the decrease in nDIC. Thermodynamically, the effect of the nDIC decrease exceeded the effect of the temperature rise. The resultant lowering of pCO2sea (Fig. 8b) led to the increase of CO2 uptake after 2000. The results of the present study are consistent with the patterns described in previous studies (Landschützer et al. 2015; DeVries et al. 2017; Ritter et al. 2017; Gruber et al. 2019b). In addition, this study indicated that the increase of CO2 uptake has continued into the 2010s and has occurred mainly in the Pacific sector of the Southern Ocean.

Fig. 8
figure 8

The contributions from variables to the yearly pCO2sea anomaly. a Shows the contributions of the explanatory variables in the MLR over the Southern Ocean. Panels a-1, a-2, and a-3 correspond to the Atlantic, Indian, and Pacific sectors of the northern part of Southern Ocean, respectively, and a-4 corresponds to the southernmost part of the Southern Ocean, showing the contributions to nDIC anomaly. b Shows the contributions from physicochemical effects of temperature, salinity, nDIC, and nTA over the Southern Ocean

DeVries et al. (2017) have also concluded that CO2 uptake increased in the Indian Ocean during the 2000s. However, the results of this study indicate that the CO2 sink of the Indian Ocean was decreasing in the 2000s (Fig. 5e). This inconsistency could be ascribed to the potential bias in the secular trend of DIC. The secular trend in the Indian Ocean estimated in this study depended on data from the equatorial region because of the paucity of data from the northern Indian Ocean.

The CO2 source in the equatorial Pacific was the smallest around the year 2016 because of the strong El Niño at that time and contributed to the increase of the ocean CO2 sink after 2010. The CO2 source in the equatorial Pacific strengthened after 2016 with the cessation of El Niño and contributed to the weakening of the global ocean CO2 sink during that period (Fig. 5a, g).

Our analysis did not reveal synchrony of the decadal variability of pH and Ωarg with ocean CO2 uptake (Fig. 6). We did not find that the decreases of pH and Ωarg were smaller before 2000 and larger after 2000. The estimated global mean pH and Ωarg were respectively 8.10 and 3.06 in 1993, 8.08 and 2.96 in 2005, and 8.06 and 2.87 in 2018. The mean rates of changes were − 0.018 and − 0.082 decade−1 for pH and Ωarg, respectively. If we assume that the rate of change of the pH anomaly, − 0.018 decade−1, continues in the near future, the global mean pH is very likely to reach 8.05 in 2023. In other words, after 2023 the global mean pH will be 8.0 rounded to two significant figures, not the often-cited pH of 8.1 (e.g., IPCC 2013). Aside from the equatorial Pacific, where pH and Ωarg vary substantially along with the El Niño Southern Oscillation, interannual and decadal variability of the anomalies of pH and Ωarg were obscure when they were integrated over a basin (Figs. 6; 7a–d). The trend in pH that we identified in this study was consistent with those from time-series observations (Bates et al. 2014) and the Copernicus Marine Environmental Monitoring Service (CMEMS) estimates of global pH (https://marine.copernicus.eu/science-learning/ocean-monitoring-indicators) calculated from the TA reported by Carter et al. (2018) and the pCO2sea reported by Denvil-Sommer et al. (2019). The rate of pH change estimated by CMEMS was − 0.0016·year−1 during the period of 1985–2018. As mentioned in Sect. 3.2, the magnitude of the rate of pH decrease was lower in some regions, such as the Southern Ocean, western equatorial Pacific, and eastern boundary current regions off California and the Angora-Benguela system. Although the reasons for the slower acidification in those areas are unclear, the slower rate of acidification in the western tropical Pacific is consistent with the slower pH decrease in the tropical area near the 137° E meridian (− 0.0124 ± 0.0008 decade−1, Ono et al. 2019).

Finally, SDG 14.3 addresses ocean acidification, and the indicator of ocean acidification defined in SDG 14.3.1 requires “Average marine acidity (pH) measured at agreed suite of representative sampling stations”. This definition is based on surface ocean pH “measured directly or can be calculated based on data for two of the other carbonate chemistry parameters, these being TA, DIC and pCO2.” (IOC/UNESCO 2018). However, measurements are not always sufficient in space and time to assess representative values of pH for each region, and thus the average pH calculated from the reconstructions proposed in this study could help verifying a value of the indicator (Wanninkhof et al. 2019).