Acoustic travel-time variability observed on a 150-km radius tomographic array in the Canada Basin during 2016-2017.

The Arctic Ocean is undergoing dramatic changes in response to increasing atmospheric concentrations of greenhouse gases. The 2016-2017 Canada Basin Acoustic Propagation Experiment was conducted to assess the effects of the changes in the sea ice and ocean structure in the Beaufort Gyre on low-frequency underwater acoustic propagation and ambient sound. An ocean acoustic tomography array with a radius of 150 km that consisted of six acoustic transceivers and a long vertical receiving array measured the impulse responses of the ocean at a variety of ranges every four hours using broadband signals centered at about 250 Hz. The peak-to-peak low-frequency travel-time variability of the early, resolved ray arrivals that turn deep in the ocean was only a few tens of milliseconds, roughly an order of magnitude smaller than observed in previous tomographic experiments at similar ranges, reflecting the small spatial scale and relative sparseness of mesoscale eddies in the Canada Basin. The high-frequency travel-time fluctuations were approximately 2 ms root-mean-square, roughly comparable to the expected measurement uncertainty, reflecting the low internal-wave energy level. The travel-time spectra show increasing energy at lower frequencies and enhanced semidiurnal variability, presumably due to some combination of the semidiurnal tides and inertial variability.

Using long-range transmissions in the Beaufort Gyre to test the sound-speed equation at high pressure and low temperature.

An ocean acoustic tomography array with a radius of 150 km was deployed in the central Beaufort Gyre during 2016-2017 for the Canada Basin Acoustic Propagation Experiment. Five 250-Hz transceivers were deployed in a pentagon, with a sixth transceiver at the center. A long vertical receiving array was located northwest of the central mooring. Travel-time anomalies for refracted-surface-reflected acoustic ray paths were calculated relative to travel times computed for a range-dependent sound-speed field from in situ temperature and salinity observations. Travel-time inversions for the three-dimensional sound-speed field consistent with the uncertainties in travel time [∼2 ms root mean square (rms)], receiver and source positions (∼ 3 m rms), and sound speed calculated from conductivity-temperature-depth casts could not be obtained without introducing a deep sound-speed bias (below 1000 m). Because of the precise nature of the travel-time observations with low mesoscale and internal wave variability, the conclusion is that the internationally accepted sound-speed equation (TEOS-10) gives values at high pressure (greater than 1000 m) and low temperature (less than 0 °C) that are too high by 0.14-0.16 m s-1.

Observations of the space/time scales of Beaufort sea acoustic duct variability and their impact on transmission loss via the mode interaction parameter.

The Beaufort duct (BD) is a subsurface sound channel in the western Arctic Ocean formed by cold Pacific Winter Water (PWW) sandwiched between warmer Pacific Summer Water (PSW) and Atlantic Water (AW). Sound waves can be trapped in this duct and travel long distances without experiencing lossy surface/ice interactions. This study analyzes BD vertical and temporal variability using moored oceanographic measurements from two yearlong acoustic transmission experiments (2016-2017 and 2019-2020). The focus is on BD normal mode propagation through observed ocean features, such as eddies and spicy intrusions, where direct numerical simulations and the mode interaction parameter (MIP) are used to quantify ducted mode coupling strength. The observations show strong PSW sound speed variability, weak variability in the PWW, and moderate variability in the AW, with typical time scales from days to weeks. For several hundreds Hertz propagation, the BD modes are relatively stable, except for rare episodes of strong sound speed perturbations. The MIP identifies a resonance condition such that the likelihood of coupling is greatest when there is significant sound speed variability in the horizontal wave number band 1/11

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.

Beaufort Sea observations of 11 to 12.5 kHz surface pulse reflections near 50 degree grazing angle from 2016 to 2017.

Sea-surface acoustic scattering is investigated using observations from the 2016-2017 Canada Basin Acoustic Propagation Experiment. The motions of the low-frequency acoustic source and/or receiver moorings were measured using long-baseline acoustic navigation systems in which the signals transmitted once per hour by the mooring instruments triggered high-frequency replies from the bottom-mounted transponders. The moorings recorded these replies, giving the direct path and single-bounce surface-reflected arrivals, which have grazing angles near 50°. The reflected signals are used here to quantify the surface scattering statistics in an opportunistic effort to infer the changing ice characteristics as a function of time and space. Five scattering epochs are identified: (1) open water, (2) initial ice formation, (3) ice solidification, (4) ice thickening, and (5) ice melting. Significant changes in the ice scattering observables are seen using the arrival angle, moment of reflected intensity and its probability density function, and pulse time spread. The largest changes took place during the formation, solidification, and melting. The statistical characteristics across the experimental region are similar, suggesting consistent ice properties. To place the results in some physical context, they are interpreted qualitatively using notions of the partial and fully saturated wave fields, a Kirchhoff-like approximation for the rough surface, and a thin elastic layer reflection coefficient model.

Measurements of the correlation of the frequency-difference autoproduct with acoustic and predicted-autoproduct fields in the deep ocean.

Frequency-domain spatial-correlation analysis of recorded acoustic fields is typically limited to the bandwidth of the recordings. A previous study [Lipa, Worthmann, and Dowling (2018) J. Acoust. Soc. Am. 143(4), 2419-2427] suggests that limiting such analysis to in-band frequencies is not strictly necessary in a Lloyd's mirror environment. In particular, below-band field information can be retrieved from the frequency-difference autoproduct, a quadratic product of measured complex pressure-field amplitudes from two nearby frequencies. The frequency-difference autoproduct is a surrogate field that mimics a genuine acoustic field at the difference frequency. Here, spatial-correlation analysis is extended to deep-ocean acoustic fields measured during the PhilSea10 experiment. The frequency-difference autoproduct, at difference frequencies from 0.0625 to 15 Hz, is determined from hundreds of Philippine Sea recordings of 60 or 100 Hz bandwidth signals with center frequencies from 172.5 to 275 Hz broadcast to a vertical receiving array 129-450 km away. The measured autoproducts are cross correlated along the array with predicted acoustic fields and with predicted autoproduct fields at corresponding below-band frequencies. Stable measured cross correlations as high as 80%-90% are found at the low end of the investigated difference-frequency range, with consistent correlation loss due to mismatch at the higher below-band frequencies.

Observations of sound-speed fluctuations in the Beaufort Sea from 2016 to 2017.

Due to seasonal ice cover, acoustics can provide a unique means for Arctic undersea communication, navigation, and remote sensing. This study seeks to quantify the annual cycle of the thermohaline structure in the Beaufort Sea and characterize acoustically relevant oceanographic processes such as eddies, internal waves, near-inertial waves (NIWs), and spice. The observations are from a seven-mooring, 150-km radius acoustic transceiver array equipped with oceanographic sensors that collected data in the Beaufort Sea from 2016 to 2017. Depth and time variations of the sound speed are analyzed using isopycnal displacements, allowing a separation of baroclinic processes and spice. Compared to lower latitudes, the overall sound speed variability is small with a maximum root mean square of 0.6 m/s. The largest source of variability is spice, most significant in the upper 100 m, followed by eddies and internal waves. The displacement spectrum in the internal wave band is time dependent and different from the Garret-Munk (GM) spectrum. The internal wave energy varied with time averaging 5% of the GM spectrum. The spice sound-speed frequency spectrum has a form very different from the displacement spectrum, a result not seen at lower latitudes. Because sound speed variations are weak, observations of episodic energetic NIWs with horizontal currents up to 20 cm/s have potential acoustical consequences.

A performance comparison between m-sequences and linear frequency-modulated sweeps for the estimation of travel-time with a moving source.

This manuscript discusses the utility of maximal period linear binary pseudorandom sequences [also referred to as m-sequences or maximum length sequences (MLSs)] and linear frequency-modulated (LFM) sweeps for the purpose of measuring travel-time in ocean-acoustic experiments involving moving sources. Signal design and waveform response to unknown Doppler (waveform dilation or scale factor) are reviewed. For this two-parameter estimation problem, the well-known wide-band ambiguity function indicates, and moving-source observations corroborate, a significant performance benefit from using MLS over LFM waveforms of similar time duration and bandwidth. The comparison is illustrated with a typical experimental setup of a source suspended aft of the R/V Sally Ride to a depth of∼10 m and towed at∼1 m/s speed. Accounting for constant source motion, the root mean square travel-time variability over a 30 min observation interval is 53 µs (MLS) and 141 µs (LFM). For these high signal-to-noise ratio channel impulse response data, LFM arrival-time fluctuations mostly appear random while MLS results exhibit structure believed to be consistent with source (i.e., towed transducer) dynamics. We conclude with a discussion on signal coherence with integration times up to 11 MLS waveform periods corresponding to ∼27 s.

Deep ocean long range underwater navigation.

A long range Underwater Navigation Algorithm (UNA) is described that provides a geolocation underwater while submerged without having to surface for a Global Navigation Satellite System (GNSS) position. The UNA only uses measured acoustic travel times from a constellation of underwater acoustic sources analogous to the constellation of satellites in GNSS. The UNA positions are calculated without any a priori track, position or sound speed information, and thus provide a "Cold Start" capability. The algorithm was tested using data from the 2010-2011 Philippine Sea Experiment in which six sources were deployed in a pentagon ∼400 km on a side. 502 positions of hydrophones in a bottom-moored vertical line array at depths of 485-3037 m drifting in a tidal watch circle up to 600 m in diameter were computed. The sources were 129-450 km from the hydrophone receivers. The mean UNA position error from ground truth was 58 m with a standard deviation of 32 m. The UNA Cold Start Algorithm position can be used as the point in the ocean for calculating acoustic model runs from the source positions with a four-dimensional sound speed field from a general circulation model to improve the accuracy.

Observations of low-frequency, long-range acoustic propagation in the Philippine Sea and comparisons with mode transport theory.

The year-long Philippine Sea (2010-2011) experiment (PhilSea) was an extensive deep water acoustic propagation experiment in which there were six different sources transmitting to a water column spanning a vertical line array. The six sources were placed in an array with a radius of 330 km and transmitted at frequencies in the 200-300 Hz and 140-205 Hz bands. The PhilSea frequencies are higher than previous deep water experiments in the North Pacific for which modal analyses were performed. Further, the acoustic paths sample a two-dimensional area that is rich in internal tides, waves, and eddies. The PhilSea observations are, thus, a new opportunity to observe acoustic modal variability at higher frequencies than before and in an oceanographically dynamic region. This paper focuses on mode observations around the mid-water depths. The mode observations are used to compute narrowband statistics such as transmission loss and broadband statistics such as peak pulse intensity, travel time wander, time spreads, and scintillation indices. The observations are then compared with a new hybrid broadband transport theory. The model-data comparisons show excellent agreement for modes 1-10 and minor deviations for the rest. The discrepancies in the comparisons are related to the limitations of the hybrid model and oceanographic fluctuations other than internal waves.

Temporal and spatial dependence of a yearlong record of sound propagation from the Canada Basin to the Chukchi Shelf.

The Pacific Arctic Region has experienced decadal changes in atmospheric conditions, seasonal sea-ice coverage, and thermohaline structure that have consequences for underwater sound propagation. To better understand Arctic acoustics, a set of experiments known as the deep-water Canada Basin acoustic propagation experiment and the shallow-water Canada Basin acoustic propagation experiment was conducted in the Canada Basin and on the Chukchi Shelf from summer 2016 to summer 2017. During the experiments, low-frequency signals from five tomographic sources located in the deep basin were recorded by an array of hydrophones located on the shelf. Over the course of the yearlong experiment, the surface conditions transitioned from completely open water to fully ice-covered. The propagation conditions in the deep basin were dominated by a subsurface duct; however, over the slope and shelf, the duct was seen to significantly weaken during the winter and spring. The combination of these surface and subsurface conditions led to changes in the received level of the sources that exceeded 60 dB and showed a distinct spacio-temporal dependence, which was correlated with the locations of the sources in the basin. This paper seeks to quantify the observed variability in the received signals through propagation modeling using spatially sparse environmental measurements.

Three-dimensional bottom diffraction in the North Pacific.

A significant aspect of bottom-interaction in deep water acoustic propagation, from point sources to point receivers, is the diffraction (or scattering) of energy from discrete seafloor locations along repeatable, deterministic paths in three-dimensions. These bottom-diffracted surface-reflected (BDSR) paths were first identified on the North Pacific acoustic laboratory experiment in 2004 (NPAL04) for a diffractor located on the side of a small seamount. On the adjacent deep seafloor, ambient noise and propagation in the ocean sound channel were sufficiently quiet that the BDSRs were the dominant arrival. The ocean bottom seismometer augmentation in the North Pacific (OBSANP) experiment in June-July 2013 studied BDSRs at the NPAL04 site in more detail. BDSRs are most readily identified by the arrival time of pulses as a function of range to the receiver for a line of transmissions. The diffraction points for BDSRs occur on the relatively featureless deep seafloor as well as on the sides of small seamounts. Although the NPAL04 and OBSANP experiments had very different geometries the same diffractor location is consistent with observed arrivals in both experiments within the resolution of the analysis. On OBSANP the same location excites BDSRs for 77.5, 155, and 310 Hz transmissions.

Observations of phase and intensity fluctuations for low-frequency, long-range transmissions in the Philippine Sea and comparisons to path-integral theory.

In the Philippine Sea, from April 2010 to March 2011, a 330-km radius pentagonal acoustic transceiver array with a sixth transceiver in the center transmitted broadband signals with center frequencies between 172 and 275 Hz and 100 Hz bandwidth eight times a day every other day. The signals were recorded on a large-aperture vertical-line array located near the center of the pentagon at ranges of 129, 210, 224, 379, 396, and 450 km. The acoustic arrival structures are interpretable in terms of ray paths. Depth and time variability of the acoustic observations are analyzed for six ray paths (one from each transceiver) with similar vertical sampling properties in the main thermocline. Acoustic-field statistics treated include: (1) variances of phase and intensity, (2) vertical coherence and intensity covariance, (3) glinting and fadeout rates, and (4) intensity probability density functions. Several observed statistics are compared to predictions using Feynman path-integral theory assuming the Garrett-Munk internal-wave spectrum. In situ oceanographic observations support this assumption and are used to estimate spectral parameters. Data and theory differ at most by a factor of two and reveal the wave propagation regimes of unsaturated, partially saturated, and fully saturated. Improvements to the evaluation of path-integral quantities are discussed.

Deep water acoustic range estimation based on an ocean general circulation model: Application to PhilSea10 data.

This study identifies general characteristics of methods to estimate the absolute range between an acoustic transmitter and a receiver in the deep ocean. The data are from three days of the PhilSea10 experiment with a single fixed transmitter depth (∼998 m) and 150 receiver depths (∼210-5388 m) of known location, and a great-circle transmitter-receiver distance of ∼510 km. The proposed ranging methods compare observed acoustic records with synthetic records computed through the HYCOM (hybrid coordinate ocean model) model. More than 8900 transmissions over 3 days characterize the statistical variation of range errors. Reliable ranging methods de-emphasize the parts of the data records least likely to be reproduced by the synthetics, which include arrival amplitudes, the later parts of the acoustic records composed of nearly horizontally launched rays (i.e., the finale), and waves that sample a narrow span of ocean depths. The ranging methods proposed normalize amplitudes, measure travel times, or reject parts of the waveforms beyond a critical time. All deliver reliable range estimates based on the time and path-averaged HYCOM model, although the final method performs best. The principles behind these methods are transportable and expected to provide reliable range estimates in different deep water settings.

Vertical line array measurements of ambient noise in the North Pacific.

Shipping noise and wind are the dominant sources of ocean noise in the frequency band between 20 and 500 Hz. This paper analyzes noise in that band using data from the SPICEX experiment, which took place in the North Pacific in 2004-2005, and compares the results with other North Pacific experiments. SPICEX included vertical arrays with sensors above and below the surface conjugate depth, facilitating an analysis of the depth dependence of ambient noise. The paper includes several key results. First, the 2004-05 noise levels at 50 Hz measured in SPICEX had not increased relative to levels measured by Morris [(1978). J. Acoust. Soc. Am. 64, 581-590] at a nearby North Pacific site three decades earlier, but rather were comparable to those levels. Second, at 50 Hz the noise below the conjugate depth decreases at a rate of -9.9 dB/km, which is similar to the rate measured by Morris and much less than the rate measured by Gaul, Knobles, Shooter, and Wittenborn [(2007). IEEE J. Ocean. Eng. 32, 497-512] for the CHURCH OPAL experiment. Finally, the paper describes the seasonal trends in noise over the year-long time series of the measurements.

Eastern Arctic ambient noise on a drifting vertical array.

Ambient noise in the eastern Arctic was studied from April to September 2013 using a 22 element vertical hydrophone array as it drifted from near the North Pole (89° 23'N, 62° 35'W) to north of Fram Strait (83° 45'N, 4° 28'W). The hydrophones recorded for 108 min/day on six days per week with a sampling rate of 1953.125 Hz. After removal of data corrupted by non-acoustic transients, 19 days throughout the transit period were analyzed. Noise contributors identified include broadband and tonal ice noises, bowhead whale calling, seismic airgun surveys, and earthquake T phases. The bowhead whale or whales detected are believed to belong to the endangered Spitsbergen population, and were recorded when the array was as far north as 86° 24'N. Median power spectral estimates and empirical probability density functions along the array transit show a change in the ambient noise levels corresponding to seismic survey airgun occurrence and received level at low frequencies and transient ice noises at high frequencies. Median power for the same periods across the array shows that this change is consistent in depth. The median ambient noise for May 2013 was among the lowest of the sparse reported observations in the eastern Arctic but comparable to the more numerous observations of western Arctic noise levels.

Resolution, identification, and stability of broadband acoustic arrivals in Fram Strait.

An ocean acoustic tomography system consisting of three moorings with low frequency, broadband transceivers and a moored receiver located approximately in the center of the triangle formed by the transceivers was installed in the central, deep-water part of Fram Strait during 2010-2012. Comparisons of the acoustic receptions with predictions based on hydrographic sections show that the oceanographic conditions in Fram Strait result in complex arrival patterns in which it is difficult to resolve and identify individual arrivals. In addition, the early arrivals are unstable, with the arrival structures changing significantly over time. The stability parameter α suggests that the instability is likely not due to small-scale variability, but rather points toward strong mesoscale variability in the presence of a relatively weak sound channel as being largely responsible. The estimator-correlator [Dzieciuch, J. Acoust. Soc. Am. 136, 2512-2522 (2014)] is shown to provide an objective formalism for generating travel-time series given the complex propagation conditions. Because travel times obtained from the estimator-correlator are not associated with resolved, identified ray arrivals, inverse methods are needed that do not use sampling kernels constructed from geometric ray paths. One possible approach would be to use travel-time sensitivity kernels constructed for the estimator-correlator outputs.

Internal tides and deep diel fades in acoustic intensity.

A mechanism is presented by which the observed acoustic intensity is made to vary due to changes in the acoustic path that are caused by internal-tide vertical fluid displacements. The position in range and depth of large-scale caustic structure is determined by the background sound-speed profile. Internal tides cause a deformation of the background profile, changing the positions of the caustic structures-which can introduce intensity changes at a distant receiver. Gradual fades in the acoustic intensity occurring over timescales similar to those of the tides were measured during a low-frequency (284-Hz) acoustic scattering experiment in the Philippine Sea in 2009 [White et al., J. Acoust. Soc. Am. 134(4), 3347-3358 (2013)]. Parabolic equation and Hamiltonian ray-tracing calculations of acoustic propagation through a plane-wave internal tide environmental model employing sound-speed profiles taken during the experiment indicate that internal tides could cause significant gradual changes in the received intensity. Furthermore, the calculations demonstrate how large-scale perturbations to the index of refraction can result in variation in the received intensity.

Low-frequency pulse propagation over 510 km in the Philippine Sea: A comparison of observed and theoretical pulse spreading.

Observations of the spread of wander-corrected averaged pulses propagated over 510 km for 54 h in the Philippine Sea are compared to Monte Carlo predictions using a parabolic equation and path-integral predictions. Two simultaneous m-sequence signals are used, one centered at 200 Hz, the other at 300 Hz; both have a bandwidth of 50 Hz. The internal wave field is estimated at slightly less than unity Garrett-Munk strength. The observed spreads in all the early ray-like arrivals are very small, <1 ms (for pulse widths of 17 and 14 ms), which are on the order of the sampling period. Monte Carlo predictions show similar very small spreads. Pulse spread is one consequence of scattering, which is assumed to occur primarily at upper ocean depths where scattering processes are strongest and upward propagating rays refract downward. If scattering effects in early ray-like arrivals accumulate with increasing upper turning points, spread might show a similar dependence. Real and simulation results show no such dependence. Path-integral theory prediction of spread is accurate for the earliest ray-like arrivals, but appears to be increasingly biased high for later ray-like arrivals, which have more upper turning points.