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Funding: Funding for this work was provided by Living Marine Resources Program Grant No. N39430-14-C-1435 and Office of Naval Research Grant No. N00014-15-1‐2142. S.F. was supported by the Department of Defense National Science and Engineering Graduate Fellowship. This is Pacific Marine Environmental Laboratory (PMEL) Contribution No. 5101. 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 μPa2/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 km2 (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 km2 (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. Publisher PDF

Passive acoustic monitoring of ocean soundscapes can provide information on ecosystem status for those tasked with protecting marine resources. In 2015, the National Oceanic and Atmospheric Administration (NOAA) established a long-term, continuous, low-frequency (10 Hz-2 kHz) passive acoustic monitoring site in the Cordell Bank National Marine Sanctuary (CBNMS), located offshore of the central United States of America (U.S.) west coast, near San Francisco, CA. The California Current flows southward along the coast in this area, supporting a diverse community of marine animals, including several baleen whale species. Acoustic data analysis revealed that both large vessels and vocalizing baleen whales contribute to the ambient soundscape of the CBNMS. Sound levels fluctuated by month with the highest levels in the fall and lowest levels in the summer. Throughout the year, very low-frequency (10-100 Hz) sound levels were most variable. Vessels and whales overlap in their contributions to ambient sound levels within this range, although vessel contributions were more omnipresent, while seasonal peaks were associated with vocalizing whales. This characterization of low-frequency ambient sound levels in the CBNMS establishes initial baselines for an important component of this site's underwater soundscape. Standardized monitoring of soundscapes directly supports NOAA's ability to evaluate and report on conditions within national marine sanctuaries.

In 2009-2014, autonomous hydrophones were deployed on established long-term moorings in the Fram Strait and Greenland Sea to record multi-year, seasonal occurrence of vocalizing cetaceans. Sei whales have rarely been observed north of ∼72°N, yet there was acoustic evidence of sei whale presence in the Fram Strait for several months during all five years of the study. More sei whale calls were recorded at the easternmost moorings in the Fram Strait, likely because of the presence of warm Atlantic water and a strong front concentrating prey in this area. Sei whale vocalizations were not recorded at the Greenland Sea 2009-2010 mooring, either because this area is not part of the northward migratory path of sei whales or because oceanographic conditions were not suitable for foraging. No clear relationship between whale presence and water temperature data collected coincident with acoustic data was observed, but decadal time series of water temperature data collected in the eastern Fram Strait by others exhibit a warming trend, which may make conditions suitable for sei whales. Continued monitoring of the region will be required to determine if the presence of sei whales in these polar waters is ephemeral or a common occurrence.

Acoustically equipped deep-water mobile autonomous platforms can be used to survey for marine mammals over intermediate spatiotemporal scales. Direct comparisons to fixed recorders are necessary to evaluate these tools as passive acoustic monitoring platforms. One glider and two drifting deep-water floats were simultaneously deployed within a deep-water cabled hydrophone array to quantitatively assess their survey capabilities. The glider was able to follow a pre-defined track while float movement was somewhat unpredictable. Fin whale (Balaenoptera physalus) 20 Hz pulses were recorded by all hydrophones throughout the two-week deployment. Calls were identified using a template detector, which performed similarly across recorder types. The glider data contained up to 78% fewer detections per hour due to increased low-frequency flow noise present during glider descents. The glider performed comparably to the floats and fixed recorders at coarser temporal scales; hourly and daily presence of detections did not vary by recorder type. Flow noise was related to glider speed through water and dive state. Glider speeds through water of 25 cm/s or less are suggested to minimize flow noise and the importance of glider ballasting, detector characterization, and normalization by effort when interpreting glider-collected data and applying it to marine mammal density estimation are discussed.

Foraging behavior in odontocetes is fundamentally tied to the use of sound. Resident-type killer whales use echolocation to locate and capture elusive salmonid prey. In this investigation, acoustic recording tags were suction cup-attached to endangered Southern Resident killer whales to describe their acoustic behavior during different phases of foraging that, along with detections of prey handling sounds (e.g., crunches) and observed predation events, allow confirmation of prey capture. Echolocation click trains were categorized based on the inter-click interval (ICI) according to hypothesized foraging function. Whales produced slow click trains (ICI >100 ms) at shallowest depths but over the largest change of depth, fast click trains (10 ms < ICI ≤100 ms) at intermediate depths, and buzz trains (ICI ≤10 ms) at deepest depths over the smallest depth change. These results align with hypotheses regarding biosonar use to search, pursue and capture prey. Males exhibited a higher probability of producing slow click trains, buzzes and prey handling sounds, indicating higher levels of prey searching and capture to support the energy requirement of their larger body size. These findings identify relevant acoustic indicators of subsurface foraging behaviors of killer whales, enabling investigations of human impacts on sound use and foraging.

In fall 2014 and spring 2015, passive acoustic data were collected via autonomous gliders east of Guam in an area that included the Mariana Trench Marine National Monument. A short (2-4 s), complex sound was recorded that features a ∼38 Hz moan with both harmonics and amplitude modulation, followed by broad-frequency metallic-sounding sweeps up to 7.5 kHz. This sound was recorded regularly during both fall and spring surveys. Aurally, the sound is quite unusual and most resembles the minke whale "Star Wars" call. It is likely this sound is biological and produced by a baleen whale.

Humpback whales produce a wide range of low- to mid-frequency vocalizations throughout their migratory range. Non-song “calls” dominate this species' vocal repertoire while on high-latitude foraging grounds. The source levels of 426 humpback whale calls in four vocal classes were estimated using a four-element planar array deployed in Glacier Bay National Park and Preserve, Southeast Alaska. There was no significant difference in source levels between humpback whale vocal classes. The mean call source level was 137 dBRMS re 1 μPa @ 1 m in the bandwidth of the call (range 113–157 dBRMS re 1 μPa @ 1 m), where bandwidth is defined as the frequency range from the lowest to the highest frequency component of the call. These values represent a robust estimate of humpback whale source levels on foraging grounds and should append earlier estimates.

Odontocete echolocation clicks have been used as a preferred cue for density estimation using single-sensor data sets, requiring estimation of detection probability as a function of range. Many such clicks can be very broadband in nature, with 10-dB bandwidths of 20–40 kHz or more. Detection distances are not readily obtained from single-sensor data. Here, the average detection probability is estimated in a Monte Carlo simulation using the passive sonar equation along with transmission loss calculations to estimate the signal-to-noise ratio (SNR) of tens of thousands of click realizations. Continuous-wave (CW) analysis, i.e., single-frequency analysis, is inherent to basic forms of the passive sonar equation. Using CW analysis with the click's center frequency while disregarding its bandwidth has been shown to introduce bias into detection probabilities and hence to density estimates. In this study, the effects of highly broadband clicks on density estimates are further examined. The usage of transmission loss as an appropriate measure for calculating click SNR is also discussed. The main contributions from this research are (1) an alternative approach to estimate the average probability of detection of broadband clicks, and (2) understanding the effects of multipath clicks on population density estimates.

A passive acoustic survey off Southern California is being conducted in summer–fall 2019 to estimate the distribution of beaked whale species. Two gliders are being flown to estimate the occurrence of Cuvier's, Blainville's, Stejneger's, Hubbs', and Baird's beaked whales in several regions: (1) near the Navy's Southern California Offshore Range (SCORE), in particular near fixed passive recorders there; (2) over the farther reaches of the continental shelf and shelf slope; and (3) over deep (>3000 m) waters offshore of the shelf slope up to 350 km from shore. The gliders collect passive acoustic data up to ca. 90 kHz, which should enable differentiation of these species of beaked whales in situations of reasonably high signal-to-noise ratios. Preliminary results of the glider flights and data analysis will be presented. [Funding from Navy NAVFAC.]

Passive acoustic monitoring of three protected coral reef habitats south of St. John Island in the US Virgin Islands was conducted in April, 2019. Four wideband Autonomous Passive Acoustic Monitoring (APAM) packages, each with 12-element hydrophone arrays, were deployed on the 10-m-deep seafloor and recorded continuously over the 9-day experiment. Previously published methods for robust feature extraction of individual biological sounds [Mellinger and Bradbury, 2007] have been applied to these data and compared with enhanced approaches to feature extraction. This talk presents results of quantitative evaluations of the performance of these methods. Feature extraction is categorized as a parameter estimation problem whose performance is quantified by the statistical distribution of estimates, typically summarized by the bias and variance of these distributions. Results for a simulated case first are presented, and then those from the APAM-recorded data. The enhanced approaches show significant improvement over the standard approaches for several of the extracted features.

In 2009 two calibrated acoustic recorders were deployed in polar waters of the North Atlantic to study the seasonal occurrence of blue, fin, and sperm whales and to assess current ambient noise levels. Sounds from these cetaceans were recorded at both locations in most months of the year. During the summer months, seismic airguns associated with oil and gas exploration were audible for weeks at a time and dominated low frequency noise levels. Noise levels might further increase in the future as the receding sea ice enables extended human use of the area.

International audience; Between 1999 and 2009, autonomous hydrophones were deployed to monitor seismic activity from 16° N to 50° N along the Mid-Atlantic Ridge. These data were examined for airgun sounds produced during offshore surveys for oil and gas deposits, as well as the 20 Hz pulse sounds from fin whales, which may be masked by airgun noise. An automatic detection algorithm was used to identify airgun sound patterns, and fin whale calling levels were summarized via long-term spectral analysis. Both airgun and fin whale sounds were recorded at all sites. Fin whale calling rates were higher at sites north of 32° N, increased during the late summer and fall months at all sites, and peaked during the winter months, a time when airgun noise was often prevalent. Seismic survey vessels were acoustically located off the coasts of three major areas: Newfoundland, northeast Brazil, and Senegal and Mauritania in West Africa. In some cases, airgun sounds were recorded almost 4000 km from the survey vessel in areas that are likely occupied by fin whales, and at some locations airgun sounds were recorded more than 80% days/month for more than 12 consecutive months.

This study seeks to determine how human listeners discriminate cry vs. non-cry sounds by investigating acoustic factors that may contribute to the perception of negativity in infant vocalizations (e.g., cry, whine, and vowel-like sounds). The assumption is that identification of cry is self-evident; therefore, there has been no attempt to systematically differentiate cry from non-cry vocalizations. Twelve exemplars each of cry, whine, and vowel-like sound segments (36 total) were selected from archival audio recordings of infant vocalizations. Categories were selected from expert-judged audio signals of vocal development. Adult listeners identified each utterance as either cry, whine, or vowel-like sound as quickly and accurately as possible. They also judged the extent of negativity of each utterance. Acoustic features of each utterance were analyzed in association with the categories and degrees of negativity. Results suggest a continuum of negativity from cries (most negative) to vowel-like sounds (least negative), and that acoustic variables are gradated across the negativity continuum. However, preliminary results suggest that peak F0, peak RMS, and spectral slope best differentiate the categories.

An algorithm is presented for the detection of frequency contour sounds-whistles of dolphins and many other odontocetes, moans of baleen whales, chirps of birds, and numerous other animal and non-animal sounds. The algorithm works by tracking spectral peaks over time, grouping together peaks in successive time slices in a spectrogram if the peaks are sufficiently near in frequency and form a smooth contour over time. The algorithm has nine parameters, including the ones needed for spectrogram calculation and normalization. Finding optimal values for all of these parameters simultaneously requires a search of parameter space, and a grid search technique is described. The frequency contour detection method and parameter optimization technique are applied to the problem of detecting "boing" sounds of minke whales from near Hawaii. The test data set contained many humpback whale sounds in the frequency range of interest. Detection performance is quantified, and the method is found to work well at detecting boings, with a false-detection rate of 3% for the target missed-call rate of 25%. It has also worked well anecdotally for other marine and some terrestrial species, and could be applied to any species that produces a frequency contour, or to non-animal sounds as well.

The energy ratio mapping algorithm (ERMA) was developed to improve the performance of energy-based detection of odontocete echolocation clicks, especially for application in environments with limited computational power and energy such as acoustic gliders. ERMA systematically evaluates many frequency bands for energy ratio-based detection of echolocation clicks produced by a target species in the presence of the species mix in a given geographic area. To evaluate the performance of ERMA, a Teager-Kaiser energy operator was applied to the series of energy ratios as derived by ERMA. A noise-adaptive threshold was then applied to the Teager-Kaiser function to identify clicks in data sets. The method was tested for detecting clicks of Blainville's beaked whales while rejecting echolocation clicks of Risso's dolphins and pilot whales. Results showed that the ERMA-based detector correctly identified 81.6% of the beaked whale clicks in an extended evaluation data set. Average false-positive detection rate was 6.3% (3.4% for Risso's dolphins and 2.9% for pilot whales).

This study presents a system for classifying echolocation clicks of six species of odontocetes in the Southern California Bight: Visually confirmed bottlenose dolphins, short- and long-beaked common dolphins, Pacific white-sided dolphins, Risso’s dolphins, and presumed Cuvier’s beaked whales. Echolocation clicks are represented by cepstral feature vectors that are classified by Gaussian mixture models. A randomized cross-validation experiment is designed to provide conditions similar to those found in a field-deployed system. To prevent matched conditions from inappropriately lowering the error rate, echolocation clicks associated with a single sighting are never split across the training and test data. Sightings are randomly permuted before assignment to folds in the experiment. This allows different combinations of the training and test data to be used while keeping data from each sighting entirely in the training or test set. The system achieves a mean error rate of 22% across 100 randomized three-fold cross-validation experiments. Four of the six species had mean error rates lower than the overall mean, with the presumed Cuvier’s beaked whale clicks showing the best performance (

Work is being conducted to estimate marine mammal density and abundance from slow-moving, passive acoustically equipped underwater gliders and deep-water floats. We deployed five drifting acoustic spar buoy recorders (DASBRs) simultaneously with a seaglider and QUEphone float in the Catalina Basin of Southern California in 2016 to estimate the probability of detecting Cuvier’s beaked whale echolocation clicks from the glider and float. The DASBRs successfully localized and tracked individual whales, though a limited number of encounters prohibited estimation of detection probability through a trial-based method. We explored using a spatially explicit capture recapture (SECR) approach. The SECR analysis was modified to account for the non-static array and we explored sample size requirements for SECR using simulations. During tracked dives, over 200 one-minute time bins contained echolocation clicks on at least one DASBR. Of these, 10 and 34 bins contained clicks recorded on the glider and float, respectively, and were used to make preliminary estimates of detection probability as a function of range. Detection probability estimation is a key step towards animal density estimation; other information such as encounter rate and click production rates are required to estimate animal density, which will form the next part of this work.

The Cascadia Initiative placed a large number of ocean-bottom seismic sensors off the coast of the US Pacific Northwest. These sensors recorded pulsed sounds from fin whales, recorded in conditions that in many cases make it impossible to resolve the sounds from individual whales. The sounds from multiple whales, however, combine to make a distinct rise in spectral energy in the 15–30 Hz band. This received energy can be used to estimate the population density of fin whales in the vicinity of each sensor over the 4-year duration of the project. Difficulties addressed include the variable rate and intensity of fin whale vocalizations, acoustic properties of the seafloor, and differences between seismic and acoustic sensors. [Funding from ONR.]

Underwater sound propagation in a coastal ocean can be influenced by a variety of physical oceanographic conditions that are unique in the coastal and estuarine environment, such as salt wedge fronts, river-plume induced nonlinear internal gravity waves, strong tidal currents, surf zone waves, etc. The confined boundaries in the area can also produce reflection, diffraction and even scattering of sound due to shoaling seafloor. The morphological dynamics in the area is complex and results in corrugated and channeled bathymetry, which may cause 3D ducting and trapping of sound. In this talk, we will present our numerical study of 3D underwater sound propagation in Long Island Sound, a tidal estuary of the Atlantic Ocean. The Unstructured Grid Finite Volume Community Ocean Model (FVCOM) will be utilized to simulate physical oceanographic processes and produce water-column environmental input to the sound propagation model. A bathymetric database from high-resolution multibeam surveys will also be used to in...

New technology has always been used to listen to, study, and understand animal sounds. Early recording devices in the 1870s employing wax cylinders and discs were quickly employed for recording nature sounds. Underwater listening devices from the 1910s captured marine animal sounds; interest in these sounds increased greatly after World War II, when naval advances made underwater sound accessible to sonar operators who noted the presence of cetacean sounds. Microphone technology advanced to the point where ultrasonic and eventually infrasonic signals were recorded. Frequency separation and analysis was facilitated by the invention of the vocoder in the late 1930s, which separated sound into a number of frequency bands and enabled, for instance, the discovery of multiple sources of sound (more than one syrinx) in bird vocalizations. The greatest leap in frequency separation came with the discovery of the Fast Fourier Transform and its application on digital computers for making spectrograms; since the 1970...

On low-latitude breeding grounds, humpback whales produce complex and highly stereotyped songs as well as a range of non-song sounds associated with breeding behaviors. While on their Southeast Alaskan foraging grounds, humpback whales produce a range of previously unclassified non-song vocalizations. This study investigates the vocal repertoire of Southeast Alaskan humpback whales from a sample of 299 non-song vocalizations collected over a 3-month period on foraging grounds in Frederick Sound, Southeast Alaska. Three classification systems were used, including aural spectrogram analysis, statistical cluster analysis, and discriminant function analysis, to describe and classify vocalizations. A hierarchical acoustic structure was identified; vocalizations were classified into 16 individual call types nested within four vocal classes. The combined classification method shows promise for identifying variability in call stereotypy between vocal groupings and is recommended for future classification of broad vocal repertoires.

This paper describes a full vector intensity probe which advances the field of sound intensity and sound source direction estimation using six matched rotating and variable directional microphones. The probe has three pairs of microphones at an equal spacing of 30 mm that are set up in each of the x, y, and z directions and share the same observation point. The calibration method using the rotating microphone system is effective to correct position errors in the y- and z-axes microphone pairs. Sound intensity measurements using the variable directional microphone method can locate with accuracy a sound source, i.e., the structure parts radiating most acoustic energy. The system can find the maximum sound intensity level and beamwidth of the major lobe, and the peak sound intensity levels of the minor lobes. Therefore, a procedure for sound power determination based on minimum measurement data is theoretically and experimentally discussed. Consequently, it is possible to reconstruct only parts of the system emitting the most noise and measure efficiently the sound power level.

Vocalizations resembling known Bryde's whale sounds were recorded on autonomous hydrophones at seven sites in the eastern tropical Pacific. Five short (3 s) low-frequency (80 Hz) "phrase" types were observed. "Swept alternating tonal" phrases included a 37-Hz tone and often a 25-16-Hz downswept tone, while "nonswept alternating tonal" phrases had a predominant tone at 29 Hz and often additional tones at 16 and 47 Hz. Alternating tonal phrases were found in 79% of the total hours in which phrases were detected, and occurred primarily at the eastern hydrophone sites. "Burst-tonal" phrases included tones that were often preceded by a wideband burst of noise. The "low burst-tonal" phrase contained tones at 19 and 30 Hz, and was detected at five of the hydrophone sites. The "high burst-tonal" phrase included a 42-Hz tone and was observed only on the northwestern hydrophones. A single "harmonic tone" phrase type was observed that included a fundamental tone at 26 Hz and at least two harmonics; this phrase was observed exclusively at the eastern hydrophone stations. This opportunistic survey has shown that acoustics is an effective means of studying this poorly understood, pelagic balaenopterid.