Comparison of fin whale 20 Hz call detections by deep-water mobile autonomous and stationary recorders

Ambient noise levels with depth from an underwater glider survey across shipping lanes in the Gulf of St. Lawrence, Canada

A two-month-long glider deployment in the Gulf of St. Lawrence, Canada, measured the ambient sound level variability with depth and lateral position across a narrow channel that serves as an active commercial shipping corridor. The Honguedo Strait between the Gaspé Peninsula and Anticosti Island has a characteristic sound channel during the Summer and Fall due to temperature variation with depth. The experiment comprised continuous acoustic measurements in the band 1-1000 Hz and oceanographic (temperature and salinity) measurements from a profiling electric glider down to 210 m water depth. The mean observed ambient sound depth-profile was modeled by placing a uniform distribution of sources near the surface to represent a homogeneous wind-generated ocean wave field and computing the acoustic field using normal modes. The measurements and predictions match within the observed error bars and indicate a minimum in the sound channel at 70 m depth and a relative increase by ∼1 dB down to 180 m depth for frequencies >100 Hz. The impact of detector depth, the distance to a busy shipping corridor, wind noise, flow noise, and self-noise are discussed in the context of passive acoustic monitoring and marine mammal detection.

Detection probability and density estimation of fin whales by a Seaglider

A single-hydrophone ocean glider was deployed within a cabled hydrophone array to demonstrate a framework for estimating population density of fin whales (Balaenoptera physalus) from a passive acoustic glider. The array was used to estimate tracks of acoustically active whales. These tracks became detection trials to model the detection function for glider-recorded 360-s windows containing fin whale 20-Hz pulses using a generalized additive model. Detection probability was dependent on both horizontal distance and low-frequency glider flow noise. At the median 40-Hz spectral level of 97 dB re 1 μPa²/Hz, detection probability was near one at horizontal distance zero with an effective detection radius of 17.1 km [coefficient of variation (CV) = 0.13]. Using estimates of acoustic availability and acoustically active group size from tagged and tracked fin whales, respectively, density of fin whales was estimated as 1.8 whales per 1000 km² (CV = 0.55). A plot sampling density estimate for the same area and time, estimated from array data alone, was 1.3 whales per 1000 km² (CV = 0.51). While the presented density estimates are from a small demonstration experiment and should be used with caution, the framework presented here advances our understanding of the potential use of gliders for cetacean density estimation.

A wave glider-based, towed hydrophone array system for autonomous, real-time, passive acoustic marine mammal monitoring

An autonomous surface vehicle known as a wave glider, instrumented with a low-power towed hydrophone array and embedded digital signal processor, is demonstrated as a viable low-noise system for the passive acoustic monitoring of marine mammals. Other key design elements include high spatial resolution beamforming on a 32-channel towed hydrophone array, deep array deployment depth, vertical motion isolation, and bandwidth-efficient real-time acoustic data transmission. Using at-sea data collected during a simultaneous deployment of three wave glider-based acoustic detection systems near Stellwagen Bank National Marine Sanctuary in September 2019, the capability of a low-frequency towed hydrophone array to spatially reject noise and to resolve baleen whale vocalizations from anthropogenic acoustic clutter is demonstrated. In particular, mean measured array gain of 15.3 dB at the aperture design frequency results in a post-beamformer signal-to-noise ratio that significantly exceeds that of a single hydrophone. Further, it is shown that with overlapping detections on multiple collaborating systems, precise localization of vocalizing individuals is achievable at long ranges. Last, model predictions showing a 4× detection range, or 16× area coverage, advantage of a 32-channel towed array over a single hydrophone against the North Atlantic right whale upcall are presented for the continental shelf environment south of Martha's Vineyard.

Acoustic detection range of right whale upcalls identified in near-real time from a moored buoy and a Slocum glider

The goal of this study was to characterize the detection range of a near real-time baleen whale detection system, the digital acoustic monitoring instrument/low-frequency detection and classification system (DMON/LFDCS), equipped on a Slocum glider and a moored buoy. As a reference, a hydrophone array was deployed alongside the glider and buoy at a shallow-water site southwest of Martha's Vineyard (Massachusetts, USA) over a four-week period in spring 2017. A call-by-call comparison between North Atlantic right whale upcalls localized with the array (n = 541) and those detected by the glider or buoy was used to estimate the detection function for each DMON/LFDCS platform. The probability of detection was influenced by range, ambient noise level, platform depth, detection process, review protocol, and calling rate. The conservative analysis of near real-time pitch tracks suggested that, under typical conditions, a 0.33 probability of detection of a single call occurred at 6.2 km for the buoy and 8.6-13.4 km for the glider (depending on glider depth), while a 0.10 probability of detection of a single call occurred at 14.4 m for the buoy and 22.6-27.5 km for the glider. Probability of detection is predicted to increase substantially at all ranges if more than one call is available for detection.

Temporal and spatial lags between wind, coastal upwelling, and blue whale occurrence

Understanding relationships between physical drivers and biological response is central to advancing ecological knowledge. Wind is the physical forcing mechanism in coastal upwelling systems, however lags between wind input and biological responses are seldom quantified for marine predators. Lags were examined between wind at an upwelling source, decreased temperatures along the upwelling plume's trajectory, and blue whale occurrence in New Zealand's South Taranaki Bight region (STB). Wind speed and sea surface temperature (SST) were extracted for austral spring-summer months between 2009 and 2019. A hydrophone recorded blue whale vocalizations October 2016-March 2017. Timeseries cross-correlation analyses were conducted between wind speed, SST at different locations along the upwelling plume, and blue whale downswept vocalizations (D calls). Results document increasing lag times (0-2 weeks) between wind speed and SST consistent with the spatial progression of upwelling, culminating with increased D call density at the distal end of the plume three weeks after increased wind speeds at the upwelling source. Lag between wind events and blue whale aggregations (n = 34 aggregations 2013-2019) was 2.09 ± 0.43 weeks. Variation in lag was significantly related to the amount of wind over the preceding 30 days, which likely influences stratification. This study enhances knowledge of physical-biological coupling in upwelling ecosystems and enables improved forecasting of species distribution patterns for dynamic management.

Near real-time marine mammal monitoring from gliders: Practical challenges, system development, and management implications

In 2017, an endangered North Atlantic right whale mortality event in the Gulf of St. Lawrence, Canada, triggered the implementation of dynamic mitigation measures that required real-time information on whale distribution. Underwater glider-based acoustic monitoring offers a possible solution for collecting near real-time information but has many practical challenges including self-noise, energy restrictions, and computing capacity, as well as limited glider-to-shore data transfer bandwidth. This paper describes the development of a near real-time baleen whale acoustic monitoring glider system and its evaluation in the Gulf of St. Lawrence in 2018. Development focused on identifying and prioritizing important acoustic events and on sending contextual information to shore for human validation. The system performance was evaluated post-retrieval, then the trial was simulated using optimized parameters. Trial simulation evaluation revealed that the validated detections of right, fin, and blue whales produced by the system were all correct; the proportion of species occurrence missed varied depending on the timeframe considered. Glider-based near real-time monitoring can be an effective and reliable technique to inform dynamic mitigation strategies for species such as the North Atlantic right whale.