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diff --git a/doc/algorithm/algorithm.rst b/doc/algorithm/algorithm.rst
diff --git a/doc/examples/examples.rst b/doc/examples/examples.rst
@@ -301,13 +301,16 @@ For many experiments, additional information is provided in a ``README`` file lo
    physics (:filelink:`pkg/aim_v23`) thermodynamic seaice (:filelink:`pkg/thsice`) and land
    packages.
    Also contains an additional setup with seaice dynamics
-   (:filelink:`input_cpl.icedyn  <verification/cpl_aim+ocn/input_cpl.icedyn>`, :filelink:`input_atm.icedyn  <verification/cpl_aim+ocn/input_atm.icedyn>`, :filelink:`input_ocn.icedyn  <verification/cpl_aim+ocn/input_ocn.icedyn>`).
+   (:filelink:`input_cpl.icedyn  <verification/cpl_aim+ocn/input_cpl.icedyn>`,
+   :filelink:`input_atm.icedyn  <verification/cpl_aim+ocn/input_atm.icedyn>`,
+   :filelink:`input_ocn.icedyn  <verification/cpl_aim+ocn/input_ocn.icedyn>`).
 
 #. :filelink:`deep_anelastic <verification/deep_anelastic>` - Convection simulation on a giant planet: relaxes
    both the Boussinesq approximation (anelastic) and the thin atmosphere
    approximation (deep atmosphere).
 
-#. :filelink:`dome <verification/dome>` - Idealized 3-D test of a density-driven bottom current (Denmark Overflow Mixing and Entrainment experiment).
+#. :filelink:`dome <verification/dome>` - Idealized 3-D test of a density-driven bottom current
+   (Denmark Overflow Mixing and Entrainment experiment).
 
 #. :filelink:`exp2 <verification/exp2>` - Old version of the global ocean experiment (no GM, no
    partial-cells). Also contains an additional setup with rigid lid
@@ -335,11 +338,14 @@ For many experiments, additional information is provided in a ``README`` file lo
 #. :filelink:`front_relax <verification/front_relax>` - Relaxation of an 2-D (:math:`y-z`) ocean thermal front (test of
    Gent and McWilliams scheme). Also contains additional setups:
 
+   - using the identical setup except with pressure as the vertical coordinate instead of height
+     (:filelink:`input.in_p <verification/front_relax/input.in_p>`)
+
    - using the boundary-value problem method (Ferrari et al. 2010 :cite:`ferrari:10`)
-     (:filelink:`input.bvp <verification/front_relax/input.bvp>`).
+     (:filelink:`input.bvp <verification/front_relax/input.bvp>`)
 
    - with mixed-layer eddy parameterization (Ferrari and McWilliams
-     2008 :cite:`ferrari:08`) (:filelink:`input.mxl <verification/front_relax/input.mxl>`).
+     2008 :cite:`ferrari:08`) (:filelink:`input.mxl <verification/front_relax/input.mxl>`)
 
    - with dry-cell at the top and a sloping bottom
      (:filelink:`input.top <verification/front_relax/input.top>`).
@@ -370,7 +376,9 @@ For many experiments, additional information is provided in a ``README`` file lo
    - using thermodynamic and dynamic (:filelink:`pkg/seaice`) sea ice with :filelink:`exf <pkg/exf>` package
      package (:filelink:`input.seaice <verification/global_ocean.cs32x15/input.seaice>`).
 
-   - using pressure as vertical coordinate, with :filelink:`ggl90 <pkg/ggl90>` scheme (Gaspar et al. 1990 :cite:`gas-eta:90`) and dynamic and thermodynamic seaice (:filelink:`pkg/seaice`) package and :filelink:`exf <pkg/exf>` package (:filelink:`input.in_p <verification/global_ocean.cs32x15/input.in_p>`)
+   - using pressure as vertical coordinate, with :filelink:`ggl90 <pkg/ggl90>` scheme (Gaspar et al. 1990 :cite:`gas-eta:90`)
+     and dynamic and thermodynamic seaice (:filelink:`pkg/seaice`) package and :filelink:`exf <pkg/exf>`
+     package (:filelink:`input.in_p <verification/global_ocean.cs32x15/input.in_p>`)
 
 #. :filelink:`global_ocean_ebm <verification/global_ocean_ebm>` - Global ocean experiment on a lat-lon grid
    coupled to a zonally averaged atmospheric energy balance model. Similar to
@@ -468,21 +476,25 @@ For many experiments, additional information is provided in a ``README`` file lo
    - sea ice dynamics-only using :ref:`LSR solver <para_phys_pkg_seaice_LSRJFNK>`,
      elliptical yield curve with :ref:`non-normal flow rule <rheologies_ellnnfr>`
      and (:filelink:`pkg/seaice`) advection
-     (:filelink:`input.dyn_ellnnfr <verification/offline_exf_seaice/input.dyn_ellnnfr>` and :filelink:`input.dyn_lsr <verification/offline_exf_seaice/input.dyn_lsr>`)
+     (:filelink:`input.dyn_ellnnfr <verification/offline_exf_seaice/input.dyn_ellnnfr>`
+     and :filelink:`input.dyn_lsr <verification/offline_exf_seaice/input.dyn_lsr>`)
 
    - sea ice dynamics-only using :ref:`LSR solver <para_phys_pkg_seaice_LSRJFNK>`,
      :ref:`Mohr-Coulomb yieldcurve with elliptical plastic potential <rheologies_MCE>`
      and (:filelink:`pkg/seaice`) advection
-     (:filelink:`input.dyn_mce <verification/offline_exf_seaice/input.dyn_mce>` and :filelink:`input.dyn_lsr <verification/offline_exf_seaice/input.dyn_lsr>`)
+     (:filelink:`input.dyn_mce <verification/offline_exf_seaice/input.dyn_mce>` and
+     :filelink:`input.dyn_lsr <verification/offline_exf_seaice/input.dyn_lsr>`)
 
    - sea ice dynamics-only using :ref:`Picard (KRYLOV) solver <para_phys_pkg_seaice_LSRJFNK>`,
      :ref:`parabolic lens yieldcurve <rheologies_PL>`
      and (:filelink:`pkg/thsice`) advection
-     (:filelink:`input.dyn_paralens <verification/offline_exf_seaice/input.dyn_paralens>` and :filelink:`input.dyn_jfnk <verification/offline_exf_seaice/input.dyn_jfnk>`)
+     (:filelink:`input.dyn_paralens <verification/offline_exf_seaice/input.dyn_paralens>`
+     and :filelink:`input.dyn_jfnk <verification/offline_exf_seaice/input.dyn_jfnk>`)
 
    - sea ice dynamics-only using :ref:`JFNK solver <para_phys_pkg_seaice_LSRJFNK>`, :ref:`teardrop yieldcurve <rheologies_TD>`
      and (:filelink:`pkg/thsice`) advection
-     (:filelink:`input.dyn_teardrop <verification/offline_exf_seaice/input.dyn_teardrop>` and :filelink:`input.dyn_jfnk <verification/offline_exf_seaice/input.dyn_jfnk>`)
+     (:filelink:`input.dyn_teardrop <verification/offline_exf_seaice/input.dyn_teardrop>`
+     and :filelink:`input.dyn_jfnk <verification/offline_exf_seaice/input.dyn_jfnk>`)
 
    - sea ice thermodynamics-only using (:filelink:`pkg/seaice`) (:filelink:`input.thermo <verification/offline_exf_seaice/input.thermo>`)
 
@@ -516,15 +528,28 @@ For many experiments, additional information is provided in a ``README`` file lo
 #. :filelink:`so_box_biogeo <verification/so_box_biogeo>` - Open boundary Southern Ocean box around Drake
    Passage, using same model parameters and forcing as experiment
    :ref:`tutorial_global_oce_biogeo <sub_global_oce_biogeo>` from which initial conditions and open boundary
-   conditions have been extracted. Also contains additional setup using the SolveSAPHE algorithm
-   (Munhoven 2013 :cite:`munhoven:13`) to determine oceanic pH
-   (:filelink:`input.saphe <verification/so_box_biogeo/input.saphe>`).
+   conditions have been extracted. Also contains additional setups:
+
+   - using the SolveSAPHE algorithm (Munhoven 2013 :cite:`munhoven:13`) to determine oceanic
+     pH (:filelink:`input.saphe <verification/so_box_biogeo/input.saphe>`)
+
+   - using the calcite-saturation code (with 3-D pH and silica input file) with the original pH solver
+     (:filelink:`input.caSat0 <verification/so_box_biogeo/input.caSat0>`)
+
+   - using the calcite-saturation code with the Munhoven "FAST" solver (:filelink:`input.caSat3 <verification/so_box_biogeo/input.caSat3>`)
 
 #. :filelink:`solid-body.cs-32x32x1 <verification/solid-body.cs-32x32x1>` - Solid body rotation test for cube sphere
    grid.
 
-#. :filelink:`tutorial_deep_convection <verification/tutorial_deep_convection>` - Experiment as described in :numref:`sec_deep_convection`, also contains an additional setup
-   using the Smagorinisky (1963) :cite:`smag:63` viscosity scheme (:filelink:`input.smag3d <verification/tutorial_deep_convection/input.smag3d>`).
+#. :filelink:`tutorial_deep_convection <verification/tutorial_deep_convection>` - Experiment as described
+   in :numref:`sec_deep_convection`, also contains an additional setup
+   using the Smagorinisky (1963) :cite:`smag:63` viscosity scheme
+   (:filelink:`input.smag3d <verification/tutorial_deep_convection/input.smag3d>`).
+
+#. :filelink:`tutorial_plume_on_slope <verification/tutorial_plume_on_slope>` - Experiment as described in
+   :numref:`tutorial_plume_on_slope`, also contains an additional setup
+   using the logarithmic law of the wall to compute the bottom drag coefficient
+   (:filelink:`input.roughBot <verification/tutorial_plume_on_slope/input.roughBot>`).
 
 #. :filelink:`vermix <verification/vermix>` - Simple test in a small domain (3 columns) for ocean
    vertical mixing schemes. The standard setup (:filelink:`input <verification/vermix/input>`) uses the :ref:`KPP scheme <sub_phys_pkg_kpp>`
@@ -553,7 +578,8 @@ Unless stated otherwise, the physical setup of the adjoint run is identical to t
 TAF adjoint setups require building with directory ``code_ad`` with input directory ``input_ad``, whereas OpenAD requires
 directories ``code_oad`` and ``input_oad`` respectively.
 
-#. :filelink:`1D_ocean_ice_column <verification/1D_ocean_ice_column>` - Based on standard forward experiment, TAF adjoint setup, uses package :filelink:`ecco <pkg/ecco>`.
+#. :filelink:`1D_ocean_ice_column <verification/1D_ocean_ice_column>` - Based on standard forward experiment,
+   TAF adjoint setup, uses package :filelink:`ecco <pkg/ecco>`.
 
 #. :filelink:`bottom_ctrl_5x5 <verification/bottom_ctrl_5x5>` - TAF adjoint
    test using the bottom topography as the control parameter, uses package
@@ -588,7 +614,8 @@ directories ``code_oad`` and ``input_oad`` respectively.
 
 #. :filelink:`global_ocean_ebm <verification/global_ocean_ebm>` - Based on standard forward experiment, TAF adjoint setup.
 
-#. :filelink:`global_oce_biogeo_bling <verification/global_oce_biogeo_bling>` - Based on standard forward experiment, TAF adjoint setup, uses package :filelink:`ecco <pkg/ecco>`.
+#. :filelink:`global_oce_biogeo_bling <verification/global_oce_biogeo_bling>` - Based on standard forward experiment,
+   TAF adjoint setup, uses package :filelink:`ecco <pkg/ecco>`.
 
 #. :filelink:`global_with_exf <verification/global_with_exf>` - Based on standard forward experiment, TAF adjoint setup.
 
@@ -628,6 +655,6 @@ directories ``code_oad`` and ``input_oad`` respectively.
 #. :filelink:`tutorial_global_oce_biogeo <verification/tutorial_global_oce_biogeo>` - Based on forward experiment described
    in :numref:`sub_global_oce_biogeo`, TAF and OpenAD adjoint setups.
 
-#. :filelink:`tutorial_tracer_adjsens <verification/tutorial_tracer_adjsens>` - Based on adjoint experiment described in :numref:`sec_tracer_adj_sens`,
-   contains an additional TAF setup using Second Order Moment (SOM)
+#. :filelink:`tutorial_tracer_adjsens <verification/tutorial_tracer_adjsens>` - Based on adjoint experiment
+   described in :numref:`sec_tracer_adj_sens`, contains an additional TAF setup using Second Order Moment (SOM)
    advection scheme (:filelink:`input_ad.som81 <verification/tutorial_tracer_adjsens/input_ad.som81>`).
diff --git a/doc/getting_started/getting_started.rst b/doc/getting_started/getting_started.rst
@@ -2525,6 +2525,8 @@ and quadratic (set the variable
 +----------------------------------------+-----------+--------------------------------------------------+---------------------------------------------------------------------------------------------------------+
 | :varlink:`bottomDragQuadratic`         | PARM01    | 0.0                                              | quadratic bottom-drag coefficient ([:math:`r`]/m)                                                       |
 +----------------------------------------+-----------+--------------------------------------------------+---------------------------------------------------------------------------------------------------------+
+| :varlink:`zRoughBot`                   | PARM01    | 0.0                                              | roughness length for quadratic bottom friction coefficient (m)                                          |
++----------------------------------------+-----------+--------------------------------------------------+---------------------------------------------------------------------------------------------------------+
 | :varlink:`selectBotDragQuadr`          | PARM01    | -1                                               | select quadratic bottom drag discretization option                                                      |
 |                                        |           |                                                  |                                                                                                         |
 |                                        |           |                                                  | - -1: not used                                                                                          |

diff --git a/doc/manual_references.bib b/doc/manual_references.bib
@@ -585,6 +585,17 @@ @article{dutkiewicz:2020
   pages = {609--634},
 }
 
+@ARTICLE{fenty:13,
+  author       = {Fenty, I. and P. Heimbach},
+  title        = {Coupled sea ice{\textendash}ocean-state estimate in the {Labrador Sea and Baffin Bay}},
+  JOURNAL     = jpo,
+  YEAR        = 2013,
+  VOLUME      = 43,
+  NUMBER      = {5},
+  PAGES       = {884-904},
+  doi         = {10.1175/JPO-D-12-065.1},
+}
+
 @inproceedings{ferrari:03,
   author =   {Ferrari, R. and R. A. Pumb},
   title =    {Residual circulation in the ocean},
@@ -2471,6 +2482,16 @@ @article{waters:14
   doi = {10.1016/j.marchem.2014.07.004},
 }
 
+@Article{weaver:01,
+  author =   {Weaver, A. and P. Courtier},
+  title =    {Correlation modelling on the sphere using a generalized diffusion equation},
+  journal =    qjrms,
+  year =   2001,
+  volume =   127,
+  pages =  {1815-1846},
+  doi   =  {10.1002/qj.49712757518}
+}
+
 @article{weiss:80,
   author = {Weiss, R. F. and Price, B. A.},
   title = {Nitrous oxide solubility in water and seawater},

diff --git a/doc/ocean_state_est/figs/ctrl_var_sketch.pdf b/doc/ocean_state_est/figs/ctrl_var_sketch.pdf