In most areas, estimating the presence and distribution of cryptic marine mammal species, such as beaked whales, is extremely difficult using traditional observational techniques such as ship-based visual line transect surveys. Because acoustic methods permit detection of animals underwater, at night, and in poor weather conditions, passive acoustic observation has been used increasingly often over the last decade to study marine mammal distribution, abundance, and movements, as well as for mitigation of potentially harmful anthropogenic effects. However, there is demand for new, cost-effective tools that allow scientists to monitor areas of interest autonomously with high temporal and spatial resolution in near-real time. Here we describe an autonomous underwater vehicle — a glider — equipped with an acoustic sensor and onboard data processing capabilities to passively scan an area for marine mammals in near-real time. The instrument developed here can be used to cost-effectively screen areas of interest for marine mammals for several months at a time. The near-real-time detection and reporting capabilities of the glider can help to protect marine mammals during potentially harmful anthropogenic activities such as seismic exploration for sub-sea fossil fuels or naval sonar exercises. Furthermore, the glider is capable of under-ice operation, allowing investigation of otherwise inaccessible polar environments that are critical habitats for many endangered marine mammal species.

Vertical velocities in the world's oceans are typically small, less than 1 cm s^-1, posing a significant challenge for observational techniques. Seaglider, an autonomous profiling instrument, can be used to estimate vertical water velocity in the ocean. Using a Seaglider's flight model and pressure observations, vertical water velocities are estimated along glider trajectories in the Labrador Sea before, during, and after deep convection. Results indicate that vertical velocities in the stratified ocean agree with the theoretical Wentzel–Kramers–Brillouin (WKB) scaling of w; and in the turbulent mixed layer, scale with buoyancy, and wind forcing. It is estimated that accuracy is to within 0.5 cm s^-1. Because of uncertainties in the flight model, velocities are poor near the surface and deep apogees, and during extended roll maneuvers. Some of this may be improved by using a dynamic flight model permitting acceleration and by better constraining flight parameters through pilot choices during the mission.

In fall 2009 the University of Washington, Applied Physics Laboratory conducted in collaboration with the Oregon State University, a comprehensive field test of a passive-acoustic Seaglider along the western shelf-break of the island of Hawaii. During the 3 week mission, a total of approximately 170 h of broadband acoustic data [194 kHz sampling rate] were collected. The recordings were manually analyzed by an experienced analyst for beaked whale (Ziphiidae), dolphin (Delphinidae), and sperm whale (Physeter macrocephalus) echolocation clicks as well as echo sounder pings emitted by boats in the area. Here we present and discuss first results of these data analysis, which revealed that more than 50% of the recorded files (each of 1-minute duration) contain bioacoustic signals. Furthermore the recorded data and the results of the manual analysis are used to validate and optimize an automated classifier for odontocete echolocation clicks, which was developed in a collaborative effort with San Diego State University. The algorithm is intended to be implemented on the Seaglider to enable species identification by classifying detected echolocation clicks in (near) real-time during sea trials.

From September 2003 to December 2007, autonomous, underwater Seaglider continuously ran a V-shaped transect off Washington State from about 200-m water depth (i.e., at the break between the shelf and slope) to offshore waters with depths >2700 m. Seaglider visited the offshore vertex at 47°N, 128°W, where our observations concentrated, approximately monthly. Seaglider measured temperature, conductivity, and dissolved oxygen to 1000 m and also recorded chlorophyll a (Chl a) fluorescence and particulate optical backscatter to 150 m.

Distinct interannual variation was documented in timing and depths of winter mixing, transition to a shallow summer pycnocline, and onset of mixed-layer erosion in autumn. Chl a concentrations estimated from fluorescence were directly comparable among the seven laboratory-calibrated sensors used, but their estimates exceeded concurrent, satellite-derived concentrations by a factor of three. Seaglider optical profiles enabled interpretation of satellite imagery by revealing that the apparent autumn bloom after destratification was instead a vertical redistribution of phytoplankton from the subsurface maximum to a depth where they could be observed by satellites. Results of 4 yr of sampling within 25 km of the vertex demonstrate the value of gliders in ocean observing and their capability to carry out multiyear, fully autonomous operations under any sea state. The true power of glider programs will be realized in combination with other measurement platforms, including larger spatial coverage by satellites and more comprehensive biogeochemical measurements from moorings and occasional ship-based sampling.

Underwater gliders are beginning to be used as tools in ocean acoustics and acoustical oceanography. Results from several experiments conducted in summer 2006 with Seagliders equipped with acoustic modems and receivers are described. Off Kauai, a glider received signals from the Acoustic Thermometry of Ocean Climate/North Pacific Acoustic Laboratory 75 Hz source; subsequent coherent processing showed close to theoretical gain for 12 min records while moving away from the source at ranges >100 km with velocity 20 cm/s (measured by travel time, Doppler, and dead reckoning). In the Monterey Bay MB06 experiment, two-way communications between other subsea platforms and shore via the acoustic modem-equipped glider was demonstrated (albeit with latency). The results support the future use of gliders as precision navigated platforms, communication and time distribution nodes, and thermometry/tomography mobile receivers.

Over the past decade, fixed recorders have come into increasing use for long-term sampling of whale calls in remote ocean regions. Concurrently, the development of several types of autonomous underwater vehicles has demonstrated measurement capabilities that promise to revolutionize ocean science. These two lines of technical development were merged with the addition of broadband (5 Hz to 30 kHz) omni-directional hydrophones to seagliders. In August 2006, the capability of three Acoustic Seagliders (ASGs) to detect whale calls was tested in an experiment offshore Monterey, California. In total, 401 dives were completed and over 107 hours of acoustic data recorded. Blue whale calls were detected on all but two of the 76 dives where acoustic data were analyzed in detail, while humpback and sperm whale calls were detected on roughly 20% of those dives. Various whistles, clicks and burst calls, similar to those produced by dolphins and small whales, were also detected, suggesting that the capability of ASGs can be expanded to sample a broad range of marine mammal species. The potential to include whale call detection in the suite of standard oceanographic measures is unprecedented and provides a foundation for mobile sampling strategies at scales that better match the vertical and horizontal movements of the whales themselves. This capability opens new doors for investigation of cetacean habitats and their role in marine ecosystems, as envisioned in future ocean observing systems.

Seagliders are small, reusable autonomous underwater vehicles designed to glide from the ocean surface to a programmed depth and back while measuring temperature, salinity, depth-averaged current, and other quantities along a sawtooth trajectory through the water. Their low hydrodynamic drag and wide pitch control range allow glide slopes in the range 0.2 to 3. They are designed for missions in a range of several thousand kilometers and durations of many months. Seagliders are commanded remotely and report their measurements in near real time via wireless telemetry. The development and operation of Seagliders and the results of field trials in Puget Sound are reported.