Measuring sperm whales from their clicks: stability of interpulse intervals and validation that they indicate whale length

Passive acoustic monitoring of sperm whales and anthropogenic noise using stereophonic recordings in the Mediterranean Sea, North West Pelagos Sanctuary

A total of 147 days spread over 4 years were recorded by a stereophonic sonobuoy set up in the Mediterranean sea, near the coast of Toulon, south of France. These recordings were analyzed in the scope of studying sperm whales (Physeter macrocephalus) and the impact anthropic noises may have on this species. With the use of a novel approach, which combines the use of a stereophonic antenna with a neural network, 226 sperm whales’ passages have been automatically detected in an effective range of 32 km. This dataset was then used to analyze the sperm whales’ abundance, the background noise, the influence of the background noise on the acoustic presence, and the animals’ size. The results show that sperm whales are present all year round in groups of 1–9 individuals, especially during the daytime. The estimated density is 1.69 whales/1000 km\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$^2$$\end{document}2. Animals were also less frequent during periods with an increased background noise due to ferries. The animal size distribution revealed the recorded sperm whales were distributed in length from about 7 to 15.5 m, and lonely whales are larger, while groups of two are composed of juvenile and mid-sized animals.

Decadal Assessment of Sperm Whale Site-Specific Abundance Trends in the Northern Gulf of Mexico Using Passive Acoustic Data

Passive acoustic monitoring has been successfully used to study deep-diving marine mammal populations. To assess regional population trends of sperm whales in the northern Gulf of Mexico (GoM), including impacts of the Deepwater Horizon platform oil spill in 2010, the Littoral Acoustic Demonstration Center-Gulf Ecological Monitoring and Modeling (LADC-GEMM) consortium collected broadband acoustic data in the Mississippi Valley/Canyon area between 2007 and 2017 using bottom-anchored moorings. These data allow the inference of short-term and long-term variations in site-specific abundances of sperm whales derived from their acoustic activity. A comparison is made between the abundances of sperm whales at specific sites in different years before and after the oil spill by estimating the regional abundance density. The results show that sperm whales were present in the region throughout the entire monitoring period. A habitat preference shift was observed for sperm whales after the 2010 oil spill with higher activities at sites farther away from the spill site. A comparison of the 2007 and 2015 results shows that the overall regional abundance of sperm whales did not recover to pre-spill levels. The results indicate that long-term spatially distributed acoustic monitoring is critical in characterizing sperm whale population changes and in understanding how environmental stressors impact regional abundances and the habitat use of sperm whales.

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

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

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

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

How Big Is It Really? Assessing the Efficacy of Indirect Estimates of Body Size in Asian Elephants

Information on an organism’s body size is pivotal in understanding its life history and fitness, as well as helping inform conservation measures. However, for many species, particularly large-bodied wild animals, taking accurate body size measurements can be a challenge. Various means to estimate body size have been employed, from more direct methods such as using photogrammetry to obtain height or length measurements, to indirect prediction of weight using other body morphometrics or even the size of dung boli. It is often unclear how accurate these measures are because they cannot be compared to objective measures. Here, we investigate how well existing estimation equations predict the actual body weight of Asian elephants Elephas maximus, using body measurements (height, chest girth, length, foot circumference and neck circumference) taken directly from a large population of semi-captive animals in Myanmar (n = 404). We then define new and better fitting formulas to predict body weight in Myanmar elephants from these readily available measures. We also investigate whether the important parameters height and chest girth can be estimated from photographs (n = 151). Our results show considerable variation in the ability of existing estimation equations to predict weight, and that the equations proposed in this paper predict weight better in almost all circumstances. We also find that measurements from standardised photographs reflect body height and chest girth after applying minor adjustments. Our results have implications for size estimation of large wild animals in the field, as well as for management in captive settings.

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

The 'social complexity hypothesis' suggests that complex social structure is a driver of diversity in animal communication systems. Sperm whales have a hierarchically structured society in which the largest affiliative structures, the vocal clans, are marked on ocean-basin scales by culturally transmitted dialects of acoustic signals known as 'codas'. We examined variation in coda repertoires among both individual whales and social units-the basic element of sperm whale society-using data from nine Caribbean social units across six years. Codas were assigned to individuals using photo-identification and acoustic size measurement, and we calculated similarity between repertoires using both continuous and categorical methods. We identified 21 coda types. Two of those ('1+1+3' and '5R1') made up 65% of the codas recorded, were shared across all units and have dominated repertoires in this population for at least 30 years. Individuals appear to differ in the way they produce '5R1' but not '1+1+3' coda. Units use distinct 4-click coda types which contribute to making unit repertoires distinctive. Our results support the social complexity hypothesis in a marine species as different patterns of variation between coda types suggest divergent functions, perhaps representing selection for identity signals at several levels of social structure.

Size Distribution of Sperm Whales Acoustically Identified during Long Term Deep-Sea Monitoring in the Ionian Sea

The sperm whale (Physeter macrocephalus) emits a typical short acoustic signal, defined as a "click", almost continuously while diving. It is produced in different time patterns to acoustically explore the environment and communicate with conspecifics. Each emitted click has a multi-pulse structure, resulting from the production of the sound within the sperm whale's head. A Stable Inter Pulse Interval (Stable IPI) can be identified among the pulses that compose a single click. Applying specific algorithms, the measurement of this interval provides useful information to assess the total length of the animal recorded. In January 2005, a cabled hydrophone array was deployed at a depth of 2,100 m in the Central Mediterranean Sea, 25 km offshore Catania (Ionian Sea). The acoustic antenna, named OνDE (Ocean noise Detection Experiment), was in operation until November 2006. OνDE provided real time acoustic data used to perform Passive Acoustic Monitoring (PAM) of cetacean sound emissions. In this work, an innovative approach was applied to automatically measure the Stable IPI of the clicks, performing a cepstrum analysis to the energy (square amplitude) of the signals. About 2,100 five-minute recordings were processed to study the size distribution of the sperm whales detected during the OνDE long term deep-sea acoustic monitoring. Stable IPIs were measured in the range between 2.1 ms and 6.4 ms. The equations of Gordon (1991) and of Growcott (2011) were used to convert the IPIs into measures of size. The results revealed that the sperm whales recorded were distributed in length from about 7.5 m to 14 m. The size category most represented was from 9 m to 12 m (adult females or juvenile males) and specimens longer than 14 m (old males) seemed to be absent.

Using a coherent hydrophone array for observing sperm whale range, classification, and shallow-water dive profiles

Sperm whales in the New England continental shelf and slope were passively localized, in both range and bearing, and classified using a single low-frequency (<2500 Hz), densely sampled, towed horizontal coherent hydrophone array system. Whale bearings were estimated using time-domain beamforming that provided high coherent array gain in sperm whale click signal-to-noise ratio. Whale ranges from the receiver array center were estimated using the moving array triangulation technique from a sequence of whale bearing measurements. Multiple concurrently vocalizing sperm whales, in the far-field of the horizontal receiver array, were distinguished and classified based on their horizontal spatial locations and the inter-pulse intervals of their vocalized click signals. The dive profile was estimated for a sperm whale in the shallow waters of the Gulf of Maine with 160 m water-column depth located close to the array's near-field where depth estimation was feasible by employing time difference of arrival of the direct and multiply reflected click signals received on the horizontal array. By accounting for transmission loss modeled using an ocean waveguide-acoustic propagation model, the sperm whale detection range was found to exceed 60 km in low to moderate sea state conditions after coherent array processing.

Acoustically derived growth rates of sperm whales (Physeter macrocephalus) in Kaikoura, New Zealand

A non-invasive acoustic method for measuring the growth of sperm whales was developed based on estimating the length of individuals by measuring the inter-pulse interval (IPI) of their clicks. Most prior knowledge of growth in male sperm whales has come from from fitting growth curves to length data gained from whaling. Recordings made at Kaikoura, New Zealand, were used to estimate the length and growth of 32 photographically identified, resident whales that have been recorded repeatedly between 1991 and 2009. All whales recorded more than six months apart (n = 30) showed an increase in IPI. Using established relationships between IPI and total length, it was found that the average growth rate in the Kaikoura population is lower, especially for smaller whales (13-14.5 m), than that derived from historical whaling data from other populations. This difference may be due to ecological differences among populations but might also reflect upward bias in measurements gained in whaling. The ability to track growth of individuals through time is only possible via non-lethal means and offers a fundamentally different kind of data because differences among individuals can be measured.

The function of male sperm whale slow clicks in a high latitude habitat: communication, echolocation, or prey debilitation?

Sperm whales produce different click types for echolocation and communication. Usual clicks and buzzes appear to be used primarily in foraging while codas are thought to function in social communication. The function of slow clicks is less clear, but they appear to be produced by males at higher latitudes, where they primarily forage solitarily, and on the breeding grounds, where they roam between groups of females. Here the behavioral context in which these vocalizations are produced and the function they may serve was investigated. Ninety-nine hours of acoustic and diving data were analyzed from sound recording tags on six male sperm whales in Northern Norway. The 755 slow clicks detected were produced by tagged animals at the surface (52%), ascending from a dive (37%), and during the bottom phase (11%), but never during the descent. Slow clicks were not associated with the production of buzzes, other echolocation clicks, or fast maneuvering that would indicate foraging. Some slow clicks were emitted in seemingly repetitive temporal patterns supporting the hypothesis that the function for slow clicks on the feeding grounds is long range communication between males, possibly relaying information about individual identity or behavioral states.

Measuring body length of male sperm whales from their clicks: the relationship between inter-pulse intervals and photogrammetrically measured lengths

Sperm whales (Physeter macrocephalus) emit short, broadband clicks which often include multiple pulses. The time interval between these pulses [inter-pulse interval (IPI)] represents the two-way time for a pulse to travel between the air sacs located at either end of the sperm whale's head. The IPI therefore, is a proxy of head length which, using an allometric relationship, can be used to estimate total body length. Previous studies relating IPI to an independent measure of length have relied on very small sample sizes and manual techniques for measuring IPI. Sound recordings and digital stereo photogrammetric measurements of 21 individuals were made off Kaikoura, New Zealand, and, in addition, archived recordings of whales measured with a previous photogrammetric system were reanalyzed to obtain a total sample size of 33 individuals. IPIs were measured automatically via cepstral analysis implemented via a software plug-in for pamguard, an open-source software package for passive acoustic monitoring. IPI measurements were highly consistent within individuals (mean CV=0.63%). The new regression relationship relating IPI (I) and total length (T) was found to be T=1.258I+5.736 (r(2)=0.77, p<0.001). This new regression provides a better fit than previous studies of large (> 11 m) sperm whales.

Measuring inter-pulse intervals in sperm whale clicks: consistency of automatic estimation methods

Sperm whale clicks are characterized by a multi-pulsed structure. The time lag between consecutive pulses, i.e., the inter-pulse interval (IPI), is related to the size of the sound production organ such that its measurement provides a means to acoustically estimate the size of individual whales. Due to off-axis effects the identification of pulses is, however, not always straightforward, and automatic measurement methods provide not only more objective estimation, but may also facilitate IPI estimation in cases where single click measurements are ambiguous. In particular, averaging measurements over a time series of clicks from the same whale could enhance the discrimination of time invariant pulses. The authors developed two automatic methods of automatic IPI measurement based on waveform and autocorrelation averaging and compared their accuracy and consistency with other previously used methods. Manual measurement by an experienced operator provided the most self-consistent estimates. The autocorrelation averaging technique had the best overall performance of the automated methods achieving a very similar performance to manual measurement. On some recordings cepstrum averaging methods converged when autocorrelation did not. Therefore, applying both of these automated methods and choosing the best of the two are recommended.

A large-aperture low-cost hydrophone array for tracking whales from small boats

A passive sonar array designed for tracking diving sperm whales in three dimensions from a single small vessel is presented, and the advantages and limitations of operating this array from a 6 m boat are described. The system consists of four free floating buoys, each with a hydrophone, built-in recorder, and global positioning system receiver (GPS), and one vertical stereo hydrophone array deployed from the boat. Array recordings are post-processed onshore to obtain diving profiles of vocalizing sperm whales. Recordings are synchronized using a GPS timing pulse recorded onto each track. Sensitivity analysis based on hyperbolic localization methods is used to obtain probability distributions for the whale's three-dimensional location for vocalizations received by at least four hydrophones. These localizations are compared to those obtained via isodiachronic sequential bound estimation. Results from deployment of the system around a sperm whale in the Kaikoura Canyon in New Zealand are shown.

Relationship between sperm whale (Physeter macrocephalus) click structure and size derived from videocamera images of a depredating whale (sperm whale prey acquisition)

Sperm whales have learned to depredate black cod (Anoplopoma fimbria) from longline deployments in the Gulf of Alaska. On May 31, 2006, simultaneous acoustic and visual recordings were made of a depredation attempt by a sperm whale at 108 m depth. Because the whale was oriented perpendicularly to the camera as it contacted the longline at a known distance from the camera, the distance from the nose to the hinge of the jaw could be estimated. Allometric relationships obtained from whaling data and skeleton measurements could then be used to estimate both the spermaceti organ length and total length of the animal. An acoustic estimate of animal length was obtained by measuring the inter-pulse interval (IPI) of clicks detected from the animal and using empirical formulas to convert this interval into a length estimate. Two distinct IPIs were extracted from the clicks, one yielding a length estimate that matches the visually-derived length to within experimental error. However, acoustic estimates of spermaceti organ size, derived from standard sound production theories, are inconsistent with the visual estimates, and the derived size of the junk is smaller than that of the spermaceti organ, in contradiction with known anatomical relationships.

Off-axis effects on the multi-pulse structure of sperm whale coda clicks

Sperm whale (Physeter macrocephalus) clicks have a multi-pulse structure, a result of the reflection of sound energy between air sacs in the spermaceti organ. Although previous research revealed that usual clicks (used for echolocation) recorded away from a vocalizing whale's longitudinal axis have waveforms with poorly defined pulse structures, it has been unknown whether sperm whale coda clicks (used for communication) show similar off-axis effects. To address this knowledge gap, a hydrophone array was used to localize vocalizing sperm whales, and the waveforms of coda clicks recorded from different aspects were examined. Coda clicks recorded close to the whale's acoustic axis showed well-defined multi-pulsed waveforms, while those recorded off-axis did not. As for usual clicks, this suggests that sound energy radiates directly into the water upon reflection off the frontal sac.

Male sperm whale (Physeter macrocephalus) coda production and coda-type usage depend on the presence of conspecifics and the behavioural context

Sperm whale ( Physeter macrocephalus L., 1758 (=  Physeter catodon L., 1758)) codas serve a communication function, but the message they carry remains unknown. Very few codas and extremely few coda types are available from males. For 7 years we studied the coda occurrence and the coda types produced by 15 males in different behavioural and encounter contexts. Of the 67 encounters, 615 codas were produced by nonsolitary males. Codas occurred in 60% of the nonsolitary encounters and 36% of the dive cycles. Four hundred and ninety codas have been categorized into 8 coda families and 25 distinctive coda types. Both the coda type used and the dive cycle phase in which codas occurred strongly depended on the behavioural context. This is the first time that coda types have been associated with particular behavioural contexts. The “Three plus” family coda types were mainly used by ascending or descending whales in feeding dive cycles. The “Regular” and “Progressive” families were used almost exclusively by interacting whales. The “Root” coda family was used exclusively at surface, mainly in altered dive cycles. The coda types used in these three behavioural contexts seem to carry different messages and are proposed to be named “dive cycle codas”, “social codas”, and “alarm codas”, respectively.

Sperm whale three-dimensional track, swim orientation, beam pattern, and click levels observed on bottom-mounted hydrophones

In an earlier paper [Nosal and Frazer Appl. Acoust. 61, 1187-1201 (2006)], a sperm whale was tracked in three-dimensions using direct and surface-reflected time differences (DRTD) of clicks recorded on five bottom-mounted hydrophones, a passive method that is robust to timing errors between hydrophones. This paper refines the DRTD method and combines it with a time of (direct) arrival method to improve the accuracy of the track. The position and origin time of each click having been estimated, pitch and yaw are then obtained by assuming the main axis of the whale is tangent to the track. Roll is then found by applying the bent horn model of sperm whale phonation, in which each click is composed of two pulses, p0 and p1, that exit the whale at different points. With instantaneous pitch, roll, and yaw estimated from time differences, amplitudes are then used to estimate the beam patterns of the p0 and p1 pulses. The resulting beam patterns independently confirm those obtained by Zimmer et al. [J. Acoust. Soc. Am. 117, 1473-1485 (2005); 118, 3337-3345 (2005)] with a very different experimental setup. A method for estimating relative click levels is presented and used to find that click levels decrease toward the end of a click series, prior to the "creak" associated with prey capture.

Measuring the off-axis angle and the rotational movements of phonating sperm whales using a single hydrophone

The common use of the bent-horn model of the sperm whale sound generator describes sperm whale clicks as the pulse series {p0, p1, p2, p3,...}. Clicks, however, deviate from this standard when recorded using off-axis hydrophones. The existence of additional pulses within the {p0, p1, p2, p3, ...} series can be explained still using the bent-horn model. Multiple reflections on the whale's frontal and distal sacs of the p0 pulse lead to additional sets of pulses detectable using a farfield, off-axis hydrophone. The travel times of some of these additional pulses depend on the whale's orientation. The authors propose a method to estimate the off-axis angle of sperm whale clicks. They also propose a method to determine the nature of the movement (if it is pitch, yaw, or roll) of phonating sperm whales. The application of both methods requires the measurement of the travel time differences between pulses composing a sperm whale click. They lead, using a simple apparatus consisting of a single hydrophone at an unknown depth, to new measurements of the underwater movements of sperm whales. Using these methods shows that sperm whales would methodically scan seawater while searching for prey, by making periodic pitch and yaw movements in sync with their acoustic activity.

Coda vocalizations recorded in breeding areas are almost entirely produced by mature female sperm whales (Physeter macrocephalus)

We investigated the use and function of coda communication by sperm whales ( Physeter macrocephalus L., 1758 (= Physeter catodon L., 1758)). Codas are stereotyped patterns of clicks often made by sperm whales in social contexts. We used the pulsed structure of coda clicks recorded from socializing female/immature groups to estimate the body-length distribution of the animals producing the codas. Ninety-five percent of the 10 653 codas that we measured were produced by whales measuring from 9 to 11 m. This size range corresponds to the lengths of mature females. We compared these data to a length distribution calculated from photographic measurements of individuals from the same groups encountered during the same studies. There were more whales shorter than 8.5 m (10.0%) and longer than 12.5 m (2.7%) in the photographic length distribution than in that of the coda producers (0.30% and 0.08%, respectively). Since males leave their natal group when they are shorter than 9 m and return to breeding areas when they measure 13 m or more, our data show that the codas were produced almost entirely by mature females. We suggest that coda communication serves several functions, including social bonding.

Off-axis effects on the multipulse structure of sperm whale usual clicks with implications for sound production

Sperm whales (Physeter macrocephalus) produce multipulsed clicks with their hypertrophied nasal complex. The currently accepted view of the sound generation process is based on the click structure measured directly in front of, or behind, the whale where regular interpulse intervals (IPIs) are found between successive pulses in the click. Most sperm whales, however, are recorded with the whale in an unknown orientation with respect to the hydrophone where the multipulse structure and the IPI do not conform to a regular pulse pattern. By combining far-field recordings of usual clicks with acoustic and orientation information measured by a tag on the clicking whale, we analyzed clicks from known aspects to the whale. We show that a geometric model based on the bent horn theory for sound production can explain the varying off-axis multipulse structure. Some of the sound energy that is reflected off the frontal sac radiates directly into the water creating an intermediate pulse p1/2 seen in off-axis recordings. The powerful p1 sonar pulse exits the front of the junk as predicted by the bent-horn model, showing that the junk of the sperm whale nasal complex is both anatomically and functionally homologous to the melon of smaller toothed whales.

Three-dimensional beam pattern of regular sperm whale clicks confirms bent-horn hypothesis

The three-dimensional beam pattern of a sperm whale (Physeter macrocephalus) tagged in the Ligurian Sea was derived using data on regular clicks from the tag and from hydrophones towed behind a ship circling the tagged whale. The tag defined the orientation of the whale, while sightings and beamformer data were used to locate the whale with respect to the ship. The existence of a narrow, forward-directed P1 beam with source levels exceeding 210 dBpeak re: 1 microPa at 1 m is confirmed. A modeled forward-beam pattern, that matches clicks >20 degrees off-axis, predicts a directivity index of 26.7 dB and source levels of up to 229 dBpeak re: 1 microPa at 1 m. A broader backward-directed beam is produced by the P0 pulse with source levels near 200 dBpeak re: 1 microPa at 1 m and a directivity index of 7.4 dB. A low-frequency component with source levels near 190 dBpeak re: 1 microPa at 1 m is generated at the onset of the P0 pulse by air resonance. The results support the bent-horn model of sound production in sperm whales. While the sperm whale nose appears primarily adapted to produce an intense forward-directed sonar signal, less-directional click components convey information to conspecifics, and give rise to echoes from the seafloor and the surface, which may be useful for orientation during dives.