DOI: 10.5061/dryad.c866t1gfj
title: Data from: Where's Whaledo: a software toolkit for array localization of animal vocalizations

description: Where’s Whaledo is a software toolkit that uses a combination of automated
 processes and user interfaces to greatly accelerate the process of
 reconstructing animal tracks from arrays of passive acoustic recording
 devices. Passive acoustic localization is a non-invasive yet powerful way
 to contribute to species conservation. By tracking animals through their
 acoustic signals, important information on diving patterns, movement
 behavior, habitat use, and feeding dynamics can be obtained. This method
 is useful for helping to understand habitat use, observe behavioral
 responses to noise, and develop potential mitigation strategies. Animal
 tracking using passive acoustic localization requires an acoustic array to
 detect signals of interest, associate detections on various receivers, and
 estimate the most likely source location by using the time difference of
 arrival (TDOA) of sounds on multiple receivers. Where’s Whaledo combines
 data from two small-aperture volumetric arrays and a variable number of
 individual receivers. In a case study conducted in the Tanner Basin off
 Southern California, we demonstrate the effectiveness of Where’s Whaledo
 in localizing groups of Ziphius cavirostris. We reconstruct the
 tracks of six individual animals vocalizing concurrently and identify
 Ziphius cavirostris tracks despite being obscured by a large pod of
 vocalizing dolphins.
description: This dataset was collected during a four-month deployment about
 200 km southwest of Los Angeles, California, in the Tanner Basin, known
 for its Zc presence. Four High-frequency Acoustic Recording Packages, or
 HARPs were deployed from March 16th to June 11th, 2018. The north and
 south HARPs each had a single omnidirectional hydrophone with a sampling
 rate of 200 kHz moored approximately 10 m above the seafloor. The east and
 west HARPs each had volumetric arrays of four omnidirectional hydrophones
 in a tetrahedron configuration with ≈ 1 m spacing between hydrophones. The
 4-channel arrays had a sampling rate of 100 kHz and sat ≈ 6 m above the
 seafloor on a rigid mast. The distance between each HARP was between 470
 and 1075 m.
description: # Data from: Where's Whaledo: a software toolkit for array
 localization of animal vocalizations
 [https://doi.org/10.5061/dryad.c866t1gfj](https://doi.org/10.5061/dryad.c866t1gfj) TDOA localization is a technique that estimates the location of a single sound source by using the arrival times at which the sound is detected on multiple time-synchronized receivers. Typically the source origin time is unknown, but the difference in received times between receiver pairs can be used to determine possible source locations. There are two forms of TDOA localization that are relevant to our process and are based on array sensor spacing: large-aperture and small-aperture. Large-aperture TDOA localization is used when the distance between the source and receivers is on the same order of magnitude as the distance between the receivers. On the other hand, small-aperture TDOA localization uses receivers that are much closer together than the distance to the source. In this case, the propagation of the signal through the arrays can be approximated as a plane wave. The TDOA from a single pair of receivers produces a hyperboloid of potential source locations. The hyperboloid has rotational symmetry about the axis formed by the two receivers. When a detection is received on multiple receiver pairs, the source location can be estimated by finding the intersection of the hyperboloids. However, this approach works best if the receiver pairs are not collinear or somewhat orthogonal to each other and the source is interior to the region defined by the receivers ## Description of the data and file structure The included files provide TDOAs and localization data for all the examples used in the paper (Figures 7, 8 and 9). The dataset involves the use of four instruments (EE, EW, EN, and ES) the former two have 4 acoustic channels each and the latter two have a single acoustic channel. The center of the computational grid is the average position between EE and EW (the 4 channel instruments). There are two kinds of data files: unedited acoustic detections and whale-tracks. The files are named track#_inst#_uneditedDetections.csv and track#_whale#_track.csv. The track # is sequential for encounters at this array. Only three encounters are presented (179, 216 and 600).  The instrument numbers are: 1 = EE, 2 = EW, 3 = EN and 4 = ES. All the files are in csv (comma separated value) format.  If the instrument had no detection then NaNs are written. **The unedited detection files for the 4 channel instruments have the following format:** TDet = time of detection in days since year 2000 DAmp = count of highest point in detection  0-peak Ang_1 = azimuth to source Ang_2 = elevation to source DOA_1 = x component (east -west) to source DOA_2 = y component (north-south) DOA_3 = z component (height above origin of grid) TDOA_1 = time difference of arrival for hydrophone 1- hydrophone 2 TDOA_2 = time difference of arrival for hydrophone 1- hydrophone 3 TDOA_3 = time difference of arrival for hydrophone 1- hydrophone 4 TDOA_4 = time difference of arrival for hydrophone 2- hydrophone 3 TDOA_5 = time difference of arrival for hydrophone 2- hydrophone 4 TDOA_6 = time difference of arrival for hydrophone 3- hydrophone 4 Xamp1 = peak of cross correlation (arbitrary units) between 1and 2 Xamp2 = peak of cross correlation (arbitrary units) between 1and 3 Xamp3 = peak of cross correlation (arbitrary units) between 1and 4 Xamp4 = peak of cross correlation (arbitrary units) between 2 and 3 Xamp5 = peak of cross correlation (arbitrary units) between 2 and 4 Xamp6 = peak of cross correlation (arbitrary units) between 3 and 4 **The unedited detection files for the single channel instruments have the following format:** TDet = time of detection in days since year 2000 DAmp = count of highest point in detection  0-peak **All the track files have the following format:** TDet = time of detection in days since year 2000 TDetAll_1 = detection time on instrument 1 TDetAll_2 = detection time on instrument 2 TDetAll_3 = detection time on instrument 3 TDetAll_4 = detection time on instrument 4 Damp_1 = highest point in detection on instrument 1 (0-peak) Damp_2 = highest point in detection on instrument 2 (0-peak) Damp_3 = highest point in detection on instrument 3 (0-peak) Damp_4 = highest point in detection on instrument 4 (0-peak) TDOA_1 = time-difference of arrival for instrument1 small aperture hydrophone 1-2 TDOA_2 = time-difference of arrival for instrument1 small aperture hydrophone 1-3 TDOA_3 = time-difference of arrival for instrument1 small aperture hydrophone 1-4 TDOA_4 = time-difference of arrival for instrument1 small aperture hydrophone 2-3 TDOA_5 = time-difference of arrival for instrument1 small aperture hydrophone 2-4 TDOA_6 = time-difference of arrival for instrument1 small aperture hydrophone 3-4 TDOA_7 = time-difference of arrival for instrument2 small aperture hydrophone 1-2 TDOA_8 = time-difference of arrival for instrument2 small aperture hydrophone 1-3 TDOA_9 = time-difference of arrival for instrument2 small aperture hydrophone 1-4 TDOA_10 = time-difference of arrival for instrument2 small aperture hydrophone 2-3 TDOA_11 = time-difference of arrival for instrument2 small aperture hydrophone 2-4 TDOA_12 = time-difference of arrival for instrument2 small aperture hydrophone 3-4 TDOA_13 = time-difference of arrival for large aperture instrument 1–2 TDOA_14 = time-difference of arrival for large aperture instrument 1-3 TDOA_15 = time-difference of arrival for large aperture instrument 1-4 TDOA_16 = time-difference of arrival for large aperture instrument 2-3 TDAO_17 = time-difference of arrival for large aperture instrument 2-4 TDOA_18 = time-difference of arrival for large aperture instrument 3-4 DETind_1 = row of the unedited detection file for Instrument 1 DETind_2 = row of the unedited detection file for Instrument 2 DETind_3 = row of the unedited detection file for Instrument 3 DETind_4 = row of the unedited detection file for Instrument 4 Xamp_1 = peak of cross correlation for large aperture between instrument 1 and 2 Xamp_2 = peak of cross correlation for large aperture between instrument 1 and 3 Xamp_3 = peak of cross correlation for large aperture between instrument 1 and 4 Xamp_4 = peak of cross correlation for large aperture between instrument 2 and 3 Xamp_5 = peak of cross correlation for large aperture between instrument 2 and 4 Xamp_6 = peak of cross correlation for large aperture between instrument 3 and 4 Wloc_1 = whale location cartesian coordinate x (east west) Wloc_2 = whale location cartesian coordinate y (north south) Wloc_3 = whale location cartesian coordinate z (height above origin) CIx_1 = whale location cartesian coordinate confidence interval in x (minimum) CIx_2 = whale location cartesian coordinate confidence interval in x (maximum) CIy_1 = whale location cartesian coordinate confidence interval in y (minimum) CIy_2 = whale location cartesian coordinate confidence interval in y (maximum) CIz_1 = whale location cartesian coordinate confidence interval in z (minimum) CIz_2 = whale location cartesian coordinate confidence interval in z (maximum) WlocSmooth_1 = whale location cartesian coordinate x smoothed (east west) WlocSmooth_2 = whale location cartesian coordinate y smoothed (north outh) WlocSmooth_3 = whale location cartesian coordinate z smoothed (height above origin) ## Code/Software [https://github.com/ericSnyderSIO/wheresWhaledo](https://github.com/ericSnyderSIO/wheresWhaledo)