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MODIS BRDF/Albedo (MCD43)

MODIS/Terra+Aqua BRDF/Albedo (MCD43) Collection 6.1 — BRDF model parameters, surface albedo and nadir BRDF-adjusted reflectance, produced daily from a 16-day window

Being replaced

Being replaced

Collection 6.1 (V061) is the current version and is still produced daily (the latest MCD43A3 file on 2026-10-13 was dated 2 October 2026), but the Terra and Aqua platforms that feed it are out of fuel, drifting in orbit and approaching the end of their missions. In a May 2025 notice NASA said MODIS collection will stop once shutdown begins in late 2026 or early 2027, that a final reprocessing will follow, and that users should move to the similar VIIRS products (VNP43, VJ143). Both satellites have outlived the originally planned end dates (Terra December 2025, Aqua August 2026), but no official end date has been announced.

At a glance

Item Details
Section Land › Land surface temperature & albedo (also listed in: Satellite › Land)
Type Satellite product
Domains Land, Remote sensing
Provider NASA MODIS Land Science Team (Schaaf lab, UMass Boston) / NASA LP DAAC
Period 2000-02 ~ present
Coverage Global
Horizontal resolution MODIS Sinusoidal tile grid, 500 m (MCD43A1–A4; each tile 2400 × 2400 pixels, about 1200 km × 1200 km) / 0.05° Climate Modeling Grid (CMG; MCD43C1–C4) / 30 arc-second CMG (per-band, per-variable MCD43D products and the gap-filled snow-free MCD43GF)
Vertical resolution Land surface (single level)
Temporal resolution Produced daily (each retrieval uses 16 days of Terra and Aqua observations weighted to the 9th day; the file-name date is that 9th day)
Update frequency Daily (the 16-day window must fill before processing, so files appear roughly 10 days after their nominal date)
Licence NASA Earth science open data — free and unrestricted under the EOSDIS Data Use and Citation Guidance. Downloads require a free NASA Earthdata Login
Account required Yes

Note on period: CMR lists 2000-02-16 as the start, with no end date (ongoing). Before Aqua joined in mid-2002 the product used Terra observations only. Because each file is dated to the middle of its 16-day window, the newest file lags real time by about ten days (on 2026-10-13 the latest MCD43A3 file was A2026275 = 2026-10-02).

How to read the resolution
  • Horizontal resolution lists both the native model grid and the grid you download, as given in the official documentation. The same dataset can come on different grids from different providers or products, so check the grid of your downloaded file.
  • Grid spacing is not the effective resolution. A provided grid that is finer than the native one carries no extra information.
  • Intervals and whether a value is instantaneous, mean or accumulated differ between variables — see 'Available variables' below.
  • The 'provided resolution' in lists and the comparison table is a simplified km/degree value for quick comparison. Use this page for exact values.

Overview

MCD43 is the MODIS land team's standard BRDF/albedo suite. For every pixel, cloud-free multi-angle observations from Terra and Aqua over 16 days are fitted with a kernel-driven bidirectional reflectance distribution function (BRDF; the RossThick/LiSparse-Reciprocal model), and the fitted model is used to compute black-sky and white-sky albedo and nadir BRDF-adjusted reflectance (NBAR). Since Collection 6 the 16-day window slides forward one day at a time to give daily retrievals, with the 9th day emphasized so that fast surface changes such as snowfall, snowmelt, green-up and crop growth are captured. It comes as 500 m tiles (A products) and as global 0.05° and 30 arc-second grids (C and D products), and is a reference dataset for evaluating land surface albedo in climate models and for surface radiation budget studies.

What changes with the successor

MODIS MCD43 C6.1 (Terra+Aqua) → VIIRS VNP43·VJ143 C2 Planned

Transition: 2026

To prepare for the end of Terra and Aqua, NASA produces VNP43 (Suomi NPP), VJ143 (NOAA-20) and VJ243 (NOAA-21) by applying the same algorithm (RossThick/LiSparse-Reciprocal BRDF, 16-day window weighted to the 9th day) to VIIRS data as the MODIS follow-on. Resolution, bands, file format and observing time differ, so the records cannot simply be joined.

Aspect MODIS MCD43 C6.1 (Terra+Aqua) VIIRS VNP43·VJ143 C2
Platform and sensor Terra (from 2000-02) and Aqua (from 2002-07) MODIS observations combined into one product (MCD43) VIIRS on Suomi NPP (VNP43, from 2012-01), NOAA-20 (VJ143, from 2018-01) and NOAA-21 (VJ243, from 2023-02), each a separate product
Observing time Mix of morning (Terra) and afternoon (Aqua) observations Observations from one afternoon-orbit satellite. No follow-on continues Terra's morning crossing (LAADS)
Spatial resolution and bands 500 m, MODIS bands 1–7 plus vis, nir and shortwave broadbands / 0.05° and 30 arc-second CMG 500 m (imagery bands I1–I3, IA products) + 1 km (M1–M5, M7, M8, M10, M11 plus vis, nir and shortwave, MA products) / 0.05° and 30 arc-second CMG
Variable names Albedo_WSA_Band1–Band7, Albedo_WSA_shortwave, etc. Albedo_WSA_M1–M11, Albedo_WSA_I1–I3; broadbands keep names such as Albedo_WSA_shortwave. Same scale_factor 0.001
File format HDF-EOS2 (HDF4) HDF-EOS5 (HDF5)
Algorithm 16-day window, 9th day weighted, full/magnitude inversions Same approach (designed to continue the MODIS BRDF/albedo suite)

Things to watch when switching

  • Before joining MODIS and VIIRS albedo into one series, compare the two over their overlap (2012 onward) at the same sites and bands. Band centres differ, so spectral albedos do not map one-to-one; comparing broadband (vis, nir, shortwave) values is safer.
  • MCD43 pools morning and afternoon observations, whereas the VIIRS products use a single afternoon satellite. Fewer observations can raise the share of magnitude inversions, so look at the quality-flag distribution too.
  • Delivery of Suomi NPP data (VNP43) ends on 2 November 2026. Going forward, use VJ143 (NOAA-20) or VJ243 (NOAA-21).
  • HDF4 code (pyhdf, etc.) must be rewritten for HDF5 (h5py, xarray).

Sources: Liu et al. (2017) — evaluation of VIIRS BRDF/Albedo/NBAR and continuity with the MODIS record · Román et al. (2024) — continuity between MODIS C6.1 and VIIRS C2 land products · NASA Earthdata — Transition from MODIS to VIIRS (2025-05-02) · LAADS DAAC — MODIS To VIIRS Transition

Compare the two side by side

MCD43 Collection 6 → MCD43 Collection 6.1

Transition: 2021-02

A reprocessing with improved Level 1B calibration (reflective-band response, Terra IR crosstalk correction, polarization correction). The algorithm is unchanged, and the quality flag gained values marking missing bands 5 and 6. LP DAAC stopped distributing Collection 6.0 on 31 July 2023 (except MCD43GF).

Aspect MCD43 Collection 6 MCD43 Collection 6.1
Input calibration C6 Level 1B Revised response-versus-scan (RVS) approach for reflective bands, optical crosstalk correction for Terra IR bands, corrected Terra LUT updates for 2012–2017, polarization correction for reflective solar bands
Mandatory quality values 0 full inversion / 1 magnitude inversion 0 and 1 plus 2–7 (band 5 and/or 6 set to fill because of non-functional or noisy detectors)
Availability Distribution ended 2023-07-31 Current version (CMR release date 2021-02-22)

Things to watch when switching

  • Do not mix C6 and C6.1; download the whole period again as C6.1.
  • Code that assumes quality values of only 0/1 must be updated to handle 2–7.

Sources: LP DAAC MCD43A3 V061 product page (Improvements/Changes) · MODIS Version 6.0 Land Data Products Decommissioned (Earthdata)

Available variables

Names inside the files, checked against the LP DAAC product pages and LAADS V061 file specifications. Albedo and BRDF parameters are INT16 with scale_factor 0.001, NBAR uses 0.0001, and the fill value is 32767. Band1–Band7 are MODIS bands 1–7 (620–2155 nm); vis, nir and shortwave are broadbands. The files are HDF-EOS2 (HDF4).

Time-stamp convention — instantaneous, mean or accumulated? — click to show

A value is not a single observation: it comes from a BRDF model fitted to 16 days of observations, weighted towards the 9th day of the window (the date in the file name). Black-sky albedo and NBAR are computed for the solar zenith angle at local solar noon on that date, while white-sky albedo is the fully diffuse case and does not depend on sun position.

  • The AYYYYDDD date in the file name is the centre (9th day) of the 16-day input window. A2026275 (2026-10-02), for example, is built from observations on either side of that date, not from that one day.
  • Earlier reprocessed versions dated each retrieval to the first day of the window, and the Direct Broadcast version used the last day. Keep this in mind when aligning dates with old data.
  • When a pixel has enough well-distributed observations (currently seven or more) a full inversion is made; otherwise a magnitude inversion scales an a priori BRDF shape. The quality flags tell them apart.
  • Terra (morning) and Aqua (afternoon) observations are pooled, so the value does not belong to a particular time of day. Orbit drift has moved Terra's crossing earlier (about 09:00 by late 2025) and Aqua's later (projected around 15:50 by August 2026), so more observations are taken at low sun elevation.
  • Actual (blue-sky) albedo is not provided. It has to be computed by interpolating between black-sky and white-sky albedo using the diffuse skylight fraction, which depends on aerosol optical depth.
  • BRDF_Albedo_ValidObs_Band* in MCD43A2 records the days with valid observations within the 16-day window.

Source: MODIS BRDF/Albedo V006/V006.1 User Guide (UMass Boston) + LP DAAC MCD43A3 V061 collection description (CMR)

instantaneous mean accumulated maximum minimum static — instantaneous: value at the time stamp · mean/accumulated/maximum/minimum: over the indicated interval · static: does not change with time

Albedo (MCD43A3 500 m / MCD43C3 0.05°)

Variable Short name Units Time convention Notes
Black-sky albedo (direct beam, local solar noon) Albedo_BSA_Band1, Albedo_BSA_Band7, Albedo_BSA_vis, Albedo_BSA_nir, Albedo_BSA_shortwave dimensionless 16-day window (9th day weighted) mean – · The BRDF fitted to 16 days of data, integrated at the local-noon solar zenith angle. A weighted model inversion, not an arithmetic mean
White-sky albedo (fully diffuse) Albedo_WSA_Band1, Albedo_WSA_Band7, Albedo_WSA_vis, Albedo_WSA_nir, Albedo_WSA_shortwave dimensionless 16-day window (9th day weighted) mean – · Independent of sun position
Per-band mandatory quality BRDF_Albedo_Band_Mandatory_Quality_Band1, _shortwave - 16-day window (9th day weighted) mean – (0 full inversion, 1 magnitude inversion, 2–7 flag missing bands 5/6)
Fraction of snow-flagged inputs in the CMG cell Percent_Snow % 16-day window (9th day weighted) mean MCD43C3. Share of the underlying 500 m inputs flagged as snow
Fraction of valid inputs in the CMG cell Percent_Inputs % 16-day window (9th day weighted) mean MCD43C3
Solar zenith angle at local solar noon Local_Solar_Noon degrees instantaneous (16-day window (9th day weighted)) MCD43C3. Local-noon solar zenith on the file date

Nadir BRDF-adjusted reflectance, NBAR (MCD43A4 500 m / MCD43C4 0.05°)

Variable Short name Units Time convention Notes
Nadir BRDF-adjusted reflectance (local-noon sun, nadir view) Nadir_Reflectance_Band1, Nadir_Reflectance_Band7 dimensionless 16-day window (9th day weighted) mean – · scale_factor 0.0001. View-angle-corrected reflectance for vegetation index and land cover work
Per-band mandatory quality BRDF_Albedo_Band_Mandatory_Quality_Band1, Band7 - 16-day window (9th day weighted) mean –

BRDF model parameters (MCD43A1 500 m / MCD43C1, C2 0.05°)

Variable Short name Units Time convention Notes
Kernel weights (isotropic, volumetric, geometric) BRDF_Albedo_Parameters_Band1, Band7, _vis, _nir, _shortwave - 16-day window (9th day weighted) mean – · The last dimension (Num_Parameters) holds iso, vol and geo in that order. Use them to recompute reflectance and albedo for any sun/view geometry. MCD43C2 holds snow-free parameters

Quality and ancillary information (MCD43A2 500 m)

Variable Short name Units Time convention Notes
Snow status (snow vs snow-free retrieval) Snow_BRDF_Albedo - 16-day window mean
Detailed BRDF inversion quality BRDF_Albedo_Band_Quality_Band1, Band7 - 16-day window mean –
Albedo uncertainty (weight of determination for white-sky albedo) BRDF_Albedo_Uncertainty - 16-day window mean
Days with valid observations in the 16-day window BRDF_Albedo_ValidObs_Band1, Band7 days 16-day window accumulated – · Number of days within the 16-day window with valid observations
Solar zenith angle at local solar noon BRDF_Albedo_LocalSolarNoon degrees instantaneous (16-day window)
Platform used (Terra/Aqua)·land/water type BRDF_Albedo_Platform, BRDF_Albedo_LandWaterType - 16-day window mean

The full variable list is in the official documentation.

How to get the data

  • NASA Earthdata Search (LP DAAC, Earthdata Cloud) — Web search and download / earthaccess (HDF-EOS2)
    • MCD43A1, A2, A3 and A4 (500 m tiles), MCD43C1–C4 (0.05° CMG), MCD43D01–D68 (30 arc-second per band and variable) and MCD43GF (snow-free, gap-filled) are all available as V061. In CMR the short name is, for example, MCD43A3 with version 061. A free Earthdata Login is required.
  • NASA AppEEARS — Point and area extraction with reprojection (GeoTIFF, NetCDF4)
    • Returns point time series or latitude–longitude grids without handling Sinusoidal tiles yourself — the easiest route for first-time users.
  • LP DAAC product page (MCD43A3 V061) — Documentation, layer tables, DOI
  • Google Earth Engine (MODIS/061/MCD43A4, MODIS/061/MCD43C3, etc.) — Cloud analysis (Earth Engine account required)
    • A redistributed copy of the NASA data; update timing can differ from the original.

Example code

Downloads one day of MCD43A3 tiles for April 2024 with earthaccess and reads white-sky shortwave albedo. The files are HDF4, so pyhdf is used (pip install earthaccess pyhdf numpy). The example keeps only full inversions (quality 0).

import earthaccess
import numpy as np
from pyhdf.SD import SD, SDC

earthaccess.login()  # free NASA Earthdata account
results = earthaccess.search_data(
    short_name="MCD43A3", version="061",
    temporal=("2024-04-15", "2024-04-15"),
    bounding_box=(124, 33, 132, 39),   # (west, south, east, north)
)
files = earthaccess.download(results, "mcd43a3")

for f in files:
    sd = SD(f, SDC.READ)
    wsa = sd.select("Albedo_WSA_shortwave")[:].astype("float32")
    qa = sd.select("BRDF_Albedo_Band_Mandatory_Quality_shortwave")[:]
    wsa[wsa == 32767] = np.nan        # fill value
    wsa *= 0.001                      # scale_factor
    wsa[qa != 0] = np.nan             # keep full inversions only
    print(f, np.nanmean(wsa))

# A file date such as A2024106 is the 9th day of the 16-day window.

Practical tips

  • Values are stored as integers. Multiply albedo and BRDF parameters by 0.001 and NBAR by 0.0001, after first setting the fill value 32767 to missing.
  • LP DAAC and the user guide recommend using the per-band quality flags to keep only full inversions (value 0). Magnitude inversions (1) come from pixels with too few observations and are much less certain.
  • Collection 6.1 added quality values 2–7, which flag cases where band 5 or 6 (1.24 and 1.64 µm) was set to fill because of non-functional or noisy detectors — many Aqua MODIS band 6 detectors do not work. Check these values if your analysis uses those bands.
  • Do not treat a file as one day's observation. The 16-day windows overlap, so neighbouring dates are strongly correlated and day-to-day differences cannot pin down the timing of a change.
  • During snow-covered periods the retrieval is a snow retrieval (see Snow_BRDF_Albedo). For snow-free background albedo use MCD43C2 (snow-free parameters) or MCD43GF.
  • The 500 m products are MODIS Sinusoidal tiles (hXXvYY). For a latitude–longitude grid, reproject with AppEEARS or use the 0.05° CMG (MCD43C3).
  • Orbit drift has shifted Terra and Aqua crossing times, increasing low-sun observations and shadows, and the lower orbits no longer keep a strict 16-day repeat. Keep this in mind when analysing trends from the 2020s onward.
  • The MODIS land team has said it is preparing a final reprocessing, Collection 7 (all products in netCDF4), but as of 2026-10-13 CMR lists no MCD43 C7 collection. When C7 appears the whole record will change, so do not mix it with C6.1.
  • Since 7 July 2023 the platforms have been flown with Lights-Out-Operations, so non-recoverable data gaps are more frequent than before. Check the dates on the LDOPE quality site (landweb.modaps.eosdis.nasa.gov).

Notices and change history

2026-03-26 · Warning · Terra MODIS placed in standby — data for 26–27 March 2026 flagged as bad

After a spacecraft anomaly at about 20:00 UTC on 26 March, Terra MODIS went into standby mode and returned to science mode on 27 March. The calibration team flagged data from day 2026-085 20:00 UTC to day 2026-086 19:23 UTC as questionable or bad, so check the quality of MCD43 retrievals whose 16-day window includes this period.

Read the original

2025-05-02 · Warning · Move from MODIS to VIIRS — Terra and Aqua expected to shut down in late 2026 or early 2027

NASA said MODIS data collection will stop once Terra and Aqua begin shutting down in late 2026 or early 2027, with a final reprocessing beforehand. It noted that orbit drift is affecting crossing times and may affect the data, and encouraged users to switch to similar VIIRS products.

Read the original

2024-11-12 · Info · MCD43GF V6.1 (snow-free, gap-filled, 30 arc-second) released

The gap-filled, snow-free daily albedo, BRDF and NBAR product MCD43GF V6.1 was released starting with 2013–2021, with the remaining years to follow. The V6 MCD43GF stays available until the rest of V6.1 is out.

Read the original

2023-07-25 · Info · MODIS Version 6.0 land products decommissioned (2023-07-31)

LP DAAC stopped distributing Terra, Aqua and combined MODIS V6.0 land products (except MOD44W and MCD43GF). Users need to move to V6.1.

Read the original

2023-07-07 · Info · Terra and Aqua MODIS switch to Lights-Out-Operations — more data loss possible

The Flight Operations Team no longer staffs the 12-hour night shift and no longer fills gaps with solid-state recorder replays, so non-recoverable data loss may occur more often. Overall capture is still expected to exceed the 95% mission guideline. All MODIS V6.1 products are affected.

Read the original

2021-11-10 · Warning · Aqua orbit drift — equator crossing getting later

After its last orbit maintenance manoeuvre in March 2021, Aqua began drifting to later crossing times in July 2021, passed 13:45 in February 2023, and was projected to reach about 15:50 around August 2026. Products are expected to stay mostly science quality, but the lower altitude reduces grid coverage and the strict 16-day repeat is no longer kept.

Read the original

References for your paper

Double-check before using in a paper

The citations below were compiled by the maintainer and may contain errors. Always double-check DOIs, authors, years and access-date formats against the provider's official dataset page and your journal's guidelines.

Dataset citation

MCD43A3 V061 (albedo, 500 m) — DOI 10.5067/MODIS/MCD43A3.061

Schaaf, C., Wang, Z. (2021). MODIS/Terra+Aqua BRDF/Albedo Daily L3 Global - 500m V061 [Data set]. NASA Land Processes Distributed Active Archive Center. https://doi.org/10.5067/MODIS/MCD43A3.061 (Accessed YYYY-MM-DD)

Show BibTeX
@misc{mcd43a3_v061,
  author    = {Schaaf, Crystal and Wang, Zhuosen},
  title     = {{MODIS/Terra+Aqua BRDF/Albedo Daily L3 Global - 500m V061}},
  year      = {2021},
  publisher = {NASA Land Processes Distributed Active Archive Center},
  doi       = {10.5067/MODIS/MCD43A3.061}
}

MCD43A4 V061 (NBAR, 500 m) — DOI 10.5067/MODIS/MCD43A4.061

Schaaf, C., Wang, Z. (2021). MODIS/Terra+Aqua BRDF/Albedo Nadir BRDF Adjusted Ref Daily L3 Global - 500m V061 [Data set]. NASA Land Processes Distributed Active Archive Center. https://doi.org/10.5067/MODIS/MCD43A4.061 (Accessed YYYY-MM-DD)

Show BibTeX
@misc{mcd43a4_v061,
  author    = {Schaaf, Crystal and Wang, Zhuosen},
  title     = {{MODIS/Terra+Aqua BRDF/Albedo Nadir BRDF Adjusted Ref Daily L3 Global - 500m V061}},
  year      = {2021},
  publisher = {NASA Land Processes Distributed Active Archive Center},
  doi       = {10.5067/MODIS/MCD43A4.061}
}

MCD43C3 V061 (albedo, 0.05° CMG) — DOI 10.5067/MODIS/MCD43C3.061

Schaaf, C., Wang, Z. (2021). MODIS/Terra+Aqua BRDF/Albedo Albedo Daily L3 Global 0.05Deg CMG V061 [Data set]. NASA Land Processes Distributed Active Archive Center. https://doi.org/10.5067/MODIS/MCD43C3.061 (Accessed YYYY-MM-DD)

Show BibTeX
@misc{mcd43c3_v061,
  author    = {Schaaf, Crystal and Wang, Zhuosen},
  title     = {{MODIS/Terra+Aqua BRDF/Albedo Albedo Daily L3 Global 0.05Deg CMG V061}},
  year      = {2021},
  publisher = {NASA Land Processes Distributed Active Archive Center},
  doi       = {10.5067/MODIS/MCD43C3.061}
}

Reference papers

First operational MODIS BRDF/albedo products — DOI 10.1016/S0034-4257(02)00091-3

Schaaf, C. B., Gao, F., Strahler, A. H., Lucht, W., Li, X., Tsang, T., Strugnell, N. C., Zhang, X., Jin, Y., Muller, J.-P., Lewis, P., Barnsley, M., Hobson, P., Disney, M., Roberts, G., Dunderdale, M., Doll, C., d'Entremont, R. P., Hu, B., Liang, S., Privette, J. L., Roy, D. (2002): First operational BRDF, albedo nadir reflectance products from MODIS. Remote Sensing of Environment, 83(1–2), 135–148.

Show BibTeX
@article{schaaf2002mcd43,
  author  = {Schaaf, Crystal B. and Gao, Feng and Strahler, Alan H. and Lucht, Wolfgang and Li, Xiaowen and Tsang, Trevor and Strugnell, Nicholas C. and Zhang, Xiaoyang and Jin, Yufang and Muller, Jan-Peter and Lewis, Philip and Barnsley, Michael and Hobson, Paul and Disney, Mathias and Roberts, Gareth and Dunderdale, Michael and Doll, Christopher and d'Entremont, Robert P. and Hu, Baoxin and Liang, Shunlin and Privette, Jeffrey L. and Roy, David},
  title   = {First operational {BRDF}, albedo nadir reflectance products from {MODIS}},
  journal = {Remote Sensing of Environment},
  volume  = {83},
  number  = {1-2},
  pages   = {135--148},
  year    = {2002},
  doi     = {10.1016/S0034-4257(02)00091-3}
}

Daily MCD43 in Collection 6 — DOI 10.1016/j.rse.2018.02.001

Wang, Z., Schaaf, C. B., Sun, Q., Shuai, Y., Román, M. O. (2018): Capturing rapid land surface dynamics with Collection V006 MODIS BRDF/NBAR/Albedo (MCD43) products. Remote Sensing of Environment, 207, 50–64.

Show BibTeX
@article{wang2018mcd43v006,
  author  = {Wang, Zhuosen and Schaaf, Crystal B. and Sun, Qingsong and Shuai, Yanmin and Rom{\'a}n, Miguel O.},
  title   = {Capturing rapid land surface dynamics with Collection {V006} {MODIS} {BRDF/NBAR/Albedo} ({MCD43}) products},
  journal = {Remote Sensing of Environment},
  volume  = {207},
  pages   = {50--64},
  year    = {2018},
  doi     = {10.1016/j.rse.2018.02.001}
}

Acknowledgements

LP DAAC asks users to cite each product with the citation given on its DOI landing page. Cite the DOI of every product you actually used (A1, A2, A3, A4, C1–C4, D, GF) with your access date. For the method, cite Schaaf et al. (2002) together with Wang et al. (2018), which describes the daily Collection 6 retrievals.

If this page helped, please acknowledge the Korean Climate Data Navigator

Please add the sentence below to the Acknowledgements of your paper.

Acknowledgements

Information on the datasets used in this study was compiled with the help of the Korean Climate Data Navigator (KCDN) (Sim, 2026; https://doi.org/10.5281/zenodo.23300923).