Basin scale coherence of Kauai-Beacon m-sequence transmissions received at Wake Island and Monterey, CA.

The 75 Hz Kauai-Beacon source is well-situated for observing the North Pacific Ocean acoustically, and ongoing efforts enable transmissions and analysis of broadband signals in 2023 and beyond. This is the first demonstration of acoustic receiving along paths to Wake Island (∼3500 km) and Monterey Bay (∼4000 km). The 44 received m-sequence waveforms exhibit excellent phase stability with processing gain approaching the maximum theoretical gain evaluated over the 20 min signal transmission duration. The article concludes with a discussion on the future source utility and highlights research topics of interest, including observed Doppler (waveform dilation), thermometry, and tomography.

An automated framework for long-range acoustic positioning of autonomous underwater vehicles.

An automated method was developed to align underwater acoustic receptions at various depths and ranges to a single reference prediction of long range acoustic arrival structure as it evolves with range in order to determine source-receiver range. Acoustic receptions collected by four autonomous underwater vehicles deployed in the Philippine Sea as part of an ocean acoustic propagation experiment were used to demonstrate the method. The arrivals were measured in the upper 1000 m of the ocean at ranges up to 700 km from five moored, low frequency broadband acoustic tomography sources. Acoustic arrival time structure for pulse compressed signals at long ranges is relatively stable, yet real ocean variability presents challenges in acoustic arrival matching. The automated method takes advantage of simple projections of the measured structure onto the model space that represents all possible pairings of measured peaks to predicted eigenrays and minimizes the average travel-time offset across selected pairings. Compared to ranging results obtained by manual acoustic arrival matching, 93% of the automatically-obtained range estimates were within 75 m of the manually-obtained range estimates. Least squares residuals from positioning estimates using the automatically-obtained ranges with a fault detection scheme were 55 m root-mean-square.

Temperature-driven seasonal and longer term changes in spatially averaged deep ocean ambient sound at frequencies 63-125 Hz.

The soundscape of the Northeast Pacific Ocean is studied with emphasis on frequencies in the range 63-125 Hz. A 34-year (1964-1998) increase and seasonal fluctuations (1994-2006) are investigated. This is achieved by developing a simple relationship between the total radiated power of all ocean sound sources and the spatially averaged mean-square sound pressure in terms of the average source factor, source depth, and sea surface temperature (SST). The formula so derived is used to predict fluctuations in the sound level in the range 63-125 Hz with an amplitude of 1.2 dB and a period of 1 year associated with seasonal variations in the SST, which controls the amount of sound energy trapped in the sound fixing and ranging (SOFAR) channel. Also investigated is an observed 5 dB increase in the same frequency range in the Northeast Pacific Ocean during the late 20th century [Andrew, Howe, Mercer, and Dzieciuch (2002). ARLO 3, 65-70]. The increase is explained by the increase in the total number of ocean-going ships and their average gross tonnage.

Underwater Time-Gated Standoff Raman Sensor for In Situ Chemical Sensing.

We describe the fabrication of an underwater time-gated standoff Raman sensor, consisting of a custom Raman spectrometer, custom scanner, and commercial diode-pumped pulsed 532 nm laser all located inside a pressure housing. The Raman sensor was tested in the laboratory with samples in air, a tank containing tap water and seawater, and in the coastal Hawaiian harbor. We demonstrate our new system by presenting standoff Raman spectra of some of the chemicals used in homemade explosive devices and improvised explosive devices, including sulfur, nitrates, chlorates, and perchlorates up to a distance of ∼6 m in seawater and tap water. Finally, the Raman spectra of these hazardous chemicals sealed inside plastic containers submersed in the Hawaiian Harbor water are also presented.

Diversity-based acoustic communication with a glider in deep water.

The primary use of underwater gliders is to collect oceanographic data within the water column and periodically relay the data at the surface via a satellite connection. In summer 2006, a Seaglider equipped with an acoustic recording system received transmissions from a broadband acoustic source centered at 75 Hz deployed on the bottom off Kauai, Hawaii, while moving away from the source at ranges up to ∼200 km in deep water and diving up to 1000-m depth. The transmitted signal was an m-sequence that can be treated as a binary-phase shift-keying communication signal. In this letter multiple receptions are exploited (i.e., diversity combining) to demonstrate the feasibility of using the glider as a mobile communication gateway.

Observations and transport theory analysis of low frequency, acoustic mode propagation in the Eastern North Pacific Ocean.

Second order mode statistics as a function of range and source depth are presented from the Long Range Ocean Acoustic Propagation EXperiment (LOAPEX). During LOAPEX, low frequency broadband signals were transmitted from a ship-suspended source to a mode-resolving vertical line array. Over a one-month period, the ship occupied seven stations from 50 km to 3200 km distance from the receiver. At each station broadband transmissions were performed at a near-axial depth of 800 m and an off-axial depth of 350 m. Center frequencies at these two depths were 75 Hz and 68 Hz, respectively. Estimates of observed mean mode energy, cross mode coherence, and temporal coherence are compared with predictions from modal transport theory, utilizing the Garrett-Munk internal wave spectrum. In estimating the acoustic observables, there were challenges including low signal to noise ratio, corrections for source motion, and small sample sizes. The experimental observations agree with theoretical predictions within experimental uncertainty.

Estimating uncertainty in subsurface glider position using transmissions from fixed acoustic tomography sources.

Four acoustic Seagliders were deployed in the Philippine Sea November 2010 to April 2011 in the vicinity of an acoustic tomography array. The gliders recorded over 2000 broadband transmissions at ranges up to 700 km from moored acoustic sources as they transited between mooring sites. The precision of glider positioning at the time of acoustic reception is important to resolve the fundamental ambiguity between position and sound speed. The Seagliders utilized GPS at the surface and a kinematic model below for positioning. The gliders were typically underwater for about 6.4 h, diving to depths of 1000 m and traveling on average 3.6 km during a dive. Measured acoustic arrival peaks were unambiguously associated with predicted ray arrivals. Statistics of travel-time offsets between received arrivals and acoustic predictions were used to estimate range uncertainty. Range (travel time) uncertainty between the source and the glider position from the kinematic model is estimated to be 639 m (426 ms) rms. Least-squares solutions for glider position estimated from acoustically derived ranges from 5 sources differed by 914 m rms from modeled positions, with estimated uncertainty of 106 m rms in horizontal position. Error analysis included 70 ms rms of uncertainty due to oceanic sound-speed variability.

A numerical model for ocean ultra-low frequency noise: wave-generated acoustic-gravity and Rayleigh modes.

The generation of ultra-low frequency acoustic noise (0.1 to 1 Hz) by the nonlinear interaction of ocean surface gravity waves is well established. More controversial are the quantitative theories that attempt to predict the recorded noise levels and their variability. Here a single theoretical framework is used to predict the noise level associated with propagating pseudo-Rayleigh modes and evanescent acoustic-gravity modes. The latter are dominant only within 200 m from the sea surface, in shallow or deep water. At depths larger than 500 m, the comparison of a numerical noise model with hydrophone records from two open-ocean sites near Hawaii and the Kerguelen islands reveal: (a) Deep ocean acoustic noise at frequencies 0.1 to 1 Hz is consistent with the Rayleigh wave theory, in which the presence of the ocean bottom amplifies the noise by 10 to 20 dB; (b) in agreement with previous results, the local maxima in the noise spectrum support the theoretical prediction for the vertical structure of acoustic modes; and (c) noise level and variability are well predicted for frequencies up to 0.4 Hz. Above 0.6 Hz, the model results are less accurate, probably due to the poor estimation of the directional properties of wind-waves with frequencies higher than 0.3 Hz.

Measuring the Kuroshio Current with ocean acoustic tomography.

Ocean current profiling using ocean acoustic tomography (OAT) was conducted in the Kuroshio Current southeast of Taiwan from August 20 to September 15, 2009. Sound pulses were transmitted reciprocally between two acoustic stations placed near the underwater sound channel axis and separated by 48 km. Based on the result of ray simulation, the received signals are divided into multiple ray groups because it is difficult to resolve the ray arrivals for individual rays. The average differential travel times from these ray groups are used to reconstruct the vertical profiles of currents. The currents are estimated with respect to the deepest water layer via two methods: An explicit solution and an inversion with regularization. The strong currents were confined to the upper 200 m and rapidly weakened toward 500 m in depth. Both methods give similar results and are consistent with shipboard acoustic Doppler current profiler results in the upper 150 m. The observed temporal variation demonstrates a similar trend to the prediction from the Hybrid Coordinate Ocean Model.

Reduced rank models for travel time estimation of low order mode pulses.

Mode travel time estimation in the presence of internal waves (IWs) is a challenging problem. IWs perturb the sound speed, which results in travel time wander and mode scattering. A standard approach to travel time estimation is to pulse compress the broadband signal, pick the peak of the compressed time series, and average the peak time over multiple receptions to reduce variance. The peak-picking approach implicitly assumes there is a single strong arrival and does not perform well when there are multiple arrivals due to scattering. This article presents a statistical model for the scattered mode arrivals and uses the model to design improved travel time estimators. The model is based on an Empirical Orthogonal Function (EOF) analysis of the mode time series. Range-dependent simulations and data from the Long-range Ocean Acoustic Propagation Experiment (LOAPEX) indicate that the modes are represented by a small number of EOFs. The reduced-rank EOF model is used to construct a travel time estimator based on the Matched Subspace Detector (MSD). Analysis of simulation and experimental data show that the MSDs are more robust to IW scattering than peak picking. The simulation analysis also highlights how IWs affect the mode excitation by the source.

Deep seafloor arrivals in long range ocean acoustic propagation.

Ocean bottom seismometer observations at 5000 m depth during the long-range ocean acoustic propagation experiment in the North Pacific in 2004 show robust, coherent, late arrivals that are not readily explained by ocean acoustic propagation models. These "deep seafloor" arrivals are the largest amplitude arrivals on the vertical particle velocity channel for ranges from 500 to 3200 km. The travel times for six (of 16 observed) deep seafloor arrivals correspond to the sea surface reflection of an out-of-plane diffraction from a seamount that protrudes to about 4100 m depth and is about 18 km from the receivers. This out-of-plane bottom-diffracted surface-reflected energy is observed on the deep vertical line array about 35 dB below the peak amplitude arrivals and was previously misinterpreted as in-plane bottom-reflected surface-reflected energy. The structure of these arrivals from 500 to 3200 km range is remarkably robust. The bottom-diffracted surface-reflected mechanism provides a means for acoustic signals and noise from distant sources to appear with significant strength on the deep seafloor.

The North Pacific Acoustic Laboratory deep-water acoustic propagation experiments in the Philippine Sea.

A series of experiments conducted in the Philippine Sea during 2009-2011 investigated deep-water acoustic propagation and ambient noise in this oceanographically and geologically complex region: (i) the 2009 North Pacific Acoustic Laboratory (NPAL) Pilot Study/Engineering Test, (ii) the 2010-2011 NPAL Philippine Sea Experiment, and (iii) the Ocean Bottom Seismometer Augmentation of the 2010-2011 NPAL Philippine Sea Experiment. The experimental goals included (a) understanding the impacts of fronts, eddies, and internal tides on acoustic propagation, (b) determining whether acoustic methods, together with other measurements and ocean modeling, can yield estimates of the time-evolving ocean state useful for making improved acoustic predictions, (c) improving our understanding of the physics of scattering by internal waves and spice, (d) characterizing the depth dependence and temporal variability of ambient noise, and (e) understanding the relationship between the acoustic field in the water column and the seismic field in the seafloor. In these experiments, moored and ship-suspended low-frequency acoustic sources transmitted to a newly developed distributed vertical line array receiver capable of spanning the water column in the deep ocean. The acoustic transmissions and ambient noise were also recorded by a towed hydrophone array, by acoustic Seagliders, and by ocean bottom seismometers.

Weakly dispersive modal pulse propagation in the North Pacific Ocean.

The propagation of weakly dispersive modal pulses is investigated using data collected during the 2004 long-range ocean acoustic propagation experiment (LOAPEX). Weakly dispersive modal pulses are characterized by weak dispersion- and scattering-induced pulse broadening; such modal pulses experience minimal propagation-induced distortion and are thus well suited to communications applications. In the LOAPEX environment modes 1, 2, and 3 are approximately weakly dispersive. Using LOAPEX observations it is shown that, by extracting the energy carried by a weakly dispersive modal pulse, a transmitted communications signal can be recovered without performing channel equalization at ranges as long as 500 km; at that range a majority of mode 1 receptions have bit error rates (BERs) less than 10%, and 6.5% of mode 1 receptions have no errors. BERs are estimated for low order modes and compared with measurements of signal-to-noise ratio (SNR) and modal pulse spread. Generally, it is observed that larger modal pulse spread and lower SNR result in larger BERs.

Bottom interacting sound at 50 km range in a deep ocean environment.

Data collected during the 2004 Long-range Ocean Acoustic Propagation Experiment provide absolute intensities and travel times of acoustic pulses at ranges varying from 50 to 3200 km. In this paper a subset of these data is analyzed, focusing on the effects of seafloor reflections at the shortest transmission range of approximately 50 km. At this range bottom-reflected (BR) and surface-reflected, bottom-reflected energy interferes with refracted arrivals. For a finite vertical receiving array spanning the sound channel axis, a high mode number energy in the BR arrivals aliases into low mode numbers because of the vertical spacing between hydrophones. Therefore, knowledge of the BR paths is necessary to fully understand even low mode number processes. Acoustic modeling using the parabolic equation method shows that inclusion of range-dependent bathymetry is necessary to get an acceptable model-data fit. The bottom is modeled as a fluid layer without rigidity, without three dimensional effects, and without scattering from wavelength-scale features. Nonetheless, a good model-data fit is obtained for sub-bottom properties estimated from the data.

Modal analysis of the range evolution of broadband wavefields in the North Pacific Ocean: low mode numbers.

The results of mode-processing measurements of broadband acoustic wavefields made in the fall of 2004 as part of the Long-Range Ocean Acoustic Propagation Experiment (LOAPEX) in the eastern North Pacific Ocean are reported here. Transient wavefields in the 50-90 Hz band that were recorded on a 1400-m long 40 element vertical array centered near the sound channel axis are analyzed. This array was designed to resolve low-order modes. The wavefields were excited by a ship-suspended source at seven ranges, between approximately 50 and 3200 km, from the receiving array. The range evolution of broadband modal arrival patterns corresponding to fixed mode numbers ("modal group arrivals") is analyzed with an emphasis on the second (variance) and third (skewness) moments. A theory of modal group time spreads is described, emphasizing complexities associated with energy scattering among low-order modes. The temporal structure of measured modal group arrivals is compared to theoretical predictions and numerical simulations. Theory, simulations, and observations generally agree. In cases where disagreement is observed, the reasons for the disagreement are discussed in terms of the underlying physical processes and data limitations.

Long-time trends in ship traffic noise for four sites off the North American West Coast.

Measurements (1994-2007) from four cabled-to-shore hydrophone systems located off the North American west coast permit extensive comparisons between "contemporary" low frequency ship traffic noise (25-50 Hz) collected in the past decade to measurements made over 1963-1965 with the same in-water equipment at the same sites. An increase of roughly 10 dB over the band 25-40 Hz at one site has already been reported [Andrew et al., Acoust. Res. Lett. Online 3(2), 65-70 (2002)]. Newly corrected data from the remaining three systems generally corroborate this increase. Simple linear trend lines of the contemporary traffic noise (duration 6 to 12+ years) show that recent levels are slightly increasing, holding steady, or decreasing. These results confirm the prediction by Ross that the rate of increase in traffic noise would be far less at the end of the 20th century compared to that observed in the 1950s and 1960s.

Temporal and vertical scales of acoustic fluctuations for 75-Hz, broadband transmissions to 87-km range in the eastern North Pacific Ocean.

Observations of scattering of low-frequency sound in the ocean have focused largely on effects at long ranges, involving multiple scattering events. Fluctuations due to one and two scattering events are analyzed here, using 75-Hz broadband signals transmitted in the eastern North Pacific Ocean. The experimental geometry gives two purely refracted arrivals. The temporal and vertical scales of phase and intensity fluctuations for these two ray paths are compared with predictions based on the weak fluctuation theory of Munk and Zachariasen, which assumes internal-wave-induced sound-speed perturbations [J. Acoust. Soc. Am. 59, 818-838 (1976)]. The comparisons show that weak fluctuation theory describes the frequency and vertical-wave-number spectra of phase and intensity for the two paths reasonably well. The comparisons also show that a resonance condition exists between the local acoustic ray and the internal-wave field, as predicted by Munk and Zachariasen, such that only internal waves whose crests are parallel to the local ray path contribute to acoustic scattering. This effect leads to filtering of the acoustic spectra relative to the internal-wave spectra, such that steep rays do not acquire scattering contributions due to low-frequency internal waves.

Deep seafloor arrivals: an unexplained set of arrivals in long-range ocean acoustic propagation.

Receptions, from a ship-suspended source (in the band 50-100 Hz) to an ocean bottom seismometer (about 5000 m depth) and the deepest element on a vertical hydrophone array (about 750 m above the seafloor) that were acquired on the 2004 Long-Range Ocean Acoustic Propagation Experiment in the North Pacific Ocean, are described. The ranges varied from 50 to 3200 km. In addition to predicted ocean acoustic arrivals and deep shadow zone arrivals (leaking below turning points), "deep seafloor arrivals," that are dominant on the seafloor geophone but are absent or very weak on the hydrophone array, are observed. These deep seafloor arrivals are an unexplained set of arrivals in ocean acoustics possibly associated with seafloor interface waves.

The interference component of the acoustic field corresponding to the Long-Range Ocean Acoustic Propagation Experiment.

Propagation of energy along the sound channel axis cannot be formally described in terms of geometrical acoustics due to repeated cusped caustics along the axis. In neighborhoods of these cusped caustics, a very complicated interference pattern is observed. Neighborhoods of interference grow with range and overlap at long ranges. This results in the formation of a complex interference wave--the axial wave--that propagates along the sound channel axis like a wave belonging to a crescendo of near-axial arrivals. The principal properties of this wave are calculated for the actual space-time configuration realized during a 2004 long-range propagation experiment conducted in the North Pacific. The experiment used M-sequences at 68.2 and 75 Hz, transmitter depths from 350 to 800 m, and ranges from 50 to 3200 km. Calculations show that the axial wave would be detectable for an optimal geometry-both transmitter and receiver at the sound channel axis--for a "smooth" range-dependent sound speed field. The addition of sound speed perturbations--induced here by simulated internal waves--randomizes the acoustic field to the extent that the axial wave becomes undetectable. These results should be typical for mid-latitude oceans with similar curvatures about the sound speed minimum.