Introduction to sound propagation under water

Abstract

Sound propagation under water is a complex process. Sound does not propagate along straight-line transmission paths. Rather, it reflects, refracts, and diffracts. It scatters off rough surfaces (such as the sea surface and the seafloor) and off reflectors within the water column (e.g., gas bubbles, fish swim bladders, and suspended particles). It is transmitted into the seafloor and partially lost from the water. It is converted into heat by exciting molecular vibrations. There are common misconceptions about sound propagation in water, such as "low-frequency sound does not propagate in shallow water," "over hard seafloors, all sound is reflected, leading to cylindrical spreading," and "over soft seafloors, sound propagates spherically." This chapter aims to remove common misconceptions and empowers the reader to comprehend sound propagation phenomena in a range of environments and appreciate the limitations of widely used sound propagation models. The chapter begins by deriving the sonar equation for a number of scenarios, including animal acoustic communication, communication masking by noise, and acoustic surveying of animals. It introduces the concept of the layered ocean, presenting temperature, salinity, and resulting sound speed profiles. These are needed to develop the most common concepts of sound propagation under water: ray tracing and normal modes. This chapter explains Snell's law, reflection and transmission coefficients, and Lloyd's mirror. It provides an overview of publicly available sound propagation software (including wavenumber integration and parabolic equation models). It concludes with a few practical examples of modeling propagation loss for whale song and a seismic airgun array.