Tracking blue whales in the eastern tropical Pacific with an ocean-bottom seismometer and hydrophone array

Application of a seismic network to baleen whale call detection and localization in the Panama basin-a Bryde's whale example

Baleen whales use sounds of various characteristics for different tasks and interactions. This study focuses on recordings from the Costa Rica Rift, in the Eastern Tropical Pacific Ocean, made by 25 ocean-bottom seismographs and a vertical array of 12 hydrophones between January and February 2015. The whale calls observed are of two kinds: more commonly, repetitive 4-5 s-long signals separated into two frequency bands centered at ∼20 and ∼36 Hz; less commonly, a series of ∼0.5 to 1.0 s-long, lower amplitude signals with frequencies between 80 and 160 Hz. These characteristics are similar to calls attributed to Bryde's whales which are occasionally sighted in this region. In this study, the repetitive calls are detected using both the short-term average/long-term average approach and a network empirical subspace detector. In total, 188 and 1891 calls are obtained for each method, demonstrating the value of the subspace detector for highly similar signals. These signals are first localized using a non-linear grid search algorithm and then further relocalized using the double-difference technique. The high-resolution localizations reveal the presence of at least seven whales during the recording period, often crossing the instrument network from southwest to northeast.

Estimating distances to baleen whales using multipath arrivals recorded by individual seafloor seismometers at full ocean depth

Ocean bottom seismometer networks can record opportunistic data sets of 20-Hz fin whale calls. Because networks are often too sparse for multi-station tracking, single-station methods are needed to estimate call density. We investigated a method to range to singing fin whales at full ocean depths using the spacing of water column multiples. Calls were detected by cross-correlating a spectrogram with a template call. To enhance multipath signals, we considered 20-min windows and either summed the spectrograms of all calls aligned on the strongest detection before measuring the multipath spacing or measured the spacing directly from the autocorrelation of the cross correlation time series. We evaluated the methods at five sites with contrasting seafloor and subsurface properties, bathymetric relief, and water depths of 4000-6000 m, using fin whale songs at four sites and a sei whale song at the fifth. The autocorrelation method works best, and ranges can be obtained to >15 km. Ranging at sedimented sites requires careful accounting for subsurface reflections. Ranges have considerable uncertainty in regions of bathymetric relief. The method requires that the time between calls is different from that of the multipaths and does not work reliably when more than one whale is singing nearby.

Natural and Anthropogenic Sources of Seismic, Hydroacoustic, and Infrasonic Waves: Waveforms and Spectral Characteristics (and Their Applicability for Sensor Calibration)

The record of seismic, hydroacoustic, and infrasonic waves is essential to detect, identify, and localize sources of both natural and anthropogenic origin. To guarantee traceability and inter-station comparability, as well as an estimation of the measurement uncertainties leading to a better monitoring of natural disasters and environmental aspects, suitable measurement standards and reliable calibration procedures of sensors, especially in the low-frequency range down to 0.01 Hz, are required. Most of all with regard to the design goal of the Comprehensive Nuclear-Test-Ban Treaty Organisation's International Monitoring System, which requires the stations to be operational nearly 100% of the time, the on-site calibration during operation is of special importance. The purpose of this paper is to identify suitable excitation sources and elaborate necessary requirements for on-site calibrations. We give an extensive literature review of a large variety of anthropogenic and natural sources of seismic, hydroacoustic, and infrasonic waves, describe their most prominent features regarding signal and spectral characteristics, explicitly highlight some source examples, and evaluate the reviewed sources with respect to requirements for on-site calibrations such as frequency bandwidth, signal properties as well as the applicability in terms of cost-benefit. According to our assessment, earthquakes stand out across all three waveform technologies as a good natural excitation signal meeting the majority of the requirements. Furthermore, microseisms and microbaroms allow a calibration at very low frequencies. We also find that in each waveform technique man-made controlled sources such as drop weights or air guns are in good agreement with the required properties, although limitations may arise regarding the practicability. Using these sources, procedures will be established allowing calibration without record interrupting, thereby improving data quality and the identification of treaty-related events.

A method for tracking blue whales (Balaenoptera musculus) with a widely spaced network of ocean bottom seismometers

Passive acoustic monitoring is an important tool for studying marine mammals. Ocean bottom seismometer networks provide data sets of opportunity for studying blue whales (Balaenoptera musculus) which vocalize extensively at seismic frequencies. We describe methods to localize calls and obtain tracks using the B call of northeast Pacific blue whale recorded by a large network of widely spaced ocean bottom seismometers off the coast of the Pacific Northwest. The first harmonic of the B call at ~15 Hz is detected using spectrogram cross-correlation. The seasonality of calls, inferred from a dataset of calls identified by an analyst, is used to estimate the probability that detections are true positives as a function of the strength of the detection. Because the spacing of seismometers reaches 70 km, faint detections with a significant probability of being false positives must be considered in multi-station localizations. Calls are located by maximizing a likelihood function which considers each strong detection in turn as the earliest arrival time and seeks to fit the times of detections that follow within a feasible time and distance window. An alternative procedure seeks solutions based on the detections that maximize their sum after weighting by detection strength and proximity. Both approaches lead to many spurious solutions that can mix detections from different B calls and include false detections including misidentified A calls. Tracks that are reliable can be obtained iteratively by assigning detections to localizations that are grouped in space and time, and requiring groups of at least 20 locations. Smooth paths are fit to tracks by including constraints that minimize changes in speed and direction while fitting the locations to their uncertainties or applying the double difference relocation method. The reliability of localizations for future experiments might be improved by increasing sampling rates and detecting harmonics of the B call.

Passive stochastic matched filter for Antarctic blue whale call detection

As a first step to Antarctic blue whale (ABW) monitoring using passive acoustics, a method based on the stochastic matched filter (SMF) is proposed. Derived from the matched filter (MF), this filter-based denoising method enhances stochastic signals embedded in an additive colored noise by maximizing its output signal to noise ratio (SNR). These assumptions are well adapted to the passive detection of ABW calls where emitted signals are modified by the unknown impulse response of the propagation channel. A filter bank is computed and stored offline based on a priori knowledge of the signal second order statistics and simulated colored sea-noise. Then, the detection relies on online background noise and SNR estimation, realized using time-frequency analysis. The SMF output is cross-correlated with the signal's reference (SMF + MF). Its performances are assessed on an ccean bottom seismometer-recorded ground truth dataset of 845 ABW calls, where the location of the whale is known. This dataset provides great SNR variations in diverse soundscapes. The SMF + MF performances are compared to the commonly used MF and to the Z-detector (a sub-space detector for ABW calls). Mostly, the benefits of the use of the SMF + MF are revealed on low signal to noise observations: in comparison to the MF with identical detection threshold, the false alarm rate drastically decreases while the detection rate stays high. Compared to the Z-detector, it allows the extension of the detection range of ≃ 30 km in presence of ship noise with equivalent false discovery rate.

Automatic classification of whistles from coastal dolphins of the southern African subregion

Passive acoustic monitoring (PAM) is commonly used to generate information on the distribution, abundance, and behavior of cetacean species. In African waters, the utilization of PAM lags behind most other continents. This study examines whether the whistles of three coastal delphinid species (Delphinus delphis, Tursiops truncatus, and Tursiops aduncus) commonly encountered in the southern African subregion can be readily distinguished using both statistical analysis of standard whistle parameters and the automated detection and classification software PAMGuard. A first account of whistles recorded from D. delphis from South Africa is included. Using PAMGuard, classification to species was high with an overall mean correct classification rate of 87.3%. Although lower, high rates of correct classification were also found (78.4%) when the two T. aduncus populations were included separately. Classification outcomes reflected patterns observed in standard whistle parameters. Such acoustic discrimination may be useful for confirmation of morphologically similar species in the field. Classification success was influenced by training and testing the classifier with data from different populations, highlighting the importance of locally collected acoustic data to inform classifiers. The small number of sampling populations may have inflated the classification success, therefore, classification trials using a greater number of species are recommended.

Sound source localization technique using a seismic streamer and its extension for whale localization during seismic surveys

Marine seismic surveys are under increasing scrutiny because of concern that they may disturb or otherwise harm marine mammals and impede their communications. Most of the energy from seismic surveys is low frequency, so concerns are particularly focused on baleen whales. Extensive mitigation efforts accompany seismic surveys, including visual and acoustic monitoring, but the possibility remains that not all animals in an area can be observed and located. One potential way to improve mitigation efforts is to utilize the seismic hydrophone streamer to detect and locate calling baleen whales. This study describes a method to localize low frequency sound sources with data recoded by a streamer. Beamforming is used to estimate the angle of arriving energy relative to sub-arrays of the streamer which constrains the horizontal propagation velocity to each sub-array for a given trial location. A grid search method is then used to minimize the time residual for relative arrival times along the streamer estimated by cross correlation. Results from both simulation and experiment are shown and data from the marine mammal observers and the passive acoustic monitoring conducted simultaneously with the seismic survey are used to verify the analysis.

Low frequency baleen whale calls detected on ocean-bottom seismometers in the Lau basin, southwest Pacific Ocean

Ten months of broadband seismic data, recorded on six ocean-bottom seismographs located in the Lau Basin, were examined to identify baleen whale species. As the first systematic survey of baleen whales in this part of the southwest Pacific Ocean, this study reveals the variety of species present and their temporal occurrence in and near the basin. Baleen whales produce species-specific low frequency calls that can be identified by distinct patterns in data spectrograms. By matching spectrograms with published accounts, fin, Bryde's, Antarctic blue, and New Zealand blue whale calls were identified. Probable whale sounds that could not be matched to published spectrograms, as well as non-biologic sounds that are likely of volcanogenic origin, were also recorded. Detections of fin whale calls (mid-June to mid-October) and blue whale calls (June through September) suggest that these species migrate through the region seasonally. Detections of Bryde's whale calls (primarily February to June, but also other times of the year) suggest this species resides around the basin nearly year round. The discovery of previously unpublished call types emphasizes the limited knowledge of the full call repertoires of baleen whales and the utility of using seismic survey data to enhance understanding in understudied regions.

Sounds in the ocean at 1-100 Hz

Very-low-frequency sounds between 1 and 100 Hz propagate large distances in the ocean sound channel. Weather conditions, earthquakes, marine mammals, and anthropogenic activities influence sound levels in this band. Weather-related sounds result from interactions between waves, bubbles entrained by breaking waves, and the deformation of sea ice. Earthquakes generate sound in geologically active regions, and earthquake T waves propagate throughout the oceans. Blue and fin whales generate long bouts of sounds near 20 Hz that can dominate regional ambient noise levels seasonally. Anthropogenic sound sources include ship propellers, energy extraction, and seismic air guns and have been growing steadily. The increasing availability of long-term records of ocean sound will provide new opportunities for a deeper understanding of natural and anthropogenic sound sources and potential interactions between them.

Applying distance sampling to fin whale calls recorded by single seismic instruments in the northeast Atlantic

Automated methods were developed to detect fin whale calls recorded by an array of ocean bottom seismometers (OBSs) deployed off the Portuguese coast between 2007 and 2008. Using recordings collected on a single day in January 2008, a standard seismological method for estimating earthquake location from single instruments, the three-component analysis, was used to estimate the relative azimuth, incidence angle, and horizontal range between each OBS and detected calls. A validation study using airgun shots, performed prior to the call analysis, indicated that the accuracy of the three-component analysis was satisfactory for this preliminary study. Point transect sampling using cue counts, a form of distance sampling, was then used to estimate the average probability of detecting a call via the array during the chosen day. This is a key step to estimating density or abundance of animals using passive acoustic data. The average probability of detection was estimated to be 0.313 (standard error: 0.033). However, fin whale density could not be estimated due to a lack of an appropriate estimate of cue (i.e., vocalization) rate. This study demonstrates the potential for using a sparse array of widely spaced, independently operating acoustic sensors, such as OBSs, for estimating cetacean density.

Calling depths of baleen whales from single sensor data: development of an autocorrelation method using multipath localization

Multipath localization techniques have not previously been applied to baleen whale vocalizations due to difficulties in application to tonal vocalizations. Here it is shown that an autocorrelation method coupled with the direct reflected time difference of arrival localization technique can successfully resolve location information. A derivation was made to model the autocorrelation of a direct signal and its overlapping reflections to illustrate that an autocorrelation may be used to extract reflection information from longer duration signals containing a frequency sweep, such as some calls produced by baleen whales. An analysis was performed to characterize the difference in behavior of the autocorrelation when applied to call types with varying parameters (sweep rate, call duration). The method's feasibility was tested using data from playback transmissions to localize an acoustic transducer at a known depth and location. The method was then used to estimate the depth and range of a single North Atlantic right whale (Eubalaena glacialis) and humpback whale (Megaptera novaeangliae) from two separate experiments.

Passive acoustic tracking of singing humpback whales (Megaptera novaeangliae) on a northwest Atlantic feeding ground

Passive acoustic tracking provides an unobtrusive method of studying the movement of sound-producing animals in the marine environment where traditional tracking methods may be costly or infeasible. We used passive acoustic tracking to characterize the fine-scale movements of singing humpback whales (Megaptera novaeangliae) on a northwest Atlantic feeding ground. Male humpback whales produce complex songs, a phenomenon that is well documented in tropical regions during the winter breeding season, but also occurs at higher latitudes during other times of year. Acoustic recordings were made throughout 2009 using an array of autonomous recording units deployed in the Stellwagen Bank National Marine Sanctuary. Song was recorded during spring and fall, and individual singing whales were localized and tracked throughout the array using a correlation sum estimation method on the time-synchronized recordings. Tracks were constructed for forty-three song sessions, revealing a high level of variation in movement patterns in both the spring and fall seasons, ranging from slow meandering to faster directional movement. Tracks were 30 min to 8 h in duration, and singers traveled distances ranging from 0.9 to 20.1 km. Mean swimming speed was 2.06 km/h (SD 0.95). Patterns and rates of movement indicated that most singers were actively swimming. In one case, two singers were tracked simultaneously, revealing a potential acoustic interaction. Our results provide a first description of the movements of singers on a northwest Atlantic feeding ground, and demonstrate the utility of passive acoustic tracking for studying the fine-scale movements of cetaceans within the behavioral context of their calls. These methods have further applications for conservation and management purposes, particularly by enhancing our ability to estimate cetacean densities using passive acoustic monitoring.

Source levels of fin whale 20 Hz pulses measured in the Northeast Pacific Ocean

Source levels of fin whale calls can be used to determine range to recorded vocalizations and to model maximum communication range between animals. In this study, source levels of fin whale calls were estimated using data collected on a network of eight ocean bottom seismometers in the Northeast Pacific Ocean. The acoustic pressure levels measured at the instruments were adjusted for the propagation path between the calling whales and the instruments using the call location and estimating losses along the acoustic travel path. A total of 1241 calls were used to estimate an average source level of 189 ± 5.8 dB re 1μPa at 1 m. This variability is largely attributed to uncertainties in the horizontal and vertical position of the fin whale at the time of each call and the effect of these uncertainties on subsequent calculations. Variability may also arise from station to station differences within the network. For call sequences produced by a single vocalizing whale, no consistent increase or decrease in source level was observed over the duration of a dive. Calls within these sequences that immediately followed gaps of 27 s or longer were classified as backbeat calls and were consistently lower in both frequency and amplitude.

Estimating animal population density using passive acoustics

Reliable estimation of the size or density of wild animal populations is very important for effective wildlife management, conservation and ecology. Currently, the most widely used methods for obtaining such estimates involve either sighting animals from transect lines or some form of capture-recapture on marked or uniquely identifiable individuals. However, many species are difficult to sight, and cannot be easily marked or recaptured. Some of these species produce readily identifiable sounds, providing an opportunity to use passive acoustic data to estimate animal density. In addition, even for species for which other visually based methods are feasible, passive acoustic methods offer the potential for greater detection ranges in some environments (e.g. underwater or in dense forest), and hence potentially better precision. Automated data collection means that surveys can take place at times and in places where it would be too expensive or dangerous to send human observers.

Here, we present an overview of animal density estimation using passive acoustic data, a relatively new and fast-developing field. We review the types of data and methodological approaches currently available to researchers and we provide a framework for acoustics-based density estimation, illustrated with examples from real-world case studies. We mention moving sensor platforms (e.g. towed acoustics), but then focus on methods involving sensors at fixed locations, particularly hydrophones to survey marine mammals, as acoustic-based density estimation research to date has been concentrated in this area. Primary among these are methods based on distance sampling and spatially explicit capture-recapture. The methods are also applicable to other aquatic and terrestrial sound-producing taxa.

We conclude that, despite being in its infancy, density estimation based on passive acoustic data likely will become an important method for surveying a number of diverse taxa, such as sea mammals, fish, birds, amphibians, and insects, especially in situations where inferences are required over long periods of time. There is considerable work ahead, with several potentially fruitful research areas, including the development of (i) hardware and software for data acquisition, (ii) efficient, calibrated, automated detection and classification systems, and (iii) statistical approaches optimized for this application. Further, survey design will need to be developed, and research is needed on the acoustic behaviour of target species. Fundamental research on vocalization rates and group sizes, and the relation between these and other factors such as season or behaviour state, is critical. Evaluation of the methods under known density scenarios will be important for empirically validating the approaches presented here.

Tracking fin whales in the northeast Pacific Ocean with a seafloor seismic network

Ocean bottom seismometer (OBS) networks represent a tool of opportunity to study fin and blue whales. A small OBS network on the Juan de Fuca Ridge in the northeast Pacific Ocean in ~2.3 km of water recorded an extensive data set of 20-Hz fin whale calls. An automated method has been developed to identify arrival times based on instantaneous frequency and amplitude and to locate calls using a grid search even in the presence of a few bad arrival times. When only one whale is calling near the network, tracks can generally be obtained up to distances of ~15 km from the network. When the calls from multiple whales overlap, user supervision is required to identify tracks. The absolute and relative amplitudes of arrivals and their three-component particle motions provide additional constraints on call location but are not useful for extending the distance to which calls can be located. The double-difference method inverts for changes in relative call locations using differences in residuals for pairs of nearby calls recorded on a common station. The method significantly reduces the unsystematic component of the location error, especially when inconsistencies in arrival time observations are minimized by cross-correlation.

Analysis and localization of blue whale vocalizations in the Solomon Sea using waveform amplitude data

During the Woodlark Basin seismic experiment in eastern Papua New Guinea (1999-2000), an ocean-bottom seismic array recorded marine mammal vocalizations along with target earthquake signals. The array consisted of 14 instruments, 7 of which were three-component seismometers with a fourth component hydrophone. They were deployed at 2.0-3.2 km water depth and operated from September 1999 through February 2000. While whale vocalizations were recorded throughout the deployment, this study focuses on 3 h from December 21, 1999 during which the signals are particularly clear. The recordings show a blue whale song composed of a three-unit phrase. That song does not match vocalization characteristics of other known Pacific subpopulations and may represent a previously undocumented blue whale song. Animal tracking and source level estimates are obtained with a Bayesian inversion method that generates probabilistic source locations. The Bayesian method is augmented to include travel time estimates from seismometers and hydrophones and acoustic signal amplitude. Tracking results show the whale traveled northeasterly over the course of 3 h, covering approximately 27 km. The path followed the edge of the Woodlark Basin along a shelf that separates the shallow waters of the Trobriand platform from the deep waters of the basin.

Contrasting crustal production and rapid mantle transitions beneath back-arc ridges

The opening of back-arc basins behind subduction zones progresses from initial rifting near the volcanic arc to seafloor spreading. During this process, the spreading ridge and the volcanic arc separate and lavas erupted at the ridge are predicted to evolve away from being heavily subduction influenced (with high volatile contents derived from the subducting plate). Current models predict gradational, rather than abrupt, changes in the crust formed along the ridge as the inferred broad melting region beneath it migrates away from heavily subduction-influenced mantle. In contrast, here we show that across-strike and along-strike changes in crustal properties at the Eastern Lau spreading centre are large and abrupt, implying correspondingly large discontinuities in the nature of the mantle supplying melt to the ridge axes. With incremental separation of the ridge axis from the volcanic front of as little as 5 km, seafloor morphology changes from shallower complex volcanic landforms to deeper flat sea floor dominated by linear abyssal hills, upper crustal seismic velocities abruptly increase by over 20%, and gravity anomalies and isostasy indicate crustal thinning of more than 1.9 km. We infer that the abrupt changes in crustal properties reflect rapid evolution of the mantle entrained by the ridge, such that stable, broad triangular upwelling regions, as inferred for mid-ocean ridges, cannot form near the mantle wedge corner. Instead, the observations imply a dynamic process in which the ridge upwelling zone preferentially captures water-rich low-viscosity mantle when it is near the arc. As the ridge moves away from the arc, a tipping point is reached at which that material is rapidly released from the upwelling zone, resulting in rapid changes in the character of the crust formed at the ridge.