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Nudging and data assimilation


Hi everyone,
I am familiar with WRF model for real-time simulations using GFS input data. Since NCEP produces FNL products (more accurate forecast since more observational data is assimilated in the process), I would like to use these data to create more accurate initial conditions (and also forecasts). However I'm not sure the proper methodology to work with these data is nudging or the use of WRFDA model. I am not familiar with the differences in both methodologies and would like some guidance.
Also in WRFDA USER SUPPORT: Frequently Asked Questions when they talk about "cycling" I assume it is related to using WRF without having to remove spin-up time, which seems very interesting. Could this be done with FNL data? How can all be related?
Thank you.