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A single-hydrophone ocean glider was deployed within a cabled hydrophone array to demonstrate a framework for estimating population density of fin whales (Balaenoptera physalus) from a passive acoustic glider. The array was used to estimate tracks of acoustically active whales. These tracks became detection trials to model the detection function for glider-recorded 360-s windows containing fin whale 20-Hz pulses using a generalized additive model. Detection probability was dependent on both horizontal distance and low-frequency glider flow noise. At the median 40-Hz spectral level of 97 dB re 1 μPa 2 /Hz, detection probability was near one at horizontal distance zero with an effective detection radius of 17.1 km [coefficient of variation (CV) = 0.13]. Using estimates of acoustic availability and acoustically active group size from tagged and tracked fin whales, respectively, density of fin whales was estimated as 1.8 whales per 1000 km 2 (CV = 0.55). A plot sampling density estimate for the same area and time, estimated from array data alone, was 1.3 whales per 1000 km 2 (CV = 0.51). While the presented density estimates are from a small demonstration experiment and should be used with caution, the framework presented here advances our understanding of the potential use of gliders for cetacean density estimation.

Acoustic point-transect distance-sampling surveys have recently been used to estimate the density of beaked whales. Typically, the fraction of short time "snapshots" with detected beaked whales is used in this calculation. Beaked whale echolocation pulses are only intermittently available, which may affect the best choice of snapshot length. The effect of snapshot length on density estimation for Cuvier's beaked whale (Ziphius cavirostris) is investigated by sub-setting continuous recordings from drifting hydrophones deployed off southern and central California. Snapshot lengths from 20 s to 20 min are superimposed on the time series of detected beaked whale echolocation pulses, and the components of the density estimation equation are estimated for each snapshot length. The fraction of snapshots with detections, the effective area surveyed, and the snapshot detection probability all increase with snapshot length. Due to compensatory changes in these three components, density estimates show very little dependence on snapshot length. Within the range we examined, 1-2 min snapshots are recommended to avoid the potential bias caused by animal movement during the snapshot period and to maximize the sample size for estimating the effective area surveyed.

The population density of Cuvier's beaked whales is estimated acoustically with drifting near-surface hydrophone recorders in the Catalina Basin. Three empirical approaches (trial-based, distance-sampling, and spatially explicit capture-recapture) are used to estimate the probability of detecting the echolocation pulses as a function of range. These detection functions are used with two point-transect methods (snapshot and dive-cue) to estimate density. Measurement errors result in a small range of density estimates (3.9-5.4 whales per 1000 km 2 ). Use of multiple approaches and methods allows comparison of the required information and assumptions of each. The distance-sampling approach with snapshot-based density estimates has the most stringent assumptions but would be the easiest to implement for large scale surveys of beaked whale density. Alternative approaches to estimating detection functions help validate this approach. The dive cue method of density estimation has promise, but additional work is needed to understand the potential bias caused by animal movement during a dive. Empirical methods are a viable alternative to the theoretical acoustic modeling approaches that have been used previously to estimate beaked whale density.

In the California Current off the United States West Coast, there are three offshore cetacean species that produce narrow-band high frequency (NBHF) echolocation pulses: Dall's porpoise (Phocoenoides dalli) and two species of Kogia. NBHF pulses exist in a highly specialized acoustic niche thought to be outside the hearing range of killer whales and other potential mammal-eating odontocetes. Very little is known about the dwarf and pygmy sperm whales (K. sima and K. breviceps), including their NBHF pulse characteristics. This paper presents a multivariate clustering method using data from unmanned drifting acoustic recorders and visually verified porpoise recordings to discriminate between probable porpoise and Kogia clicks. Using density clustering, this study finds three distinct clusters whose geographic distributions are consistent with the known habitat range for Kogia and Dall's porpoise. A Random Forest classification model correctly assigned 97% of the clicks to their cluster. Visually verified Dall's porpoise clicks from towed hydrophones were strongly associated with one of the clusters, while a second cluster tended to be outside the geographic range of Dall's porpoise and unlike the Dall's porpoise cluster. These clicks, presumed to be made by Kogia, exhibited greater spectral variance than previous Kogia echolocation studies. It is possible that the structure of Kogia NBHF pulses may not be as stereotypical as previously described.

Echolocation pulses from Cuvier's beaked whales are used to track the whales' three-dimensional diving behavior in the Catalina Basin, California. In 2016, five 2-element vertical hydrophone arrays were suspended from the surface and drifted at ∼100-m depth. Cuvier's beaked whale pulses were identified, and vertical detection angles were estimated from time-differences-of-arrival of either direct-path signals received on two hydrophones or direct-path and surface-reflected signals received on the same hydrophone. A Bayesian state-space model is developed to track the diving behavior. The model is fit to these detection angle estimates from at least four of the drifting vertical arrays. Results show that the beaked whales were producing echolocation pulses and are presumed to be foraging at a mean depth of 967 m (standard deviation = 112 m), approximately 300 m above the bottom in this basin. Some whales spent at least some time at or near the bottom. Average swim speed was 1.2 m s -1 , but swim direction varied during a dive. The average net horizontal speed was 0.6 m s -1 . Results are similar to those obtained from previous tagging studies of this species. These methods may allow expansion of dive studies to other whale species that are difficult to tag.

The vaquita is a critically endangered species of porpoise. It produces echolocation clicks, making it a good candidate for passive acoustic monitoring. A systematic grid of sensors has been deployed for 3 months annually since 2011; results from 2016 are reported here. Statistical models (to compensate for non-uniform data loss) show an overall decline in the acoustic detection rate between 2015 and 2016 of 49% (95% credible interval 82% decline to 8% increase), and total decline between 2011 and 2016 of over 90%. Assuming the acoustic detection rate is proportional to population size, approximately 30 vaquita (95% credible interval 8-96) remained in November 2016.

Detection distances are critical for cetacean density and abundance estimation using distance sampling methods. Data from a drifting buoy system consisting of an autonomous recorder and a two-element vertical hydrophone array at ∼100-m depth are used to evaluate three methods for estimating the horizontal distance (range) to beaked whales making echolocation clicks. The precision in estimating time-differences-of-arrival (TDOA) for direct- and surface-reflected-path clicks is estimated empirically using repeated measures over short time periods. A Teager-Kaiser energy detector is used to improve estimates of TDOA for surface-reflected signals. Simulations show that array tilt in the direction of the source cannot be reliably estimated given this array geometry and these measurements of TDOA error, which means that range cannot be reliably estimated. If array tilt can be reduced to less than 0.5°, range can be reliably estimated up to ∼3000 m. If array depth is increased to 200 m and array tilt is less than 1°, range can be reliably estimated up to ∼5000 m. Prior information on the depth of vocalizing beaked whales and estimates of declination angle can be used to precisely estimate range, but different analytical methods are required to avoid bias and to treat distributions of depth probabilistically.

Divergence in acoustic signals used by different populations of marine mammals can be caused by a variety of environmental, hereditary, or social factors, and can indicate isolation between those populations. Two types of genetically and morphologically distinct short-finned pilot whales, called the Naisa- and Shiho-types when first described off Japan, have been identified in the Pacific Ocean. Acoustic differentiation between these types would support their designation as sub-species or species, and improve the understanding of their distribution in areas where genetic samples are difficult to obtain. Calls from two regions representing the two types were analyzed using 24 recordings from Hawai'i (Naisa-type) and 12 recordings from the eastern Pacific Ocean (Shiho-type). Calls from the two types were significantly differentiated in median start frequency, frequency range, and duration, and were significantly differentiated in the cumulative distribution of start frequency, frequency range, and duration. Gaussian mixture models were used to classify calls from the two different regions with 74% accuracy, which was significantly greater than chance. The results of these analyses indicate that the two types are acoustically distinct, which supports the hypothesis that the two types may be separate sub-species.

Passive acoustic monitoring is a promising approach for monitoring long-term trends in harbor porpoise (Phocoena phocoena) abundance. Before passive acoustic monitoring can be implemented to estimate harbor porpoise abundance, information about the detectability of harbor porpoise is needed to convert recorded numbers of echolocation clicks to harbor porpoise densities. In the present study, paired data from a grid of nine passive acoustic click detectors (C-PODs, Chelonia Ltd., United Kingdom) and three days of simultaneous aerial line-transect visual surveys were collected over a 370 km 2 study area. The focus of the study was estimating the effective detection area of the passive acoustic sensors, which was defined as the product of the sound production rate of individual animals and the area within which those sounds are detected by the passive acoustic sensors. Visually estimated porpoise densities were used as informative priors in a Bayesian model to solve for the effective detection area for individual harbor porpoises. This model-based approach resulted in a posterior distribution of the effective detection area of individual harbor porpoises consistent with previously published values. This technique is a viable alternative for estimating the effective detection area of passive acoustic sensors when other experimental approaches are not feasible.

Drifting acoustic recorders were deployed in the southern California Current during Fall 2014. Two hydrophones configured as a 2-m vertical array at 100 m depth recorded using a 192 kHz sample rate on a 10% duty cycle (2 min/20 min). Beaked whales were detected in 33 of 8618 two-minute recordings. Sperm whales were detected in 185 recordings, and dolphins in 2291 recordings. Many beaked whales detected were over an abyssal plain and not associated with slope or seamount features. Results show the feasibility of using free-floating recording systems to detect a variety of cetacean species over periods of several months.

Echolocation signals produced by beaked whales (family: Ziphiidae) include frequency-modulated (FM) pulses that appear to have species-specific characteristics. To date there has been no established evidence that a single species of beaked whale might produce more than one type of FM pulse. In 2014 a group of Blainville's beaked whales (Mesoplodon densirostris) were sighted off of Southern California; recordings included FM pulses with significant increases in peak frequency, center frequency, and -10 dB bandwidth relative to FM pulses previously attributed to this species. This research suggests there may be greater variation in received beaked whale FM pulses than previously understood.

Simultaneous sightings and acoustic detections of sei whales (Balaenoptera borealis) are scarce, and there are few published data describing their vocalizations. Analysis of recordings from directional frequency analysis and recording sonobuoys in the presence of sei whales in the Southern Ocean in March 2013 identified both downsweep and upsweep calls. Sound frequencies within all calls were between 34 and 87 Hz with an average call duration of 1.1 s. These very low-frequency sounds share characteristics with sei whale calls recorded near the Hawaiian Islands and off Cape Cod in winter and summer, respectively, but are the first documented sei whale calls in the Southern Ocean that are clearly less than 100 Hz.

Previous underwater recordings made in New Zealand have identified a complex sequence of low frequency sounds that have been attributed to blue whales based on similarity to blue whale songs in other areas. Recordings of sounds with these characteristics were made opportunistically during the Southern Ocean Research Partnership's recent Antarctic Blue Whale Voyage. Detections of these sounds occurred all around the South Island of New Zealand during the voyage transits from Nelson, New Zealand to the Antarctic and return. By following acoustic bearings from directional sonobuoys, blue whales were visually detected and confirmed as the source of these sounds. These recordings, together with the historical recordings made northeast of New Zealand, indicate song types that persist over several decades and are indicative of the year-round presence of a population of blue whales that inhabits the waters around New Zealand. Measurements of the four-part vocalizations reveal that blue whale song in this region has changed slowly, but consistently over the past 50 years. The most intense units of these calls were detected as far south as 53°S, which represents a considerable range extension compared to the limited prior data on the spatial distribution of this population.

Acoustic survey methods can be used to estimate density and abundance using sounds produced by cetaceans and detected using hydrophones if the probability of detection can be estimated. For passive acoustic surveys, probability of detection at zero horizontal distance from a sensor, commonly called g(0), depends on the temporal patterns of vocalizations. Methods to estimate g(0) are developed based on the assumption that a beaked whale will be detected if it is producing regular echolocation clicks directly under or above a hydrophone. Data from acoustic recording tags placed on two species of beaked whales (Cuvier's beaked whale-Ziphius cavirostris and Blainville's beaked whale-Mesoplodon densirostris) are used to directly estimate the percentage of time they produce echolocation clicks. A model of vocal behavior for these species as a function of their diving behavior is applied to other types of dive data (from time-depth recorders and time-depth-transmitting satellite tags) to indirectly determine g(0) in other locations for low ambient noise conditions. Estimates of g(0) for a single instant in time are 0.28 [standard deviation (s.d.) = 0.05] for Cuvier's beaked whale and 0.19 (s.d. = 0.01) for Blainville's beaked whale.

Beaked whales are diverse and species rich taxa. They spend the vast majority of their time submerged, regularly diving to depths of hundreds to thousands of meters, typically occur in small groups, and behave inconspicuously at the surface. These factors make them extremely difficult to detect using standard visual survey methods. However, recent advancements in acoustic detection capabilities have made passive acoustic monitoring (PAM) a viable alternative. Beaked whales can be discriminated from other odontocetes by the unique characteristics of their echolocation clicks. In 2009 and 2010, PAM methods using towed hydrophone arrays were tested. These methods proved highly effective for real-time detection of beaked whales in the Southern California Bight (SCB) and were subsequently implemented in 2011 to successfully detect and track beaked whales during the ongoing Southern California Behavioral Response Study. The three year field effort has resulted in (1) the successful classification and tracking of Cuvier's (Ziphius cavirostris), Baird's (Berardius bairdii), and unidentified Mesoplodon beaked whale species and (2) the identification of areas of previously unknown beaked whale habitat use. Identification of habitat use areas will contribute to a better understanding of the complex relationship between beaked whale distribution, occurrence, and preferred habitat characteristics on a relatively small spatial scale. These findings will also provide information that can be used to promote more effective management and conservation of beaked whales in the SCB, a heavily used Naval operation and training region.

Echolocation signals from Baird's beaked whales were recorded during visual and acoustic shipboard surveys of cetaceans in the California Current ecosystem and with autonomous, long-term recorders in the Southern California Bight. The preliminary measurement of the visually validated Baird's beaked whale echolocation signals from towed array data were used as a basis for identifying Baird's signals in the autonomous recorder data. Two distinct signal types were found, one being a beaked whale-like frequency modulated (FM) pulse, the other being a dolphin-like broadband click. The median FM inter-pulse interval was 230 ms. Both signal types showed a consistent multi-peak structure in their spectra with peaks at ~9, 16, 25, and 40 kHz. Depending on signal type, as well as recording aspect and distance to the hydrophone, these peaks varied in relative amplitude. The description of Baird's echolocation signals will allow for studies of their distribution and abundance using towed array data without associated visual sightings and from autonomous seafloor hydrophones.

Sounds from Longman's beaked whale, Indopacetus pacificus, were recorded during shipboard surveys of cetaceans surrounding the Hawaiian Islands archipelago; this represents the first known recording of this species. Sounds included echolocation clicks and burst pulses. Echolocation clicks were grouped into three categories, a 15 kHz click (n = 106), a 25 kHz click (n = 136), and a 25 kHz pulse with a frequency-modulated upsweep (n = 70). The 15 and 25 kHz clicks were relatively short (181 and 144 ms, respectively); the longer 25 kHz upswept pulse was 288 ms. Burst pulses were long (0.5 s) click trains with approximately 240 clicks/s.

Yangtze finless porpoises were surveyed by using simultaneous visual and acoustical methods from 6 November to 13 December 2006. Two research vessels towed stereo acoustic data loggers, which were used to store the intensity and sound source direction of the high frequency sonar signals produced by finless porpoises at detection ranges up to 300 m on each side of the vessel. Simple stereo beam forming allowed the separation of distinct biosonar sound source, which enabled us to count the number of vocalizing porpoises. Acoustically, 204 porpoises were detected from one vessel and 199 from the other vessel in the same section of the Yangtze River. Visually, 163 and 162 porpoises were detected from two vessels within 300 m of the vessel track. The calculated detection probability using acoustic method was approximately twice that for visual detection for each vessel. The difference in detection probabilities between the two methods was caused by the large number of single individuals that were missed by visual observers. However, the sizes of large groups were underestimated by using the acoustic methods. Acoustic and visual observations complemented each other in the accurate detection of porpoises. The use of simple, relatively inexpensive acoustic monitoring systems should enhance population surveys of free-ranging, echolocating odontocetes.

The ability to identify delphinid vocalizations to species in real-time would be an asset during shipboard surveys. An automated system, Real-time Odontocete Call Classification Algorithm (ROCCA), is being developed to allow real-time acoustic species identification in the field. This Matlab-based tool automatically extracts ten variables (beginning, end, minimum and maximum frequencies, duration, slope of the beginning and end sweep, number of inflection points, number of steps, and presence/absence of harmonics) from whistles selected from a real-time scrolling spectrograph (ISHMAEL). It uses classification and regression tree analysis (CART) and discriminant function analysis (DFA) to identify whistles to species. Schools are classified based on running tallies of individual whistle classifications. Overall, 46% of schools were correctly classified for seven species and one genus (Tursiops truncatus, Stenella attenuata, S. longirostris, S. coeruleoalba, Steno bredanensis, Delphinus species, Pseudorca crassidens, and Globicephala macrorhynchus), with correct classification as high as 80% for some species. If classification success can be increased, this tool will provide a method for identifying schools that are difficult to approach and observe, will allow species distribution data to be collected when visual efforts are compromised, and will reduce the time necessary for post-cruise data analysis.

Vocalizations from the northern right whale dolphin, Lissodelphis borealis, were recorded during a combined visual and acoustic shipboard survey of cetacean populations off the west coast of the United States. Seven of twenty single-species schools of L. borealis produced click and pulsed vocalizations. No whistles were detected during any of the encounters. Clicks associated with burst-pulse vocalizations were lower in frequency and shorter in duration than clicks associated with echolocation. All burst-pulse sounds were produced in a series containing 6-18 individual burst-pulses. These burst-pulse series were stereotyped and repeated. A total of eight unique burst-pulse series were detected. Variation in the temporal characteristics of like units compared across repeated series was less than variation among all burst-pulses. These stereotyped burst-pulse series may play a similar communicative role as do stereotyped whistles found in other delphinid species.

During a recent cetacean survey of the U.S. waters surrounding the Hawaiian Islands, the probable source of the mysterious "boing" sound of the North Pacific Ocean was identified as a minke whale, Balaenoptera acutorostrata. Examination of boing vocalizations from three research surveys confirms previous work that identified two distinct boing vocalization types in the North Pacific. The eastern boing (n = 22) has a pulse repetition rate of 92 s(-1) and a duration of 3.6 s and was found only east of 138 degrees W. The central boing (n = 106) has a pulse repetition rate of 115 s(-1) and a duration of approximately 2.6 s and was found only west of 135 degrees W. Central boing vocalizations produced by a single source (n = 84) indicate that variation in repetition rate and duration of the calls of the individual were not significantly different than the variation among individuals of the same boing type. Despite a slight latitudinal overlap in the vocalizations, pulse repetition rates of the eastern and central boings were distinct.

Because many cetacean species produce characteristic calls that propagate well under water, acoustic techniques can be used to detect and identify them. The ability to identify cetaceans to species using acoustic methods varies and may be affected by recording and analysis bandwidth. To examine the effect of bandwidth on species identification, whistles were recorded from four delphinid species (Delphinus delphis, Stenella attenuata, S. coeruleoalba, and S. longirostris) in the eastern tropical Pacific ocean. Four spectrograms, each with a different upper frequency limit (20, 24, 30, and 40 kHz), were created for each whistle (n = 484). Eight variables (beginning, ending, minimum, and maximum frequency; duration; number of inflection points; number of steps; and presence/absence of harmonics) were measured from the fundamental frequency of each whistle. The whistle repertoires of all four species contained fundamental frequencies extending above 20 kHz. Overall correct classification using discriminant function analysis ranged from 30% for the 20-kHz upper frequency limit data to 37% for the 40-kHz upper frequency limit data. For the four species included in this study, an upper bandwidth limit of at least 24 kHz is required for an accurate representation of fundamental whistle contours.

Numerous (84) acoustic detections of singing humpback whales were made during a spring (08 March-09 June 1997) research cruise to study sperm whales in the central and eastern North Pacific. Over 15,000 km of track-line was surveyed acoustically using a towed hydrophone array. Additionally, 83 sonobuoys were deployed throughout the study area. Detection rates were greatest in late March, near the Hawaiian Islands, and in early April, northeast of the islands. Only one detection was made after April. Detection rates for sonobuoys were unequal in three equally divided longitudinal regions of the study area. Two high density clusters of detections occurred approximately 1200-2000 km northeast of the Hawaiian Islands and were attributed to a large aggregation of migrating animals. The distribution of these detections corroborates findings of previous studies. It is possible that these animals were maintaining acoustic contact during migration. Two unexpected clusters of singing whales were detected approximately 900 to 1000 km west of central and southern California. The location of these detections may indicate a previously undocumented migration route between an offshore breeding area, such as the Revillagigedo Islands, Mexico, and possible feeding areas in the western North Pacific or Bering Sea.