Biosonar performance of foraging beaked whales (Mesoplodon densirostris)

Males miss and females forgo: Auditory masking from vessel noise impairs foraging efficiency and success in killer whales

Understanding how the environment mediates an organism's ability to meet basic survival requirements is a fundamental goal of ecology. Vessel noise is a global threat to marine ecosystems and is increasing in intensity and spatiotemporal extent due to growth in shipping coupled with physical changes to ocean soundscapes from ocean warming and acidification. Odontocetes rely on biosonar to forage, yet determining the consequences of vessel noise on foraging has been limited by the challenges of observing underwater foraging outcomes and measuring noise levels received by individuals. To address these challenges, we leveraged a unique acoustic and movement dataset from 25 animal-borne biologging tags temporarily attached to individuals from two populations of fish-eating killer whales (Orcinus orca) in highly transited coastal waters to (1) test for the effects of vessel noise on foraging behaviors-searching (slow-click echolocation), pursuit (buzzes), and capture and (2) investigate the mechanism of interference. For every 1 dB increase in maximum noise level, there was a 4% increase in the odds of searching for prey by both sexes, a 58% decrease in the odds of pursuit by females and a 12.5% decrease in the odds of prey capture by both sexes. Moreover, all but one deep (≥75 m) foraging attempt with noise ≥110 dB re 1 μPa (15-45 kHz band; n = 6 dives by n = 4 whales) resulted in failed prey capture. These responses are consistent with an auditory masking mechanism. Our findings demonstrate the effects of vessel noise across multiple phases of odontocete foraging, underscoring the importance of managing anthropogenic inputs into soundscapes to achieve conservation objectives for acoustically sensitive species. While the timescales for recovering depleted prey species may span decades, these findings suggest that complementary actions to reduce ocean noise in the short term offer a critical pathway for recovering odontocete foraging opportunities.

Understanding the relationship between the Bering Sea Cold Pool and vocal presence of odontocetes in the context of climate changea)

The Cold Pool is a subsurface layer with water temperatures below 2 °C that is formed in the eastern Bering Sea. This oceanographic feature of relatively cooler bottom temperature impacts zooplankton and forage fish dynamics, driving different energetic pathways dependent upon Bering Sea climatic regime. Odontocetes echolocate to find prey, so tracking foraging vocalizations acoustically provides information to understand the implications of climate change on Cold Pool variability influencing regional food web processes. Vocal foraging dynamics of ice-associated and seasonally migrant marine mammal species suggest that sperm whales spend more time searching for prey in warm years when the Cold Pool is reduced but are more successful at capturing prey during cold years when the Cold Pool is stronger. Beluga whale foraging vocal activity was relatively consistent across climate regimes but peaked during the warm regime. Killer whale foraging vocal activity peaked in both warm and cold regimes with indicators of different ecotypes exploiting changing prey conditions across climate regimes. Foraging activity of odontocete apex predators may serve as a sentinel indicator of future ecosystem change related to prey availability that is linked to a diminishing Cold Pool as water temperatures rise and seasonal sea ice decreases due to climate change.

Wild harbour porpoises startle and flee at low received levels from acoustic harassment device

Acoustic Harassment Devices (AHD) are widely used to deter marine mammals from aquaculture depredation, and from pile driving operations that may otherwise cause hearing damage. However, little is known about the behavioural and physiological effects of these devices. Here, we investigate the physiological and behavioural responses of harbour porpoises (Phocoena phocoena) to a commercial AHD in Danish waters. Six porpoises were tagged with suction-cup-attached DTAGs recording sound, 3D-movement, and GPS (n = 3) or electrocardiogram (n = 2). They were then exposed to AHDs for 15 min, with initial received levels (RL) ranging from 98 to 132 dB re 1 µPa (rms-fast, 125 ms) and initial exposure ranges of 0.9-7 km. All animals reacted by displaying a mixture of acoustic startle responses, fleeing, altered echolocation behaviour, and by demonstrating unusual tachycardia while diving. Moreover, during the 15-min exposures, half of the animals received cumulative sound doses close to published thresholds for temporary auditory threshold shifts. We conclude that AHD exposure at many km can evoke both startle, flight and cardiac responses which may impact blood-gas management, breath-hold capability, energy balance, stress level and risk of by-catch. We posit that current AHDs are too powerful for mitigation use to prevent hearing damage of porpoises from offshore construction.

Ecological inferences about marine mammals from passive acoustic data

Monitoring on the basis of sound recordings, or passive acoustic monitoring, can complement or serve as an alternative to real-time visual or aural monitoring of marine mammals and other animals by human observers. Passive acoustic data can support the estimation of common, individual-level ecological metrics, such as presence, detection-weighted occupancy, abundance and density, population viability and structure, and behaviour. Passive acoustic data also can support estimation of some community-level metrics, such as species richness and composition. The feasibility of estimation and certainty of estimates is highly context dependent, and understanding the factors that affect the reliability of measurements is useful for those considering whether to use passive acoustic data. Here, we review basic concepts and methods of passive acoustic sampling in marine systems that often are applicable to marine mammal research and conservation. Our ultimate aim is to facilitate collaboration among ecologists, bioacousticians, and data analysts. Ecological applications of passive acoustics require one to make decisions about sampling design, which in turn requires consideration of sound propagation, sampling of signals, and data storage. One also must make decisions about signal detection and classification and evaluation of the performance of algorithms for these tasks. Investment in the research and development of systems that automate detection and classification, including machine learning, are increasing. Passive acoustic monitoring is more reliable for detection of species presence than for estimation of other species-level metrics. Use of passive acoustic monitoring to distinguish among individual animals remains difficult. However, information about detection probability, vocalisation or cue rate, and relations between vocalisations and the number and behaviour of animals increases the feasibility of estimating abundance or density. Most sensor deployments are fixed in space or are sporadic, making temporal turnover in species composition more tractable to estimate than spatial turnover. Collaborations between acousticians and ecologists are most likely to be successful and rewarding when all partners critically examine and share a fundamental understanding of the target variables, sampling process, and analytical methods.

Cetacean tongue mobility and function: A comparative review

Cetaceans are atypical mammals whose tongues often depart from the typical (basal) mammalian condition in structure, mobility, and function. Their tongues are dynamic, innovative multipurpose tools that include the world's largest muscular structures. These changes reflect the evolutionary history of cetaceans' secondary adaptation to a fully aquatic environment. Cetacean tongues play no role in mastication and apparently a greatly reduced role in nursing (mainly channeling milk ingestion), two hallmarks of Mammalia. Cetacean tongues are not involved in drinking, breathing, vocalizing, and other non-feeding activities; they evidently play no or little role in taste reception. Although cetaceans do not masticate or otherwise process food, their tongues retain key roles in food ingestion, transport, securing/positioning, and swallowing, though by different means than most mammals. This is due to cetaceans' aquatic habitat, which in turn altered their anatomy (e.g., the intranarial larynx and consequent soft palate alteration). Odontocetes ingest prey via raptorial biting or tongue-generated suction. Odontocete tongues expel water and possibly uncover benthic prey via hydraulic jetting. Mysticete tongues play crucial roles driving ram, suction, or lunge ingestion for filter feeding. The uniquely flaccid rorqual tongue, not a constant volume hydrostat (as in all other mammalian tongues), invaginates into a balloon-like pouch to temporarily hold engulfed water. Mysticete tongues also create hydrodynamic flow regimes and hydraulic forces for baleen filtration, and possibly for cleaning baleen. Cetacean tongues lost or modified much of the mobility and function of generic mammal tongues, but took on noteworthy morphological changes by evolving to accomplish new tasks.

Toothed whales use distinct vocal registers for echolocation and communication

Echolocating toothed whales (odontocetes) capture fast-moving prey in dark marine environments, which critically depends on their ability to generate powerful, ultrasonic clicks. How their supposedly air-driven sound source can produce biosonar clicks at depths of >1000 meters, while also producing rich vocal repertoires to mediate complex social communication, remains unknown. We show that odontocetes possess a sound production system based on air driven through nasal passages that is functionally analogous to laryngeal and syringeal sound production. Tissue vibration in different registers produces distinct echolocation and communication signals across all major odontocete clades, and thus provides a physiological basis for classifying their vocal repertoires. The vocal fry register is used by species from porpoises to sperm whales for generating powerful, highly air-efficient echolocation clicks.

Effects of Valley Topography on Acoustic Communication in Birds: Why Do Birds Avoid Deep Valleys in Daqinggou Nature Reserve?

Simple Summary

Landscape structure may influence animal acoustic communication. Our playback experiments showed that the acoustic intensity and frequency of bird vocalizations differed between the upper and lower valley. Valley topography on acoustic communication could lead birds to avoid deep valleys.

Abstract

To investigate the effects of valley topography on the acoustic transmission of avian vocalisations, we carried out playback experiments in Daqinggou valley, Inner Mongolia, China. During the experiments, we recorded the vocalisations of five avian species, the large-billed crow (Corvus macrorhynchos Wagler, 1827), common cuckoo (Cuculus canorus Linnaeus, 1758), Eurasian magpie (Pica pica Linnaeus, 1758), Eurasian tree sparrow (Passer montanus Linnaeus, 1758), and meadow bunting (Emberiza cioides Brand, 1843), at transmission distances of 30 m and 50 m in the upper and lower parts of the valley and analysed the intensity, the fundamental frequency (F0), and the first three formant frequencies (F1/F2/F3) of the sounds. We also investigated bird species diversity in the upper and lower valley. We found that: (1) at the distance of 30 m, there were significant differences in F0/F1/F2/F3 in Eurasian magpies, significant differences in F1/F2/F3 in the meadow bunting and Eurasian tree sparrow, and partially significant differences in sound frequency between the upper and lower valley in the other two species; (2) at the distance of 50 m, there were significant differences in F0/F1/F2/F3 in two avian species (large-billed crow and common cuckoo) between the upper and lower valley and partially significant differences in sound frequency between the upper and lower valley in the other three species; (2) there were significant differences in the acoustic intensities of crow, cuckoo, magpie, and bunting calls between the upper and lower valley. (3) Species number and richness were significantly higher in the upper valley than in the lower valley. We suggested that the structure of valley habitats may lead to the breakdown of acoustic signals and communication in birds to varying degrees. The effect of valley topography on acoustic communication could be one reason for animal species avoiding deep valleys.

Pose-gait analysis for cetacean biologging tag data

Biologging tags are a key enabling tool for investigating cetacean behavior and locomotion in their natural habitat. Identifying and then parameterizing gait from movement sensor data is critical for these investigations, but how best to characterize gait from tag data remains an open question. Further, the location and orientation of a tag on an animal in the field are variable and can change multiple times during a deployment. As a result, the relative orientation of the tag with respect to (wrt) the animal must be determined for analysis. Currently, custom scripts that involve species-specific heuristics tend to be used in the literature. These methods require a level of knowledge and experience that can affect the reliability and repeatability of the analysis. Swimming gait is composed of a sequence of body poses that have a specific spatial pattern, and tag-based measurements of this pattern can be utilized to determine the relative orientation of the tag. This work presents an automated data processing pipeline (and software) that takes advantage of these patterns to 1) Identify relative motion between the tag and animal; 2) Estimate the relative orientation of the tag wrt the animal using a data-driven approach; and 3) Calculate gait parameters that are stable and invariant to animal pose. Validation results from bottlenose dolphin tag data show that the average relative orientation error (tag wrt the body) after processing was within 11 degrees in roll, pitch, and yaw directions. The average precision and recall for detecting instances of relative motion in the dolphin data were 0.87 and 0.89, respectively. Tag data from humpback and beluga whales were then used to demonstrate how the gait analysis can be used to enhance tag-based investigations of movement and behavior. The MATLAB source code and data presented in the paper are publicly available (https://github.com/ding-z/cetacean-pose-gait-analysis.git), along with suggested best practices.

Echolocation click discrimination for three killer whale ecotypes in the Northeastern Pacific

Three killer whale ecotypes are found in the Northeastern Pacific: residents, transients, and offshores. These ecotypes can be discriminated in passive acoustic data based on distinct pulsed call repertoires. Killer whale acoustic encounters for which ecotypes were assigned based on pulsed call matching were used to characterize the ecotype-specific echolocation clicks. Recordings were made using seafloor-mounted sensors at shallow (∼120 m) and deep (∼1400 m) monitoring locations off the coast of Washington state. All ecotypes' echolocation clicks were characterized by energy peaks between 12 and 19 kHz, however, resident clicks featured sub peaks at 13.7 and 18.8 kHz, while offshore clicks had a single peak at 14.3 kHz. Transient clicks were rare and were characterized by lower peak frequencies (12.8 kHz). Modal inter-click intervals (ICIs) were consistent but indistinguishable for resident and offshore killer whale encounters at the shallow site (0.21-0.22 s). Offshore ICIs were longer and more variable at the deep site, and no modal ICI was apparent for the transient ecotype. Resident and offshore killer whale ecotype may be identified and distinguished in large passive acoustic datasets based on properties of their echolocation clicks, however, transient echolocation may be unsuitable in isolation as a cue for monitoring applications.

Identification of western North Atlantic odontocete echolocation click types using machine learning and spatiotemporal correlates

A combination of machine learning and expert analyst review was used to detect odontocete echolocation clicks, identify dominant click types, and classify clicks in 32 years of acoustic data collected at 11 autonomous monitoring sites in the western North Atlantic between 2016 and 2019. Previously-described click types for eight known odontocete species or genera were identified in this data set: Blainville's beaked whales (Mesoplodon densirostris), Cuvier's beaked whales (Ziphius cavirostris), Gervais' beaked whales (Mesoplodon europaeus), Sowerby's beaked whales (Mesoplodon bidens), and True's beaked whales (Mesoplodon mirus), Kogia spp., Risso's dolphin (Grampus griseus), and sperm whales (Physeter macrocephalus). Six novel delphinid echolocation click types were identified and named according to their median peak frequencies. Consideration of the spatiotemporal distribution of these unidentified click types, and comparison to historical sighting data, enabled assignment of the probable species identity to three of the six types, and group identity to a fourth type. UD36, UD26, and UD28 were attributed to Risso's dolphin (G. griseus), short-finned pilot whale (G. macrorhynchus), and short-beaked common dolphin (D. delphis), respectively, based on similar regional distributions and seasonal presence patterns. UD19 was attributed to one or more species in the subfamily Globicephalinae based on spectral content and signal timing. UD47 and UD38 represent distinct types for which no clear spatiotemporal match was apparent. This approach leveraged the power of big acoustic and big visual data to add to the catalog of known species-specific acoustic signals and yield new inferences about odontocete spatiotemporal distribution patterns. The tools and call types described here can be used for efficient analysis of other existing and future passive acoustic data sets from this region.

Beluga whale (Delphinapterus leucas) acoustic foraging behavior and applications for long term monitoring

Cook Inlet, Alaska, is home to an endangered and declining population of 279 belugas (Delphinapterus leucas). Recovery efforts highlight a paucity of basic ecological knowledge, impeding the correct assessment of threats and the development of recovery actions. In particular, information on diet and foraging habitat is very limited for this population. Passive acoustic monitoring has proven to be an efficient approach to monitor beluga distribution and seasonal occurrence. Identifying acoustic foraging behavior could help address the current gap in information on diet and foraging habitat. To address this conservation challenge, eight belugas from a comparative, healthy population in Bristol Bay, Alaska, were instrumented with a multi-sensor tag (DTAG), a satellite tag, and a stomach temperature transmitter in August 2014 and May 2016. DTAG deployments provided 129.6 hours of data including foraging and social behavioral states. A total of 68 echolocation click trains ending in terminal buzzes were identified during successful prey chasing and capture, as well as during social interactions. Of these, 37 click trains were successfully processed to measure inter-click intervals (ICI) and ICI trend in their buzzing section. Terminal buzzes with short ICI (minimum ICI <8.98 ms) and consistently decreasing ICI trend (ICI increment range <1.49 ms) were exclusively associated with feeding behavior. This dual metric was applied to acoustic data from one acoustic mooring within the Cook Inlet beluga critical habitat as an example of the application of detecting feeding in long-term passive acoustic monitoring data. This approach allowed description of the relationship between beluga presence, feeding occurrence, and the timing of spawning runs by different species of anadromous fish. Results reflected a clear preference for the Susitna River delta during eulachon (Thaleichthys pacificus), Chinook (Oncorhynchus tshawytscha), pink (Oncorhynchus gorbuscha), and coho (Oncorhynchus kisutch) salmon spawning run periods, with increased feeding occurrence at the peak of the Chinook and pink salmon runs.

Behavioral context of echolocation and prey-handling sounds produced by killer whales (Orcinus orca) during pursuit and capture of Pacific salmon (Oncorhynchus spp.)

Availability of preferred salmonid prey and a sufficiently quiet acoustic environment in which to forage are critical to the survival of resident killer whales (Orcinus orca) in the northeastern Pacific. Although piscivorous killer whales rely on echolocation to locate and track prey, the relationship between echolocation, movement, and prey capture during foraging by wild individuals is poorly understood. We used acoustic biologging tags to relate echolocation behavior to prey pursuit and capture during successful feeding dives by fish-eating killer whales in coastal British Columbia, Canada. The significantly higher incidence and rate of echolocation prior to fish captures compared to afterward confirms its importance in prey detection and tracking. Extremely rapid click sequences (buzzes) were produced before or concurrent with captures of salmon at depths typically exceeding 50 m, and were likely used by killer whales for close-range prey targeting, as in other odontocetes. Distinctive crunching and tearing sounds indicative of prey-handling behavior occurred at relatively shallow depths following fish captures, matching concurrent observations that whales surfaced with fish prior to consumption and often shared prey. Buzzes and prey-handling sounds are potentially useful acoustic signals for estimating foraging efficiency and determining if resident killer whales are meeting their energetic requirements.

Underwater soundscape description from cyclostationarity point of view

The description of underwater soundscape is central to the understanding of the marine environment, both from the standpoint of the fauna and anthropic activities and its interactions with the atmosphere. Some of these sources produce signals whose patterns are periodically repeated over time (i.e., ship propellers in motion, odontocetes clicks, snapping shrimp, noise emanating from surface waves, etc.). As ocean noise is a combination of various sources sometimes sharing the same frequency band, it is necessary to develop efficient algorithms to process the increasingly voluminous data acquired. To this end, the theory of cyclostationarity is adopted as an effective tool for exposing hidden periodicities in low signal to noise ratio. This theory, widely used to analyze mechanical systems or communications, is extended and applied on underwater soundscapes. The method is demonstrated using data recorded in the Celtic Sea at the French coast of Brittany with practical experiments using field measurements obtained from recording stations.

Directional biosonar beams allow echolocating harbour porpoises to actively discriminate and intercept closely spaced targets

Echolocating toothed whales face the problem that high sound speeds in water mean that echoes from closely spaced targets will arrive at time delays within their reported auditory integration time of some 264 µs. Here, we test the hypothesis that echolocating harbour porpoises cannot resolve and discriminate targets within a clutter interference zone given by their integration time. To do this, we trained two harbour porpoises (Phocoena phocoena) to actively approach and choose between two spherical targets at four varying inter-target distances (13.5, 27, 56 and 108 cm) in a two-alternative forced-choice task. The free-swimming, blindfolded porpoises were tagged with a sound and movement tag (DTAG4) to record their echoic scene and acoustic outputs. The known ranges between targets and the porpoise, combined with the sound levels received on target-mounted hydrophones revealed how the porpoises controlled their acoustic gaze. When targets were close together, the discrimination task was more difficult because of smaller echo time delays and lower echo level ratios between the targets. Under these conditions, buzzes were longer and started from farther away, source levels were reduced at short ranges, and the porpoises clicked faster, scanned across the targets more, and delayed making their discrimination decision until closer to the target. We conclude that harbour porpoises can resolve and discriminate closely spaced targets, suggesting a clutter rejection zone much shorter than their auditory integration time, and that such clutter rejection is greatly aided by spatial filtering with their directional biosonar beam.

Modeling potential masking of echolocating sperm whales exposed to continuous 1-2 kHz naval sonar

Modern active sonar systems can (almost) continuously transmit and receive sound, which can lead to more masking of important sounds for marine mammals than conventional pulsed sonar systems transmitting at a much lower duty cycle. This study investigated the potential of 1-2 kHz active sonar to mask echolocation-based foraging of sperm whales by modeling their echolocation detection process. Continuous masking for an echolocating sperm whale facing a sonar was predicted for sonar sound pressure levels of 160 dB re 1 μPa², with intermittent masking at levels of 120 dB re 1 μPa², but model predictions strongly depended on the animal orientation, harmonic content of the sonar, click source level, and target strength of the prey. The masking model predicted lower masking potential of buzz clicks compared to regular clicks, even though the energy source level is much lower. For buzz clicks, the lower source level is compensated for by the reduced two-way propagation loss to nearby prey during buzzes. These results help to predict what types of behavioral changes could indicate masking in the wild. Several key knowledge gaps related to masking potential of sonar in echolocating odontocetes were identified that require further investigation to assess the significance of masking.

Echolocation click parameters and biosonar behaviour of the dwarf sperm whale (Kogia sima)

Dwarf sperm whales (Kogia sima) are small toothed whales that produce narrow-band high-frequency (NBHF) echolocation clicks. Such NBHF clicks, subject to high levels of acoustic absorption, are usually produced by small, shallow-diving odontocetes, such as porpoises, in keeping with their short-range echolocation and fast click rates. Here, we sought to address the problem of how the little-studied and deep-diving Kogia can hunt with NBHF clicks in the deep sea. Specifically, we tested the hypotheses that Kogia produce NBHF clicks with longer inter-click intervals (ICIs), higher directionality and higher source levels (SLs) compared with other NBHF species. We did this by deploying an autonomous deep-water vertical hydrophone array in the Bahamas, where no other NBHF species are present, and by taking opportunistic recordings of a close-range Kogia sima in a South African harbour. Parameters from on-axis clicks (n=46) in the deep revealed very narrow-band clicks (root mean squared bandwidth, BW_RMS, of 3±1 kHz), with SLs of up to 197 dB re. 1 µPa peak-to-peak (μPa_pp) at 1 m, and a half-power beamwidth of 8.8 deg. Their ICIs (mode of 245 ms) were much longer than those of porpoises (<100 ms), suggesting an inspection range that is longer than detection ranges of single prey, perhaps to facilitate auditory streaming of a complex echo scene. On-axis clicks in the shallow harbour (n=870) had ICIs and SLs in keeping with source parameters of other NBHF cetaceans. Thus, in the deep, dwarf sperm whales use a directional, but short-range echolocation system with moderate SLs, suggesting a reliable mesopelagic prey habitat.

Echolocation click parameters of short-finned pilot whales (Globicephala macrorhynchus) in the wild

Short-finned pilot whales (Globicephala macrorhynchus) are large, deep-diving predators with diverse foraging strategies, but little is known about their echolocation. To quantify the source properties of short-finned pilot whale clicks, we made 15 deployments off the coast of Tenerife of a deep-water hydrophone array consisting of seven autonomous time-synced hydrophone recorders (SoundTraps), enabling acoustic localization and quantification of click source parameters. Of 8185 recorded pilot whale clicks, 47 were classified as being recorded on-axis, with a mean peak-to-peak source level (SL) of 181 ± 7 dB re 1 μPa, a centroid frequency of 40 ± 4 kHz, and a duration of 57 ± 23 μs. A fit to a piston model yielded an estimated half-power (-3 dB) beam width of 13.7° [95% confidence interval (CI) 13.2°-14.5°] and a mean directivity index (DI) of 22.6 dB (95% CI 22.5-22.9 dB). These measured SLs and DIs are surprisingly low for a deep-diving toothed whale, suggesting we sampled the short-finned pilot whales in a context with little need for operating a long-range biosonar. The substantial spectral overlap with beaked whale clicks emitted in similar deep-water habitats implies that pilot whale clicks may constitute a common source of false detections in beaked whale passive acoustic monitoring efforts.

Characterization and comparison of echolocation clicks of white-beaked dolphins (Lagenorhynchus albirostris) off the Northumberland coast, UK

Odontocetes produce ultrasonic clicks for navigation and foraging. These are commonly categorized as regular or buzz clicks based on the inter-click interval. Buzz clicks are linked to foraging behaviors and may be subdivided into slow buzz clicks for prey chase, and regular buzz clicks for prey capture. This study recorded these three click types produced by white-beaked dolphins (Lagenorhynchus albirostris) off the Northumberland coast, UK. Acoustic parameters (including duration, centroid frequency, and root-mean-squared bandwidth) were calculated and compared across the three click types. The results showed that the regular clicks had shorter durations and higher frequencies than both the buzz click types. The regular buzz clicks had longer durations, lower frequencies, and narrower bandwidths than the slow buzz clicks. Additionally, regardless of click type, about 30% of the clicks had high-frequency (200-250 kHz) secondary peaks and >90% of the clicks displayed spectral peak and notch patterns between 20 and 80 kHz. These findings are useful for future quantitative assessment of the echolocation performance of white-beaked dolphins in the wild. The patterns of spectral peaks and notches identified may facilitate for acoustic identification of this species.

Deep-diving beaked whales dive together but forage apart

Echolocating animals that forage in social groups can potentially benefit from eavesdropping on other group members, cooperative foraging or social defence, but may also face problems of acoustic interference and intra-group competition for prey. Here, we investigate these potential trade-offs of sociality for extreme deep-diving Blainville's and Cuvier's beaked whales. These species perform highly synchronous group dives as a presumed predator-avoidance behaviour, but the benefits and costs of this on foraging have not been investigated. We show that group members could hear their companions for a median of at least 91% of the vocal foraging phase of their dives. This enables whales to coordinate their mean travel direction despite differing individual headings as they pursue prey on a minute-by-minute basis. While beaked whales coordinate their echolocation-based foraging periods tightly, individual click and buzz rates are both independent of the number of whales in the group. Thus, their foraging performance is not affected by intra-group competition or interference from group members, and they do not seem to capitalize directly on eavesdropping on the echoes produced by the echolocation clicks of their companions. We conclude that the close diving and vocal synchronization of beaked whale groups that quantitatively reduces predation risk has little impact on foraging performance.

Tuning movement for sensing in an uncertain world

While animals track or search for targets, sensory organs make small unexplained movements on top of the primary task-related motions. While multiple theories for these movements exist-in that they support infotaxis, gain adaptation, spectral whitening, and high-pass filtering-predicted trajectories show poor fit to measured trajectories. We propose a new theory for these movements called energy-constrained proportional betting, where the probability of moving to a location is proportional to an expectation of how informative it will be balanced against the movement's predicted energetic cost. Trajectories generated in this way show good agreement with measured trajectories of fish tracking an object using electrosense, a mammal and an insect localizing an odor source, and a moth tracking a flower using vision. Our theory unifies the metabolic cost of motion with information theory. It predicts sense organ movements in animals and can prescribe sensor motion for robots to enhance performance.

The long-range echo scene of the sperm whale biosonar

Sperm whales use their gigantic nose to produce the most powerful sounds in the animal kingdom, presumably to echolocate deep-sea prey at long ranges and possibly to debilitate prey. To test these hypotheses, we deployed sound recording tags (DTAG-4) on the tip of the nose of three sperm whales. One of these recordings yielded over 6000 echo streams from organisms detected up to 144 m ahead of the whale, supporting a long-range prey detection function of the sperm whale biosonar. The whale navigated this complex acoustic scene by maintaining a stable, long-range acoustic gaze suggesting continual resource evaluation. Less than 10% of the echoic organisms recorded by the tag were targeted for capture and only 18% of the buzzes were emitted within the 50 m depth interval of maximum organism encounter rate, demonstrating echo-guided prey selection. Buzzes were initiated more than 20 m from the prey, showing that sperm whales do not debilitate their prey with sound, but trade echo levels for reduced forward masking and rapid updates on prey location in keeping with the lower manoeuvrability of these large predators. We conclude that the powerful biosonar of sperm whales enables long-range echolocation and selection of prey, but not acoustic debilitation.

Variations in received levels on a sound and movement tag on a singing humpback whale: Implications for caller identification

Bio-logging devices are advancing the understanding of marine animal behavior, but linking sound production and behavior of individual baleen whales is still unreliable. Tag placement potentially within the near field of the sound source creates uncertainty about how tagged animal sounds will register on recorders. This study used data from a tagged singing humpback whale to evaluate this question of how sound levels present on a tag when calls are produced by a tagged animal. Root-mean-square (rms) received levels (RLs) of song units ranged from 112 to 164 dB re 1 μPa rms, with some, but not all, of the lower frequency units registering on the tag's 800 Hz accelerometer sensor. Fifty-nine percent of recorded units measured lower acoustic RLs than previously reported source levels for humpback song, but signal-to-noise ratios (SNRs) were 30-45 dB during periods of the dive with low noise. This research highlights that tag RL does not alone predict caller identity, argues for higher SNR thresholds if using SNR to inform decisions about the source of a call, and provides a baseline for future research identifying diagnostic properties of tagged animal calls in cetacean bioacoustic tag datasets.

Why whales are big but not bigger: Physiological drivers and ecological limits in the age of ocean giants

The largest animals are marine filter feeders, but the underlying mechanism of their large size remains unexplained. We measured feeding performance and prey quality to demonstrate how whale gigantism is driven by the interplay of prey abundance and harvesting mechanisms that increase prey capture rates and energy intake. The foraging efficiency of toothed whales that feed on single prey is constrained by the abundance of large prey, whereas filter-feeding baleen whales seasonally exploit vast swarms of small prey at high efficiencies. Given temporally and spatially aggregated prey, filter feeding provides an evolutionary pathway to extremes in body size that are not available to lineages that must feed on one prey at a time. Maximum size in filter feeders is likely constrained by prey availability across space and time.

Description and classification of echolocation clicks of Indian Ocean humpback (Sousa plumbea) and Indo-Pacific bottlenose (Tursiops aduncus) dolphins from Menai Bay, Zanzibar, East Africa

Passive acoustic monitoring (PAM) is a powerful method to study the occurrence, movement and behavior of echolocating odontocetes (toothed whales) in the wild. However, in areas occupied by more than one species, echolocation clicks need to be classified into species. The present study investigated whether the echolocation clicks produced by small, at-risk, resident sympatric populations of Indian Ocean humpback dolphin (Sousa plumbea) and Indo-Pacific bottlenose dolphin (Tursiops aduncus) in Menai Bay, Zanzibar, East Africa, could be classified to allow species specific monitoring. Underwater sounds of S. plumbea and T. aduncus groups were recorded using a SoundTrap 202HF in January and June-August 2015. Eight acoustic parameters, i.e. -10 dB duration, peak, centroid, lower -3 and lower -10 dB frequencies, and -3 dB, -10 dB and root-mean-squared bandwidth, were used to describe and compare the two species’ echolocation clicks. Statistical analyses showed that S. plumbea clicks had significantly higher peak, centroid, lower -3 and lower -10 dB frequencies compared to T. aduncus, whereas duration and bandwidth parameters were similar for the two species. Random Forest (RF) classifiers were applied to determine parameters that could be used to classify the two species from echolocation clicks and achieved 28.6% and 90.2% correct species classification rates for S. plumbea and T. aduncus, respectively. Both species were classified at a higher rate than expected at random, however the identified classifiers would only be useful for T. aduncus monitoring. The frequency and bandwidth parameters provided most power for species classification. Further study is necessary to identify useful classifiers for S. plumbea. This study represents a first step in acoustic description and classification of S. plumbea and T. aduncus in the western Indian Ocean region, with potential application for future acoustic monitoring of species-specific temporal and spatial occurrence in these sympatric species.

Modeling of the near to far acoustic fields of an echolocating bottlenose dolphin and harbor porpoise

Echolocation signals emitted by odontocetes can be roughly classified into three broad categories: broadband echolocation signals, narrowband high-frequency echolocation signals, and frequency modulated clicks. Previous measurements of broadband echolocation signal propagation in the bottlenose dolphin (Tursiops truncatus) did not find any evidence of focusing as the signals travel from the near-field to far-field. Finite element analysis (FEA) of high-resolution computed tomography scan data was used to examine signal propagation of broadband echolocation signals of dolphins and narrowband echolocation signals of porpoises. The FEA results were used to simulate the propagation of clicks from phonic lips, traveling through the forehead, and finally transmission into the water. Biosonar beam formation in the near-field and far-field, including the amplitude contours for the two species, was determined. The finite element model result for the simulated amplitude contour in the horizontal plane was consistent with prior direct measurement results for Tursiops, validating the model. Furthermore, the simulated far-field transmission beam patterns in both the vertical and horizontal planes were also qualitatively consistent with results measured from live animals. This study indicates that there is no evidence of convergence for either Tursiops or Phocoena as the sound propagates from the near-field to the far-field.

Dynamic biosonar adjustment strategies in deep-diving Risso's dolphins driven partly by prey evasion

Toothed whales have evolved flexible biosonar systems to find, track and capture prey in diverse habitats. Delphinids, phocoenids and iniids adjust inter-click intervals and source levels gradually while approaching prey. In contrast, deep-diving beaked and sperm whales maintain relatively constant inter-click intervals and apparent output levels during the approach followed by a rapid transition into the foraging buzz, presumably to maintain a long-range acoustic scene in a multi-target environment. However, it remains unknown whether this rapid biosonar adjustment strategy is shared by delphinids foraging in deep waters. To test this, we investigated biosonar adjustments of a deep-diving delphinid, the Risso's dolphin (Grampus griseus). We analyzed inter-click interval and apparent output level adjustments recorded from sound recording tags to quantify in situ sensory adjustment during prey capture attempts. Risso's dolphins did not follow typical (20logR) biosonar adjustment patterns seen in shallow-water species, but instead maintained stable repetition rates and output levels up to the foraging buzz. Our results suggest that maintaining a long-range acoustic scene to exploit complex, multi-target prey layers is a common strategy amongst deep-diving toothed whales. Risso's dolphins transitioned rapidly into the foraging buzz just like beaked whales during most foraging attempts, but employed a more gradual biosonar adjustment in a subset (19%) of prey approaches. These were characterized by higher speeds and minimum specific acceleration, indicating higher prey capture efforts associated with evasive prey. Thus, tracking and capturing evasive prey using biosonar may require a more gradual switch between multi-target echolocation and single-target tracking.

DetEdit: A graphical user interface for annotating and editing events detected in long-term acoustic monitoring data

Passive acoustic monitoring has become an important data collection method, yielding massive datasets replete with biological, environmental and anthropogenic information. Automated signal detectors and classifiers are needed to identify events within these datasets, such as the presence of species-specific sounds or anthropogenic noise. These automated methods, however, are rarely a complete substitute for expert analyst review. The ability to visualize and annotate acoustic events efficiently can enhance scientific insights from large, previously intractable datasets. A MATLAB-based graphical user interface, called DetEdit, was developed to accelerate the editing and annotating of automated detections from extensive acoustic datasets. This tool is highly-configurable and multipurpose, with uses ranging from annotation and classification of individual signals or signal-clusters and evaluation of signal properties, to identification of false detections and false positive rate estimation. DetEdit allows users to step through acoustic events, displaying a range of signal features, including time series of received levels, long-term spectral averages, time intervals between detections, and scatter plots of peak frequency, RMS, and peak-to-peak received levels. Additionally, it displays either individual, or averaged sound pressure waveforms, and power spectra within each acoustic event. These views simultaneously provide analysts with signal-level detail and encounter-level context. DetEdit creates datasets of signal labels for further analyses, such as training classifiers and quantifying occurrence, abundances, or trends. Although designed for evaluating underwater-recorded odontocete echolocation click detections, DetEdit can be adapted to almost any stereotyped impulsive signal. Our software package complements available tools for the bioacoustic community and is provided open source at https://github.com/MarineBioAcousticsRC/DetEdit.

Classification of odontocete echolocation clicks using convolutional neural network

A method based on a convolutional neural network for the automatic classification of odontocete echolocation clicks is presented. The proposed convolutional neural network comprises six layers: three one-dimensional convolutional layers, two fully connected layers, and a softmax classification layer. Rectified linear units were chosen as the activation function for each convolutional layer. The input to the first convolutional layer is the raw time signal of an echolocation click. Species prediction was performed for groups of m clicks, and two strategies for species label prediction were explored: the majority vote and maximum posterior. Two datasets were used to evaluate the classification performance of the proposed algorithm. Experiments showed that the convolutional neural network can model odontocete species from the raw time signal of echolocation clicks. With the increase in m, the classification accuracy of the proposed method improved. The proposed method can be employed in passive acoustic monitoring to classify different delphinid species and facilitate future studies on odontocetes.

Deep-diving pilot whales make cheap, but powerful, echolocation clicks with 50 µL of air

Echolocating toothed whales produce powerful clicks pneumatically to detect prey in the deep sea where this long-range sensory channel makes them formidable top predators. However, air supplies for sound production compress with depth following Boyle’s law suggesting that deep-diving whales must use very small air volumes per echolocation click to facilitate continuous sensory flow in foraging dives. Here we test this hypothesis by analysing click-induced acoustic resonances in the nasal air sacs, recorded by biologging tags. Using 27000 clicks from 102 dives of 23 tagged pilot whales (Globicephala macrorhynchus), we show that click production requires only 50 µL of air/click at 500 m depth increasing gradually to 100 µL at 1000 m. With such small air volumes, the metabolic cost of sound production is on the order of 40 J per dive which is a negligible fraction of the field metabolic rate. Nonetheless, whales must make frequent pauses in echolocation to recycle air between nasal sacs. Thus, frugal use of air and periodic recycling of very limited air volumes enable pilot whales, and likely other toothed whales, to echolocate cheaply and almost continuously throughout foraging dives, providing them with a strong sensory advantage in diverse aquatic habitats.

Click characteristics of northern bottlenose whales (Hyperoodon ampullatus) and Sowerby's beaked whales (Mesoplodon bidens) off eastern Canada

Passive acoustic monitoring (PAM) is crucial to expanding the knowledge of beaked whales, including the northern bottlenose whale (Hyperoodon ampullatus) and Sowerby's beaked whale (Mesoplodon bidens). Existing descriptions of clicks produced by these species are limited by sample size, number of individuals recorded, and geographic scope. Data from multiple encounters in the western North Atlantic are used to provide a quantitative description of clicks produced by these species. Recordings from nine encounters with northern bottlenose whales in Nova Scotia and Newfoundland were analyzed (N = 2239 clicks). The click type described had a median peak frequency of 25.9 kHz (10th-90th percentile range: 22.9-29.3 kHz), and a median inter-click interval (ICI) of 402 ms (N = 1917, 10th-90th percentile range: 290-524 ms). Recordings from 18 Sowerby's beaked whale encounters from Nova Scotia were analyzed (N = 762 clicks). The click type described had a median peak frequency of 65.8 kHz (10th-90th percentile range: 61.5-76.5 kHz), and a median ICI of 237 ms (N = 677, 10th-90th percentile range: 130-315 ms). These results will contribute to the development of methods to detect and classify beaked whale clicks to the species level, improving the effectiveness of PAM and enhancing scientific understanding and conservation efforts for cryptic and at-risk cetaceans.

Signal-specific amplitude adjustment to noise in common bottlenose dolphins (Tursiops truncatus)

Anthropogenic underwater noise has increased over the past century, raising concern about the impact on cetaceans that rely on sound for communication, navigation, and locating prey and predators. Many terrestrial animals increase the amplitude of their acoustic signals to partially compensate for the masking effect of noise (the Lombard response), but it has been suggested that cetaceans almost fully compensate with amplitude adjustments for increasing noise levels. Here, we use sound-recording DTAGs on pairs of free-ranging common bottlenose dolphins (Tursiops truncatus) to test (i) if dolphins increase signal amplitude to compensate for increasing ambient noise and (ii) whether or not adjustments are identical for different signal types. We present evidence of a Lombard response in the range of 0.1-0.3 dB per 1 dB increase in ambient noise, which is similar to that of terrestrial animals, but much lower than the response reported for other cetaceans. We found that signature whistles tended to be louder and with a lower degree of amplitude adjustment to noise compared to non-signature whistles, suggesting that signature whistles may be selected for higher output levels and may have a smaller scope for amplitude adjustment to noise. The consequence of the limited degree of vocal amplitude compensation is a loss of active space during periods of increased noise, with potential consequences for group cohesion, conspecific encounter rates, and mate attraction.

Characteristics of vocalisations recorded from free-ranging Shepherd's beaked whales, Tasmacetus shepherdi

Beaked whales (family Ziphiidae) are among the least studied of all the large mammals. This is especially true of Shepherd's beaked whale (Tasmacetus shepherdi), which until recently had been very rarely sighted alive, with nothing known about the species' acoustic behaviour. Vocalisations of Shepherd's beaked whales were recorded using a hydrophone array on two separate days during marine mammal surveys of the Otago submarine canyons in New Zealand. After carefully screening the recordings, two distinct call types were found; broadband echolocation clicks, and burst pulses. Broadband echolocation clicks (n = 476) had a median inter-click-interval (ICI) of 0.46 s and median peak frequency of 19.2 kHz. The burst pulses (n = 33) had a median peak frequency of constituent clicks (n = 1741) of 14.7 kHz, and median ICI of 11 ms. These results should be interpreted with caution due to the limited bandwidth used to record the signals. To the authors' knowledge, this study presents the first analysis of the characteristics of Shepherd's beaked whale sounds. It will help with identification of the species in passive acoustic monitoring records, and future efforts to further analyse this species' vocalisations.

A description of echolocation clicks recorded in the presence of True's beaked whale (Mesoplodon mirus)

True's beaked whales (Mesoplodon mirus) were encountered on two separate shipboard surveys on 24 July 2016 and 16 September 2017 in the western North Atlantic Ocean. Recordings were made using a hydrophone array towed 300 m behind the ship. In 2016, three different groups were sighted within 1500 m of the ship; clicks were recorded for 26 min. In 2017, a single group of five whales was tracked over the course of five hours in which the ship maintained a distance <4000 m from the group. A total of 2938 frequency-modulated (FM) clicks and 7 buzzes were recorded from both encounters. Plausible inter-click-intervals (ICIs) were calculated from 2763 clicks, and frequency and duration measurements were calculated from 2150 good quality FM clicks. The median peak frequencies were 43.1 kHz (2016, n = 718) and 43.5 kHz (2017, n = 1432). Median ICIs were 0.17 s (2016) and 0.19 s (2017). The spectra and measurements of the recorded clicks closely resemble Gervais's beaked whale clicks (Mesoplodon europaeus) and distinguishing between the two species in acoustic data sets proves difficult. The acoustic behavior of True's beaked whales was previously unknown; this study provides a description of echolocation clicks produced by this species.

Bottlenose dolphin (Tursiops truncatus) sonar slacks off before touching a non-alimentary target

Odontocetes modulate the rhythm of their echolocation clicks to draw information about their environment. When they approach preys to capture, they speed up their emissions to increase the sampling rate of "distant touch" and improve information update. This global acceleration turns into a "terminal buzz" also described in bats, which is a click train with drastic increase in rate, just as reaching the prey. This study documents and analyses under human care bottlenose dolphins' echolocation activity, when approaching non-alimentary targets. Four dolphins' locomotor and clicking behaviours were recorded during training sessions, when sent to immersed objects pointed by their trainers. Results illustrate that these dolphins profusely use echolocation towards immersed non-alimentary objects. They accelerate click emission when approaching the target, thus displaying a classical terminal buzz. However, their terminal buzz slackens off within a quarter of second before the end of click train. Typically, they decelerate to stop clicking just before they touch the object using their rostrum lower tip. They do not emit clicks as the contact lasts. In conclusion, when exploring inert objects, bottlenose dolphins under human accelerate clicking like other odontocetes or bats approaching preys. Bottlenose dolphins' particular slackening-off profile at the end of the buzz shows that they anticipate the moment of direct contact, and they stop just as real touch relays distant touch of the object.

Click communication in wild harbour porpoises (Phocoena phocoena)

Social delphinids employ a vocal repertoire of clicks for echolocation and whistles for communication. Conversely, the less social and acoustically cryptic harbour porpoises (Phocoena phocoena) only produce narrow-band high-frequency (NBHF) clicks with properties that appear poorly suited for communication. Nevertheless, these small odontocetes likely mediate social interactions, such as mate choice and mother-calf contact, with sound. Here, we deployed six tags (DTAG3) on wild porpoises in Danish waters for a total of 96 hours to investigate if the patterns and use of stereotyped NBHF click trains are consistent with a communication function. We show that wild porpoises produce frequent (up to 27 • min^-1), high-repetition rate click series with repetition rates and output levels different from those of foraging buzzes. These sounds are produced in bouts and frequently co-occur with emission of similar sounds by nearby conspecifics, audible on the tags for >10% of the time. These results suggest that social interactions are more important to this species than their limited social encounters at the surface may indicate and that these interactions are mediated by at least two broad categories of calls composed of short, high-repetition rate click trains that may encode information via the repetition rate of their stereotyped NBHF clicks.

The evolution of foraging capacity and gigantism in cetaceans

The extant diversity and rich fossil record of cetaceans provides an extraordinary evolutionary context for investigating the relationship between form, function and ecology. The transition from terrestrial to marine ecosystems is associated with a complex suite of morphological and physiological adaptations that were required for a fully aquatic mammalian life history. Two specific functional innovations that characterize the two great clades of cetaceans, echolocation in toothed whales (Odontoceti) and filter feeding in baleen whales (Mysticeti), provide a powerful comparative framework for integrative studies. Both clades exhibit gigantism in multiple species, but we posit that large body size may have evolved for different reasons and in response to different ecosystem conditions. Although these foraging adaptations have been studied using a combination of experimental and tagging studies, the precise functional drivers and consequences of morphological change within and among these lineages remain less understood. Future studies that focus at the interface of physiology, ecology and paleontology will help elucidate how cetaceans became the largest predators in aquatic ecosystems worldwide.

Unknown beaked whale echolocation signals recorded off eastern New Zealand

The echolocation signals of most beaked whale species are still unknown. In fact, out of the 22 species comprising the family Ziphiidae, only the echolocation pulses for 7 species have been clearly described. This study describes two distinct beaked whale echolocation signals recorded in the Cook Strait region using passive acoustic technology. These signals differ from previously described Ziphiid species clicks. A description of the time-frequency characteristics of the two signals is provided. Understanding the characteristics of these signals is necessary to correctly identify species from their echolocation signals and enables future monitoring of beaked whales using passive acoustics techniques.

Comparing methods suitable for monitoring marine mammals in low visibility conditions during seismic surveys

Loud sound emitted during offshore industrial activities can impact marine mammals. Regulations typically prescribe marine mammal monitoring before and/or during these activities to implement mitigation measures that minimise potential acoustic impacts. Using seismic surveys under low visibility conditions as a case study, we review which monitoring methods are suitable and compare their relative strengths and weaknesses. Passive acoustic monitoring has been implemented as either a complementary or alternative method to visual monitoring in low visibility conditions. Other methods such as RADAR, active sonar and thermal infrared have also been tested, but are rarely recommended by regulatory bodies. The efficiency of the monitoring method(s) will depend on the animal behaviour and environmental conditions, however, using a combination of complementary systems generally improves the overall detection performance. We recommend that the performance of monitoring systems, over a range of conditions, is explored in a modelling framework for a variety of species.

Combining passive acoustics and imaging sonar techniques to study sperm whales' foraging strategies

Sperm whales forage in the deep ocean, hunting for squid. An innovative approach for the study of sperm whale foraging behavior and habitat selection is reported in this letter. A DIDSON imaging sonar mounted on a profiler with a conductivity, temperature, and depth sensor was used to count and measure potential prey in the deep ocean during sperm whales' acoustical foraging encounters in Hawaii. Preliminary results show how this technique can be applied to the study of deep diving whale foraging and habitat selection. Sperm whales foraged where the density of prey decreased with depth and where the size of prey increased with depth.

Spatio-temporal variation in click production rates of beaked whales: Implications for passive acoustic density estimation

Passive acoustic monitoring has become an increasingly prevalent tool for estimating density of marine mammals, such as beaked whales, which vocalize often but are difficult to survey visually. Counts of acoustic cues (e.g., vocalizations), when corrected for detection probability, can be translated into animal density estimates by applying an individual cue production rate multiplier. It is essential to understand variation in these rates to avoid biased estimates. The most direct way to measure cue production rate is with animal-mounted acoustic recorders. This study utilized data from sound recording tags deployed on Blainville's (Mesoplodon densirostris, 19 deployments) and Cuvier's (Ziphius cavirostris, 16 deployments) beaked whales, in two locations per species, to explore spatial and temporal variation in click production rates. No spatial or temporal variation was detected within the average click production rate of Blainville's beaked whales when calculated over dive cycles (including silent periods between dives); however, spatial variation was detected when averaged only over vocal periods. Cuvier's beaked whales exhibited significant spatial and temporal variation in click production rates within vocal periods and when silent periods were included. This evidence of variation emphasizes the need to utilize appropriate cue production rates when estimating density from passive acoustic data.

Fine-scale foraging movements by fish-eating killer whales (Orcinus orca) relate to the vertical distributions and escape responses of salmonid prey (Oncorhynchus spp.)

BACKGROUND

We sought to quantitatively describe the fine-scale foraging behavior of northern resident killer whales (Orcinus orca), a population of fish-eating killer whales that feeds almost exclusively on Pacific salmon (Oncorhynchus spp.). To reconstruct the underwater movements of these specialist predators, we deployed 34 biologging Dtags on 32 individuals and collected high-resolution, three-dimensional accelerometry and acoustic data. We used the resulting dive paths to compare killer whale foraging behavior to the distributions of different salmonid prey species. Understanding the foraging movements of these threatened predators is important from a conservation standpoint, since prey availability has been identified as a limiting factor in their population dynamics and recovery.

RESULTS

Three-dimensional dive tracks indicated that foraging (N = 701) and non-foraging dives (N = 10,618) were kinematically distinct (Wilks' lambda: λ16 = 0.321, P < 0.001). While foraging, killer whales dove deeper, remained submerged longer, swam faster, increased their dive path tortuosity, and rolled their bodies to a greater extent than during other activities. Maximum foraging dive depths reflected the deeper vertical distribution of Chinook (compared to other salmonids) and the tendency of Pacific salmon to evade predators by diving steeply. Kinematic characteristics of prey pursuit by resident killer whales also revealed several other escape strategies employed by salmon attempting to avoid predation, including increased swimming speeds and evasive maneuvering.

CONCLUSIONS

High-resolution dive tracks reconstructed using data collected by multi-sensor accelerometer tags found that movements by resident killer whales relate significantly to the vertical distributions and escape responses of their primary prey, Pacific salmon.

Short first click intervals in echolocation trains of three species of deep diving odontocetes

All odontocetes produce echolocation clicks as part of their vocal repertoire. In this paper the authors analysed inter-click-intervals in recordings from suction cup tags with a focus on the first inter-click interval of each click train. The authors refer to shorter first inter-click intervals as short first intervals (SFIs). The authors found that the context of SFI occurrence varies across three deep-diving species. In Blainville's beaked whales, 87% of click trains that were preceded by a terminal buzz started with SFIs. In Cuvier's beaked whales, only sub-adult animals produced notable amounts of SFIs. In contrast, sperm whales were much more likely to produce SFIs on the first click train of a dive. While the physiological and/or behavioural reasons for SFI click production are unknown, species differences in their production could provide a window into the evolution of odontocete echolocation.

Amazon river dolphins (Inia geoffrensis) modify biosonar output level and directivity during prey interception in the wild

Toothed whales have evolved to live in extremely different habitats and yet they all rely strongly on echolocation for finding and catching prey. Such biosonar based foraging involves distinct phases of searching for, approaching, and capturing prey, where echolocating animals gradually adjust sonar output to actively shape the flow of sensory information. Measuring those outputs in absolute levels requires hydrophone arrays centred on the biosonar beam axis, but this has never been done for wild toothed whales approaching and capturing prey. Rather, field studies make the assumption that toothed whales will adjust their biosonar in the same manner to arrays as they will when approaching prey. To test this assumption, we recorded wild botos (Inia geoffrensis) as they approached and captured dead fish tethered to a hydrophone in front of a star-shaped seven-hydrophone array. We demonstrate that botos gradually decrease interclick intervals and output levels during prey approaches, using stronger adjustment magnitudes than extrapolated from previous boto array data. Prey interceptions are characterised by high click rates, but although botos buzz during prey capture, they do so at lower click rates than marine toothed whales, resulting in a much more gradual transition from approach phase to buzzing. We also demonstrate for the first time that wild toothed whales broaden biosonar beamwidth when closing in on prey, as it is also seen in captive toothed whales and in bats, thus resulting in a larger ensonified volume around the prey, likely aiding prey tracking by decreasing the risk of prey evading ensonification.

Shifts in frequency-modulated pulses recorded during an encounter with Blainville's beaked whales (Mesoplodon densirostris)

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