Individual, unit and vocal clan level identity cues in sperm whale codas

Acoustic behavior of humpback whale calves on the feeding ground: Comparisons across age and implications for vocal development

Studying sound production at different developmental stages can provide insight into the processes involved in vocal ontogeny. Humpback whales (Megaptera novaeangliae) are a known vocal learning species, but their vocal development is poorly understood. While studies of humpback whale calves in the early stages of their lives on the breeding grounds and migration routes exist, little is known about the behavior of these immature, dependent animals by the time they reach the feeding grounds. In this study, we used data from groups of North Atlantic humpback whales in the Gulf of Maine in which all members were simultaneously carrying acoustic recording tags attached with suction cups. This allowed for assignment of likely caller identity using the relative received levels of calls across tags. We analyzed data from 3 calves and 13 adults. There were high levels of call rate variation among these individuals and the results represent preliminary descriptions of calf behavior. Our analysis suggests that, in contrast to the breeding grounds or on migration, calves are no longer acoustically cryptic by the time they reach their feeding ground. Calves and adults both produce calls in bouts, but there may be some differences in bout parameters like inter-call intervals and bout durations. Calves were able to produce most of the adult vocal repertoire but used different call types in different proportions. Finally, we found evidence of immature call types in calves, akin to protosyllables used in babbling in other mammals, including humans. Overall, the sound production of humpback whale calves on the feeding grounds appears to be already similar to that of adults, but with differences in line with ontogenetic changes observed in other vocal learning species.

Contextual and combinatorial structure in sperm whale vocalisations

Sperm whales (Physeter macrocephalus) are highly social mammals that communicate using sequences of clicks called codas. While a subset of codas have been shown to encode information about caller identity, almost everything else about the sperm whale communication system, including its structure and information-carrying capacity, remains unknown. We show that codas exhibit contextual and combinatorial structure. First, we report previously undescribed features of codas that are sensitive to the conversational context in which they occur, and systematically controlled and imitated across whales. We call these rubato and ornamentation. Second, we show that codas form a combinatorial coding system in which rubato and ornamentation combine with two context-independent features we call rhythm and tempo to produce a large inventory of distinguishable codas. Sperm whale vocalisations are more expressive and structured than previously believed, and built from a repertoire comprising nearly an order of magnitude more distinguishable codas. These results show context-sensitive and combinatorial vocalisation can appear in organisms with divergent evolutionary lineage and vocal apparatus.

Click detection rate variability of central North Pacific sperm whales from passive acoustic towed arrays

Passive acoustic monitoring (PAM) is an optimal method for detecting and monitoring cetaceans as they frequently produce sound while underwater. Cue counting, counting acoustic cues of deep-diving cetaceans instead of animals, is an alternative method for density estimation, but requires an average cue production rate to convert cue density to animal density. Limited information about click rates exists for sperm whales in the central North Pacific Ocean. In the absence of acoustic tag data, we used towed hydrophone array data to calculate the first sperm whale click rates from this region and examined their variability based on click type, location, distance of whales from the array, and group size estimated by visual observers. Our findings show click type to be the most important variable, with groups that include codas yielding the highest click rates. We also found a positive relationship between group size and click detection rates that may be useful for acoustic predictions of group size in future studies. Echolocation clicks detected using PAM methods are often the only indicator of deep-diving cetacean presence. Understanding the factors affecting their click rates provides important information for acoustic density estimation.

Caller identification and characterization of individual humpback whale acoustic behaviour

Acoustic recording tags provide fine-scale data linking acoustic signalling with individual behaviour; however, when an animal is in a group, it is challenging to tease apart calls of conspecifics and identify which individuals produce each call. This, in turn, prohibits a robust assessment of individual acoustic behaviour including call rates and silent periods, call bout production within and between individuals, and caller location. To overcome this challenge, we simultaneously instrumented small groups of humpback whales on a western North Atlantic feeding ground with sound and movement recording tags. This approach enabled a comparison of the relative amplitude of each call across individuals to infer caller identity for 97% of calls. We recorded variable call rates across individuals (mean = 23 calls/h) and groups (mean = 55 calls/h). Calls were produced throughout dives, and most calls were produced in bouts with short inter-call intervals of 2.2 s. Most calls received a likely response from a conspecific within 100 s. This caller identification (ID) method facilitates studying both individual- and group-level acoustic behaviour, yielding novel results about the nature of sequence production and vocal exchanges in humpback whale social calls. Future studies can expand on these caller ID methods for understanding intra-group communication across taxa.

The active space of sperm whale codas: inter-click information for intra-unit communication

Sperm whales (Physeter macrocephalus) are social mega-predators who form stable matrilineal units that often associate within a larger vocal clan. Clan membership is defined by sharing a repertoire of coda types consisting of specific temporal spacings of multi-pulsed clicks. It has been hypothesized that codas communicate membership across socially segregated sympatric clans, but others propose that codas are primarily used for behavioral coordination and social cohesion within a closely spaced social unit. Here, we test these hypotheses by combining measures of ambient noise levels and coda click source levels with models of sound propagation to estimate the active space of coda communication. Coda clicks were localized off the island of Dominica with a four- or five-element 80 m vertical hydrophone array, allowing us to calculate the median RMS source levels of 1598 clicks from 444 codas to be 161 dB re. 1 μPa (IQR 153-167), placing codas among the most powerful communication sounds in toothed whales. However, together with measured ambient noise levels, these source levels lead to a median active space of coda communication of ∼4 km, reflecting the maximum footprint of a single foraging sperm whale unit. We conclude that while sperm whale codas may contain information about clan affiliation, their moderate active space shows that codas are not used for long range acoustic communication between units and clans, but likely serve to mediate social cohesion and behavioral transitions in intra-unit communication.

Characteristics and spatiotemporal variation of sei whale (Balaenoptera borealis) downsweeps recorded in Atlantic Canada

The call characteristics and vocal behaviour of sei whales (Balaenoptera borealis) off eastern Canada, including potential spatiotemporal variation, is poorly understood. Such information can improve the performance of automated detector-classifiers, enhancing the accuracy and efficiency of identifying sei whales in large acoustic datasets. Ultimately, these data can be used to understand the occurrence, distribution, and population structure of sei whales in Atlantic Canada. We measured sei whale downsweep characteristics recorded from six locations off Nova Scotia (NS) and Newfoundland and Labrador (NFLD), Canada over a two-year period (2015-2017), and examined variation between call subtypes (singlets, doublets, triplets+), and seasons (Spring, Summer, Fall, Winter). We found that downsweeps had a mean duration of 1.58 s, sweeping from 75.66 to 34.22 Hz, with a peak frequency of 43.89 Hz and an intra-call interval of 2.22 s. Most call characteristics did not vary between location, subtype, or season; however, significantly longer downsweeps occurred off NS, within doublet calls, and in fall months. We also found that NFLD had a higher proportion of doublets (70%) than NS (52%). This variation may be evidence of acoustically diverging sei whale populations, as well as useful for improving detector-classifiers of sei whales in the region.

Variability in humpback whale songs reveals how individuals can be distinctive when sharing a complex vocal display

Individually distinctive acoustic signals in animal vocal communication are taxonomically widespread, however, the investigation of these signal types in marine mammals has focused only on a few species. Humpback whale songs are a stereotyped, hierarchically structured vocal display performed by males, and hence thought to be sexually selected. Within a population, whales conform to a common version of the song despite the song constantly evolving. While humpback songs have been studied extensively at the population level, individual level variation has been rarely described, with inconclusive results. Here, we quantified inter- and intra-individual variability at different levels in the song hierarchy using songs from 25 singers across two song types from the eastern Australian population song of 2002 (12 singers), and the revolutionary song introduced in 2003 (13 singers). Inter-individual variability was found heterogeneously across all hierarchical levels of the song structure. In addition, distinct and individually specific patterns of song production were consistently recorded across song levels, with clear structural differences between the two song types. These results suggest that within the constraints of song conformity, males can produce individually distinctive patterns that could function as an advertisement to females to convey individual qualities.

Multimodal imitative learning and synchrony in cetaceans: A model for speech and singing evolution

Multimodal imitation of actions, gestures and vocal production is a hallmark of the evolution of human communication, as both, vocal learning and visual-gestural imitation, were crucial factors that facilitated the evolution of speech and singing. Comparative evidence has revealed that humans are an odd case in this respect, as the case for multimodal imitation is barely documented in non-human animals. While there is evidence of vocal learning in birds and in mammals like bats, elephants and marine mammals, evidence in both domains, vocal and gestural, exists for two Psittacine birds (budgerigars and grey parrots) and cetaceans only. Moreover, it draws attention to the apparent absence of vocal imitation (with just a few cases reported for vocal fold control in an orangutan and a gorilla and a prolonged development of vocal plasticity in marmosets) and even for imitation of intransitive actions (not object related) in monkeys and apes in the wild. Even after training, the evidence for productive or "true imitation" (copy of a novel behavior, i.e., not pre-existent in the observer's behavioral repertoire) in both domains is scarce. Here we review the evidence of multimodal imitation in cetaceans, one of the few living mammalian species that have been reported to display multimodal imitative learning besides humans, and their role in sociality, communication and group cultures. We propose that cetacean multimodal imitation was acquired in parallel with the evolution and development of behavioral synchrony and multimodal organization of sensorimotor information, supporting volitional motor control of their vocal system and audio-echoic-visual voices, body posture and movement integration.

Evidence from sperm whale clans of symbolic marking in non-human cultures

Culture, a pillar of the remarkable ecological success of humans, is increasingly recognized as a powerful force structuring nonhuman animal populations. A key gap between these two types of culture is quantitative evidence of symbolic markers-seemingly arbitrary traits that function as reliable indicators of cultural group membership to conspecifics. Using acoustic data collected from 23 Pacific Ocean locations, we provide quantitative evidence that certain sperm whale acoustic signals exhibit spatial patterns consistent with a symbolic marker function. Culture segments sperm whale populations into behaviorally distinct clans, which are defined based on dialects of stereotyped click patterns (codas). We classified 23,429 codas into types using contaminated mixture models and hierarchically clustered coda repertoires into seven clans based on similarities in coda usage; then we evaluated whether coda usage varied with geographic distance within clans or with spatial overlap between clans. Similarities in within-clan usage of both "identity codas" (coda types diagnostic of clan identity) and "nonidentity codas" (coda types used by multiple clans) decrease as space between repertoire recording locations increases. However, between-clan similarity in identity, but not nonidentity, coda usage decreases as clan spatial overlap increases. This matches expectations if sympatry is related to a measurable pressure to diversify to make cultural divisions sharper, thereby providing evidence that identity codas function as symbolic markers of clan identity. Our study provides quantitative evidence of arbitrary traits, resembling human ethnic markers, conveying cultural identity outside of humans, and highlights remarkable similarities in the distributions of human ethnolinguistic groups and sperm whale clans.

Toward understanding the communication in sperm whales

Machine learning has been advancing dramatically over the past decade. Most strides are human-based applications due to the availability of large-scale datasets; however, opportunities are ripe to apply this technology to more deeply understand non-human communication. We detail a scientific roadmap for advancing the understanding of communication of whales that can be built further upon as a template to decipher other forms of animal and non-human communication. Sperm whales, with their highly developed neuroanatomical features, cognitive abilities, social structures, and discrete click-based encoding make for an excellent model for advanced tools that can be applied to other animals in the future. We outline the key elements required for the collection and processing of massive datasets, detecting basic communication units and language-like higher-level structures, and validating models through interactive playback experiments. The technological capabilities developed by such an undertaking hold potential for cross-applications in broader communities investigating non-human communication and behavioral research.

Ocean nomads or island specialists? Culturally driven habitat partitioning contrasts in scale between geographically isolated sperm whale populations

The sperm whale (Physeter macrocephalus) is a deep-diving cetacean with a global distribution and a multi-leveled, culturally segregated, social structure. While sperm whales have previously been described as 'ocean nomads', this might not be universal. We conducted surveys of sperm whales along the Lesser Antilles to document the acoustic repertoires, movements and distributions of Eastern Caribbean (EC) sperm whale cultural groups (called vocal clans). In addition to documenting a potential third vocal clan in the EC, we found strong evidence of fine-scale habitat partitioning between vocal clans with scales of horizontal movements an order of magnitude smaller than from comparable studies on Eastern Tropical Pacific sperm whales. These results suggest that sperm whales can display cultural ecological specialization and habitat partitioning on flexible spatial scales according to local conditions and broadens our perception of the ecological flexibility of the species. This study highlights the importance of incorporating multiple temporal and spatial scales to understand the impact of culture on ecological adaptability, as well as the dangers of extrapolating results across geographical areas and cultural groups.

Bray-Call Sequences in the Mediterranean Common Bottlenose Dolphin (Tursiops truncatus) Acoustic Repertoire

Simple Summary

In the acoustic repertoire of common bottlenose dolphins (Tursiops truncatus), Gulps, Grunts, and Squeaks are part of a group of vocalizations called “bray-call” for which little has been previously studied. The name comes from the alternating structure characteristic of a donkey’s bray. Sounds can be of different types at low frequencies and audible to the human hear—of short duration, produced in sequence. The function of these sequences is not clarified yet, and it is not known if they are part of the vocal “catalog” of all the different populations of common bottlenose dolphin at global level. What is certain is that bray-calls are present in two geographical areas of the Mediterranean and that the “Capitoline” individuals (Rome, Tyrrhenian Sea, Italy) emit them with greater frequency and variety than the Sicilian ones (Mazara del Vallo, Sicilian Channel, Italy). A number of 13 different types of sequences have been identified, and only 2 of them are shared between the study areas. For the first time this study identifies variants of the main bray-call elements, highlights the structural complexity of these vocalizations, and suggests addressing future research on the context of emissions and the possible function(s) of such acoustic arrangements.

Abstract

Acoustic sequences are commonly observed in many animal taxa. The vast vocal repertoire of common bottlenose dolphins (Tursiops truncatus) also includes sequences of multi-unit rhythmic signals called bray-call which are still poorly documented, both functionally and geographically. This study aimed to (1) describe, classify, and characterize series of bray-call recorded in two sites of the Mediterranean basin (Rome—Tyrrhenian Sea and Mazara del Vallo—Strait of Sicily) and (2) investigate for the existence of possible geographic differences. The acoustic analysis identified 13 different sequence types, only two detected in both study areas. The Sørensen–Dice index revealed a low degree of similarity between the sequence repertoire of the two common bottlenose dolphin sub-populations, with the Tyrrhenian being more diversified and complex than the Sicilian one. The acoustic parameters also showed variability between the study area. Different variants of the main acoustic elements composing the bray-call sequences were detected in the Tyrrhenian Sea only. The Markov-chain model demonstrated that the transition probability between acoustic elements is not uniform, with specific combinations of elements having a higher probability of occurrence. These new findings on common bottlenose dolphin bray-call sequences highlight the structural complexity of these vocalizations and suggest addressing future research on the context of emissions and the possible function(s) of such acoustic arrangements.

Model-based localization of deep-diving cetaceans using towed line array acoustic data

Passive acoustic monitoring using a towed line array of hydrophones is a standard method for localizing cetaceans during line-transect cetacean abundance surveys. Perpendicular distances estimated between localized whales and the trackline are essential for abundance estimation using acoustic data. Uncertainties in the acoustic data from hydrophone movement, sound propagation effects, errors in the time of arrival differences, and whale depth are not accounted for by most two-dimensional localization methods. Consequently, location and distance estimates for deep-diving cetaceans may be biased, creating uncertainty in abundance estimates. Here, a model-based localization approach is applied to towed line array acoustic data that incorporates sound propagation effects, accounts for sources of error, and localizes in three dimensions. The whale's true distance, ship trajectory, and whale movement greatly affected localization results in simulations. The localization method was applied to real acoustic data from two separate sperm whales, resulting in three-dimensional distance and depth estimates with position bounds for each whale. By incorporating sources of error, this three-dimensional model-based approach provides a method to address and integrate the inherent uncertainties in towed array acoustic data for more robust localization.

Vocal universals and geographic variations in the acoustic repertoire of the common bottlenose dolphin

Acoustical geographic variation is common in widely distributed species and it is already described for several taxa, at various scales. In cetaceans, intraspecific variation in acoustic repertoires has been linked to ecological factors, geographical barriers, and social processes. For the common bottlenose dolphin (Tursiops truncatus), studies on acoustic variability are scarce, focus on a single signal type-whistles and on the influence of environmental variables. Here, we analyze the acoustic emissions of nine bottlenose dolphin populations across the Atlantic Ocean and the Mediterranean Sea, and identify common signal types and acoustic variants to assess repertoires' (dis)similarity. Overall, these dolphins present a rich acoustic repertoire, with 24 distinct signal sub-types including: whistles, burst-pulsed sounds, brays and bangs. Acoustic divergence was observed only in social signals, suggesting the relevance of cultural transmission in geographic variation. The repertoire dissimilarity values were remarkably low (from 0.08 to 0.4) and do not reflect the geographic distances among populations. Our findings suggest that acoustic ecology may play an important role in the occurrence of intraspecific variability, as proposed by the 'environmental adaptation hypothesis'. Further work may clarify the boundaries between neighboring populations, and shed light into vocal learning and cultural transmission in bottlenose dolphin societies.

Learning to localize sounds in a highly reverberant environment: Machine-learning tracking of dolphin whistle-like sounds in a pool

Tracking the origin of propagating wave signals in an environment with complex reflective surfaces is, in its full generality, a nearly intractable problem which has engendered multiple domain-specific literatures. We posit that, if the environment and sensor geometries are fixed, machine learning algorithms can "learn" the acoustical geometry of the environment and accurately track signal origin. In this paper, we propose the first machine-learning-based approach to identifying the source locations of semi-stationary, tonal, dolphin-whistle-like sounds in a highly reverberant space, specifically a half-cylindrical dolphin pool. Our algorithm works by supplying a learning network with an overabundance of location "clues", which are then selected under supervised training for their ability to discriminate source location in this particular environment. More specifically, we deliver estimated time-difference-of-arrivals (TDOA's) and normalized cross-correlation values computed from pairs of hydrophone signals to a random forest model for high-feature-volume classification and feature selection, and subsequently deliver the selected features into linear discriminant analysis, linear and quadratic Support Vector Machine (SVM), and Gaussian process models. Based on data from 14 sound source locations and 16 hydrophones, our classification models yielded perfect accuracy at predicting novel sound source locations. Our regression models yielded better accuracy than the established Steered-Response Power (SRP) method when all training data were used, and comparable accuracy along the pool surface when deprived of training data at testing sites; our methods additionally boast improved computation time and the potential for superior localization accuracy in all dimensions with more training data. Because of the generality of our method we argue it may be useful in a much wider variety of contexts.

Insights from the study of complex systems for the ecology and evolution of animal populations

Populations of animals comprise many individuals, interacting in multiple contexts, and displaying heterogeneous behaviors. The interactions among individuals can often create population dynamics that are fundamentally deterministic yet display unpredictable dynamics. Animal populations can, therefore, be thought of as complex systems. Complex systems display properties such as nonlinearity and uncertainty and show emergent properties that cannot be explained by a simple sum of the interacting components. Any system where entities compete, cooperate, or interfere with one another may possess such qualities, making animal populations similar on many levels to complex systems. Some fields are already embracing elements of complexity to help understand the dynamics of animal populations, but a wider application of complexity science in ecology and evolution has not occurred. We review here how approaches from complexity science could be applied to the study of the interactions and behavior of individuals within animal populations and highlight how this way of thinking can enhance our understanding of population dynamics in animals. We focus on 8 key characteristics of complex systems: hierarchy, heterogeneity, self-organization, openness, adaptation, memory, nonlinearity, and uncertainty. For each topic we discuss how concepts from complexity theory are applicable in animal populations and emphasize the unique insights they provide. We finish by outlining outstanding questions or predictions to be evaluated using behavioral and ecological data. Our goal throughout this article is to familiarize animal ecologists with the basics of each of these concepts and highlight the new perspectives that they could bring to variety of subfields.

Multilevel Organisation of Animal Sociality

Multilevel societies (MLSs), stable nuclear social units within a larger collective encompassing multiple nested social levels, occur in several mammalian lineages. Their architectural complexity and size impose specific demands on their members requiring adaptive solutions in multiple domains. The functional significance of MLSs lies in their members being equipped to reap the benefits of multiple group sizes. Here, we propose a unifying terminology and operational definition of MLS. To identify new avenues for integrative research, we synthesise current literature on the selective pressures underlying the evolution of MLSs and their implications for cognition, intersexual conflict, and sexual selection. Mapping the drivers and consequences of MLS provides a reference point for the social evolution of many taxa, including our own species.

Vocal sequences in narwhals (Monodon monoceros)

Sequences are indicative of signal complexity in vocal communication. While vocal sequences are well-described in birds and terrestrial mammals, the extent to which marine mammals use them is less well understood. This study documents the first known examples of sequence use in the narwhal (Monodon monoceros), a gregarious Arctic cetacean. Eight female narwhals were fitted with animal-borne recording devices, resulting in one of the largest datasets of narwhal acoustic behaviour to date. A combination of visual and quantitative classification procedures was used to test whether subjectively defined vocalization patterns were organized into sequences. Next, acoustic characteristics were analyzed to assess whether sequences could disclose group or individual identity. Finally, generalized linear models were used to investigate the behavioural context under which sequences were produced. Two types of sequences, consisting of "paired" patterns and "burst pulse series," were identified. Sequences of burst pulse series were typically produced in periods of high vocal activity, whereas the opposite was true for sequences of paired patterns, suggesting different functions for each. These findings extend the set of odontocetes which are known to use vocal sequences. Inquiry into vocal sequences in other understudied marine mammals may provide further insights into the evolution of vocal communication.

Repeated downsweep vocalizations of the Araguaian river dolphin, Inia araguaiaensis

Araguaian botos (Inia araguaiaensis) are known to produce pulsed as well as tonal sounds. This study documents the first evidence for repetitive sequences of downsweep whistles in botos that appear to be shared between individuals, and the context of their occurrence is investigated. Boat surveys were conducted along the Tocantins River located in the Eastern Amazon over a period of 42 days between 2012 and 2018. Eighty-two groups of Araguaian botos were observed, and 43 h of sound recordings were acquired. 632 downsweep whistles were recorded in 10 encounters. Four of these encounters contained downsweep bouts (21 bouts with ≥2 whistles) with short inter-call intervals (bout criterion 50 s) and up to 161 whistles. A statistical relationship was not found between downsweep occurrence and any of the contextual parameters that were investigated, including socializing, travelling, feeding, group size, presence of calves, and socio-sexual displays. The rarity of these signals makes them unlikely candidates for individual or group identification. It is more likely that they are associated with very specific contexts, such as nursing or mating, both of which were rarely observed in this study. Further studies are required to investigate context specificity and elucidate the function of these signals.

Deep Machine Learning Techniques for the Detection and Classification of Sperm Whale Bioacoustics

We implemented Machine Learning (ML) techniques to advance the study of sperm whale (Physeter macrocephalus) bioacoustics. This entailed employing Convolutional Neural Networks (CNNs) to construct an echolocation click detector designed to classify spectrograms generated from sperm whale acoustic data according to the presence or absence of a click. The click detector achieved 99.5% accuracy in classifying 650 spectrograms. The successful application of CNNs to clicks reveals the potential of future studies to train CNN-based architectures to extract finer-scale details from cetacean spectrograms. Long short-term memory and gated recurrent unit recurrent neural networks were trained to perform classification tasks, including (1) “coda type classification” where we obtained 97.5% accuracy in categorizing 23 coda types from a Dominica dataset containing 8,719 codas and 93.6% accuracy in categorizing 43 coda types from an Eastern Tropical Pacific (ETP) dataset with 16,995 codas; (2) “vocal clan classification” where we obtained 95.3% accuracy for two clan classes from Dominica and 93.1% for four ETP clan types; and (3) “individual whale identification” where we obtained 99.4% accuracy using two Dominica sperm whales. These results demonstrate the feasibility of applying ML to sperm whale bioacoustics and establish the validity of constructing neural networks to learn meaningful representations of whale vocalizations.

Pulsed call sequences as contact calls in Pacific white-sided dolphins (Lagenorhynchus obliquidens)

Pacific white-sided dolphins are a group-living species and appear to exchange "contact calls" to maintain group cohesion. The aim of this study was to find and characterize their contact calls. Calls were recorded from two females at Osaka Aquarium KAIYUKAN (OAK) and three females at Izu-Mito Sea Paradise (IMSP). Because they often produced pulsed calls consecutively, a "pulsed call sequence" was defined as three or more successive pulsed calls occurring within 325 ms, which was calculated using a bout analysis. The pulsed call sequences increased during separation periods and decreased during reunions and were used for vocal exchange, suggesting that the sequences are contact calls in Pacific white-sided dolphins. Most of the pulsed call sequences were classified into unique types; several stereotyped, repeated patterns were found. One sequence type was found at OAK and the two dolphins shared the type; they exchanged sequences with type matching. On the other hand, three sequence types were found in IMSP and the three dolphins shared all of the types; however, each dolphin preferentially used different types and frequently exchanged with their own favorite types but not with type matching. These results suggest that the sequence type may function as an individual and/or group identity.

Automatic acoustic estimation of sperm whale size distributions achieved through machine recognition of on-axis clicks

The waveforms of individual sperm whale clicks often appear as multiple pulses, which are the product of a single pulse reverberating throughout the spermaceti organ. Since there is a relationship between spermaceti organ size and total body size, it is possible to estimate a whale's length by measuring the inter-pulse intervals (IPIs) within its clicks. However, if a click is recorded off-axis, the IPI corresponding to spermaceti organ length is usually obscured. This paper presents an algorithm for automatically estimating the "true" IPIs of sperm whales in a recording by measuring them from on-axis clicks only. The routine works by classifying detected clicks with a support vector machine, assessing the stability of their IPIs, and then clustering the stable IPIs using Gaussian mixture models. Results show that the routine is very accurate in obtaining reliable IPIs, but has a high false negative rate. Nonetheless, since sperm whales click very frequently, it is possible to obtain useful IPI distributions with only a few minutes of recording. This algorithm makes it possible to estimate the body lengths of multiple sperm whales automatically with only one hydrophone. An implementation is available for download at http://whitelab.biology.dal.ca/CABLE/cable.htm.

Kinship influences sperm whale social organization within, but generally not among, social units

Sperm whales have a multi-level social structure based upon long-term, cooperative social units. What role kinship plays in structuring this society is poorly understood. We combined extensive association data (518 days, during 2005-2016) and genetic data (18 microsatellites and 346 bp mitochondrial DNA (mtDNA) control region sequences) for 65 individuals from 12 social units from the Eastern Caribbean to examine patterns of kinship and social behaviour. Social units were clearly matrilineally based, evidenced by greater relatedness within social units (mean r = 0.14) than between them (mean r = 0.00) and uniform mtDNA haplotypes within social units. Additionally, most individuals (82.5%) had a first-degree relative in their social unit, while we found no first-degree relatives between social units. Generally and within social units, individuals associated more with their closer relatives (matrix correlations: 0.18-0.25). However, excepting a highly related pair of social units that merged over the study period, associations between social units were not correlated with kinship (p > 0.1). These results are the first to robustly demonstrate kinship's contribution to social unit composition and association preferences, though they also reveal variability in association preferences that is unexplained by kinship. Comparisons with other matrilineal species highlight the range of possible matrilineal societies and how they can vary between and even within species.

Variability of the inter-pulse interval in sperm whale clicks with implications for size estimation and individual identification

Sperm whales generate multi-pulsed clicks for echolocation and communication with an inter-pulse interval (IPI) determined by the size of their hypertrophied sound producing nose. The IPI has therefore been used to estimate body size and distinguish between individuals, and it has been hypothesized that conspecifics may use IPIs to recognize each other. However, the degree to which IPIs vary within individuals has not explicitly been tested, and therefore the inherent precision of this measure and its applicability for size estimation for researchers and sperm whales alike remain unknown. Here, the variability in IPI from both animal-borne Dtags and far-field recordings from echolocating and communicating sperm whales is quantified. Three different automatic methods (envelope, cepstrum, and cross-correlation) are tested and it is found that the envelope approach results in the least dispersion. Furthermore, it is shown that neither growth, depth, nor recording aspect fully explains the observed variability among clicks recorded from the same individual. It is proposed that dynamics in the soft structures of the nose are affecting IPIs, resulting in a variation of approximately 0.2 ms. Therefore, it is recommended that this variation be considered in IPI studies and that IPIs may have limited functionality as an identity cue among large groups of conspecifics.

Vocal foragers and silent crowds: context-dependent vocal variation in Northeast Atlantic long-finned pilot whales

ABSTRACT

Vocalisations form a key component of the social interactions and foraging behaviour of toothed whales. We investigated changes in calling and echolocation behaviour of long-finned pilot whales between foraging and non-foraging periods, by combining acoustic recordings and diving depth data from tagged individuals with concurrent surface observations on social behaviour of their group. The pilot whales showed marked vocal variation, specific to foraging and social context. During periods of foraging, pilot whales showed more vocal activity than during non-foraging periods (rest, travel). In addition to the expected increase in echolocation activity, call rates also increased, suggesting that pilot whales communicate more during foraging. Furthermore, calls with multiple inflections occurred more often immediately before and after foraging dives and during the early descent and late ascent phases of foraging dives. However, these calls were almost never detected at diving depths of the tagged whale beyond 350 m. Calls with no or few inflections were produced at all times, irrespective of diving depth of the tagged whale. We discuss possible explanations for the distinct vocal variation associated with foraging periods. In addition, during non-foraging periods, the pilot whales were found to be more silent (no calling or echolocation) in larger, more closely spaced groups. This indicates that increased levels of social cohesion may release the need to stay in touch acoustically.

SIGNIFICANCE STATEMENT

Social toothed whales rely on vocalisations to find prey and interact with conspecifics. Species are often highly vocal and can have elaborate call repertoires. However, it often remains unclear how their repertoire use correlates to specific social and behavioural contexts, which is vital to understand toothed whale foraging strategies and sociality. Combining on-animal tag recordings of diving and acoustic behaviour with observations of social behaviour, we found that pilot whales produce more calls during foraging than during non-foraging periods. Moreover, highly inflected calls were closely associated to the periods around and during foraging dives. This indicates enhanced communication during foraging, which may, for example, enable relocation of conspecifics or sharing of information. Whales reduced their vocal activity (calling and echolocation) at increased levels of social cohesion, indicating that in certain behavioural contexts, closer association (i.e. more closely spaced) may release the need to stay in touch acoustically.

Acoustic differentiation of Shiho- and Naisa-type short-finned pilot whales in the Pacific Ocean

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.

Critical Decline of the Eastern Caribbean Sperm Whale Population

Sperm whale (Physeter macrocephalus) populations were expected to rebuild following the end of commercial whaling. We document the decline of the population in the eastern Caribbean by tracing demographic changes of well-studied social units. We address hypotheses that, over a ten-year period of dedicated effort (2005–2015), unit size, numbers of calves and/or calving rates have each declined. Across 16 units, the number of adults decreased in 12 units, increased in two, and showed no change in two. The number of adults per unit decreased at -0.195 individuals/yr (95% CI: -0.080 to -0.310; P = 0.001). The number of calves also declined, but the decline was not significant. This negative trend of -4.5% per year in unit size started in about 2010, with numbers being fairly stable until then. There are several natural and anthropogenic threats, but no well-substantiated cause for the decline.

Cultural turnover among Galápagos sperm whales

While populations may wax and wane, it is rare for an entire population to be replaced by a completely different set of individuals. We document the large-scale relocation of cultural groups of sperm whale off the Galápagos Islands, in which two sympatric vocal clans were entirely replaced by two different ones. Between 1985 and 1999, whales from two clans (called Regular and Plus-One) defined by cultural dialects in coda vocalizations were repeatedly photo-identified off Galápagos. Their occurrence in the area declined through the 1990s; by 2000, none remained. We reassessed Galápagos sperm whales in 2013-2014, identifying 463 new females. However, re-sighting rates were low, with no matches with the Galápagos 1985-1999 population, suggesting an eastward shift to coastal areas. Their vocal repertoires matched those of two other clans (called Short and Four-Plus) found across the Pacific but previously rare or absent around Galápagos. The mechanisms behind this cultural turnover may include large-scale environmental regime shifts favouring clan-specific foraging strategies, and a response to heavy whaling in the region involving redistribution of surviving whales into high-quality habitats. The fall and rise of sperm whale cultures off Galápagos reflect the structuring of the Pacific population into large, enduring clans with dynamic ranges. Long-lasting clan membership illustrates how culture can be bound up in the structure and dynamics of animal populations and so how tracking cultural traits can reveal large-scale population shifts.

Mediterranean Sperm Whales, Physeter macrocephalus: The Precarious State of a Lost Tribe

First observed in the classical era, a population of sperm whales (Physeter macrocephalus) persists to this day in the deep waters of the Mediterranean Sea. Genetic and observational evidence support the notion that this is an isolated population, separated from its Atlantic neighbours. These whales depend on mesopelagic squid for food, and appear to occupy a very similar ecological niche to sperm whales in the open oceans. Recent evidence proving that individuals can pass between the eastern and western deep water basins confirms that this is a single population, not isolated into western and eastern stocks. We lack robust information on their population status, but they could number in the hundreds rather than thousands, and current densities appear to be much lower than those reported in the 1950s, suggesting that we should be very concerned about the conservation status of this population. This makes it vitally important to address the serious threats posed by ship strikes and entanglement in fishing nets, especially driftnets, and to carefully monitor other potential sources of anthropogenic impact. A step change in funding to collect better data and a clear shift in policy priorities are needed if we are to be serious about conserving this population.

Socially segregated, sympatric sperm whale clans in the Atlantic Ocean

Sperm whales (Physeter macrocephalus) are unusual in that there is good evidence for sympatric populations with distinct culturally determined behaviour, including potential acoustic markers of the population division. In the Pacific, socially segregated, vocal clans with distinct dialects coexist; by contrast, geographical variation in vocal repertoire in the Atlantic has been attributed to drift. We examine networks of acoustic repertoire similarity and social interactions for 11 social units in the Eastern Caribbean. We find the presence of two socially segregated, sympatric vocal clans whose dialects differ significantly both in terms of categorical coda types produced by each clan (Mantel test between clans: matrix correlation = 0.256; p ≤ 0.001) and when using classification-free similarity which ignores defined types (Mantel test between clans: matrix correlation = 0.180; p ≤ 0.001). The more common of the two clans makes a characteristic 1 + 1 + 3 coda, while the other less often sighted clan makes predominantly regular codas. Units were only observed associating with other units within their vocal clan. This study demonstrates that sympatric vocal clans do exist in the Atlantic, that they define a higher order level of social organization as they do in the Pacific, and suggests that cultural identity at the clan level is probably important in this species worldwide.

Sperm whale codas may encode individuality as well as clan identity

Sperm whales produce codas for communication that can be grouped into different types according to their temporal patterns. Codas have led researchers to propose that sperm whales belong to distinct cultural clans, but it is presently unclear if they also convey individual information. Coda clicks comprise a series of pulses and the delay between pulses is a function of organ size, and therefore body size, and so is one potential source of individual information. Another potential individual-specific parameter could be the inter-click intervals within codas. To test whether these parameters provide reliable individual cues, stereo-hydrophone acoustic tags (Dtags) were attached to five sperm whales of the Azores, recording a total of 802 codas. A discriminant function analysis was used to distinguish 288 5 Regular codas from four of the sperm whales and 183 3 Regular codas from two sperm whales. The results suggest that codas have consistent individual features in their inter-click intervals and inter-pulse intervals which may contribute to individual identification. Additionally, two whales produced different coda types in distinct foraging dive phases. Codas may therefore be used by sperm whales to convey information of identity as well as activity within a social group to a larger extent than previously assumed.