Implications of ignoring telemetry error on inference in wildlife resource use models

Global Positioning System (GPS) and very high frequency (VHF) telemetry data redefined the examination of wildlife resource use. Researchers collar animals, relocate those animals over time, and utilize the estimated locations to infer resource use and build predictive models. Precision of these estimated wildlife locations, however, influences the reliability of point-based models with accuracy depending on the interaction between mean telemetry error and how habitat characteristics are mapped (categorical raster resolution and patch size). Telemetry data often foster the assumption that locational error can be ignored without biasing study results. We evaluated the effects of mean telemetry error and categorical raster resolution on the correct characterization of patch use when locational error is ignored. We found that our ability to accurately attribute patch type to an estimated telemetry location improved nonlinearly as patch size increased and mean telemetry error decreased. Furthermore, the exact shape of these relationships was directly influenced by categorical raster resolution. Accuracy ranged from 100% (200-ha patch size, 1- to 5-m telemetry error) to 46% (0.5-ha patch size, 56- to 60-m telemetry error) for 10 m resolution rasters. Accuracy ranged from 99% (200-ha patch size, 1- to 5-m telemetry error) to 57% (0.5-ha patch size, 56- to 60-m telemetry error) for 30-m resolution rasters. When covariate rasters were less resolute (30 m vs. 10 m) estimates for the ignore technique were more accurate at smaller patch sizes. Hence, both fine resolution (10 m) covariate rasters and small patch sizes increased probability of patch misidentification. Our results help frame the scope of ecological inference made from point-based wildlife resource use models. For instance, to make ecological inferences with 90% accuracy at small patch sizes (≤5 ha) mean telemetry error ≤5 m is required for 10-m resolution categorical rasters. To achieve the same inference on 30-m resolution categorical rasters, mean telemetry error ≤10 m is required. We encourage wildlife professionals creating point-based models to assess whether reasonable estimates of resource use can be expected given their telemetry error, covariate raster resolution, and range of patch sizes. © 2011 The Wildlife Society.     

Effects of Telemetry Location Error on Space-Use Estimates Using a Fixed-Kernel Density Estimator

ABSTRACT Fixed-kernel density estimates using radiotelemetry locations are frequently used to quantify home ranges of animals, interactions, and resource selection. However, all telemetry data have location error and no studies have reported the effects of error on utilization distribution and area estimates using fixed-kernel density estimators. We simulated different home range sizes and shapes by mixing bivariate-normal distributions and then drawing random samples of various sizes from these distributions. We compared fixed-kernel density estimates with and without error to the true underlying distributions. The effects of telemetry error on fixed-kernel density estimates were related to sample size, distribution complexity, and ratio of median Circular Error Probable to home range size. We suggest a metric to assess the adequacy of the telemetry system being used to estimate an animal's space use before a study is undertaken. Telemetry location error is unlikely to significantly affect fixed-kernel density estimates for most wildlife telemetry studies with adequate sample sizes.     

Can We Accurately Characterize Wildlife Resource Use When Telemetry Data Are Imprecise?

ABSTRACT Telemetry data have been widely used to quantify wildlife habitat relationships despite the fact that these data are inherently imprecise. All telemetry data have positional error, and failure to account for that error can lead to incorrect predictions of wildlife resource use. Several techniques have been used to account for positional error in wildlife studies. These techniques have been described in the literature, but their ability to accurately characterize wildlife resource use has never been tested. We evaluated the performance of techniques commonly used for incorporating telemetry error into studies of wildlife resource use. Our evaluation was based on imprecise telemetry data (mean telemetry error = 174 m, SD = 130 m) typical of field-based studies. We tested 5 techniques in 10 virtual environments and in one real-world environment for categorical (i.e., habitat types) and continuous (i.e., distances or elevations) rasters. Technique accuracy varied by patch size for the categorical rasters, with higher accuracy as patch size increased. At the smallest patch size (1 ha), the technique that ignores error performed best on categorical data (0.31 and 0.30 accuracy for virtual and real data, respectively); however, as patch size increased the bivariate-weighted technique performed better (0.56 accuracy at patch sizes >31 ha) and achieved complete accuracy (i.e., 1.00 accuracy) at smaller patch sizes (472 ha and 1,522 ha for virtual and real data, respectively) than any other technique. We quantified the accuracy of the continuous covariates using the mean absolute difference (MAD) in covariate value between true and estimated locations. We found that average MAD varied between 104 m (ignore telemetry error) and 140 m (rescale the covariate data) for our continuous covariate surfaces across virtual and real data sets. Techniques that rescale continuous covariate data or use a zonal mean on values within a telemetry error polygon were significantly less accurate than other techniques. Although the technique that ignored telemetry error performed best on categorical rasters with smaller average patch sizes (i.e., ≤31 ha) and on continuous rasters in our study, accuracy was so low that the utility of using point-based approaches for quantifying resource use is questionable when telemetry data are imprecise, particularly for small-patch habitat relationships.     

Field test of an automated radio‐telemetry system: tracking local space use of aerial insectivores

Documenting local space use of birds that move rapidly, but are too small to carry GPS tags, such as swallows and swifts, can be challenging. For these species, tracking methods such as manual radio‐telemetry and visual observation are either inadequate or labor‐ and time‐intensive. Another option is use of an automated telemetry system, but equipment for such systems can be costly when many receivers are used. Our objective, therefore, was to determine if an automated radio‐telemetry system, consisting of just two receivers, could provide an alternative to manual tracking for gathering data on local space use of six individuals of three species of aerial insectivores, including one Cliff Swallow (Petrochelidon pyrrhonota), one Eastern Phoebe (Sayornis phoebe), and four Barn Swallows (Hirundo rustica). We established automated radio‐telemetry systems at three sites near the city of Peterborough in eastern Ontario, Canada, from May to August 2015. We evaluated the location error of our two‐receiver system using data from moving and stationary test transmitters at known locations, and used telemetry data from the aerial insectivores as a test of the system's ability to track rapidly moving birds under field conditions. Median location error was ~250 m for automated telemetry test locations after filtering. More than 90% of estimated locations had large location errors and were removed from analysis, including all locations > 1 km from receiver stations. Our automated telemetry receivers recorded 17,634 detections of the six radio‐tagged birds. However, filtering removed an average of 89% of bird location estimates, leaving only the Cliff Swallow with enough locations for analysis of space use. Our results demonstrate that a minimal automated radio‐telemetry system can be used to assess local space use by small, highly mobile birds, but the resolution of the data collected using only two receiver stations was coarse and had a limited range. To improve both location accuracy and increase the percentage of usable location estimates collected, we suggest that, in future studies, investigators use receivers that simultaneously record signals detected by all antennas, and use of a minimum of three receiver stations with more antennas at each station.     

Evaluation of Argos Telemetry Accuracy in the High-Arctic and Implications for the Estimation of Home-Range Size

Animal tracking through Argos satellite telemetry has enormous potential to test hypotheses in animal behavior, evolutionary ecology, or conservation biology. Yet the applicability of this technique cannot be fully assessed because no clear picture exists as to the conditions influencing the accuracy of Argos locations. Latitude, type of environment, and transmitter movement are among the main candidate factors affecting accuracy. A posteriori data filtering can remove “bad” locations, but again testing is still needed to refine filters. First, we evaluate experimentally the accuracy of Argos locations in a polar terrestrial environment (Nunavut, Canada), with both static and mobile transmitters transported by humans and coupled to GPS transmitters. We report static errors among the lowest published. However, the 68^th error percentiles of mobile transmitters were 1.7 to 3.8 times greater than those of static transmitters. Second, we test how different filtering methods influence the quality of Argos location datasets. Accuracy of location datasets was best improved when filtering in locations of the best classes (LC3 and 2), while the Douglas Argos filter and a homemade speed filter yielded similar performance while retaining more locations. All filters effectively reduced the 68^th error percentiles. Finally, we assess how location error impacted, at six spatial scales, two common estimators of home-range size (a proxy of animal space use behavior synthetizing movements), the minimum convex polygon and the fixed kernel estimator. Location error led to a sometimes dramatic overestimation of home-range size, especially at very local scales. We conclude that Argos telemetry is appropriate to study medium-size terrestrial animals in polar environments, but recommend that location errors are always measured and evaluated against research hypotheses, and that data are always filtered before analysis. How movement speed of transmitters affects location error needs additional research.     

A detachable mobile and adjustable telemetry system

Many traditional mobile telemetry systems require permanently mounting a rod through the cabin of a vehicle to serve as the mast for a directional antenna. In this article we present an alternative to this configuration by providing a platform that can be placed atop the vehicle in which the antenna mast can be mounted and controlled from the cabin of the vehicle. Thereby making this design a viable option for researchers who share vehicles with others that may not approve of permanent vehicle modifications such as placing a hole in the roof of the vehicle as required by traditional mobile configurations. We tested the precision and accuracy of detachable mobile and adjustable telemetry system (DMATS) in an urban park with varying terrain, tree stands, overhead wires, and other structures that can contribute to signal deflection. We placed three radiocollars 50 m apart and 1.2 m above the ground then established three testing stations ~280 m from the location of the radiocollars. The DMATS platform required 12 h for completion and cost $1059 USD. Four technicians were randomly assigned radio collars to triangulate using DMATS and a handheld telemetry system. We used a one‐way analysis of variance (ANOVA) with a Scheffe post hoc test to compare error ellipses between azimuths taken using DMATS and the hand held system. Average error ellipses for all testers was 1.96 ± 1.22 ha. No significant differences were found between error ellipses of testers (P = 0.292). Our design, the DMATS, does not require any vehicle modification; thereby, making this a viable option for researchers sharing vehicles with others that may not approve of permanent vehicle alterations.     

Florida Panther Habitat Selection Analysis of Concurrent GPS and VHF Telemetry Data

Abstract: Florida panthers (Puma concolor coryi) are listed as an endangered subspecies in the United States and they exist in a single Florida population with <100 individuals; all known reproduction occurs south of Lake Okeechobee. Habitat loss is the biggest threat to this small population and previous studies of habitat selection have relied on very high frequency (VHF) telemetry data collected almost exclusively during diurnal periods. We investigated habitat selection of 12 panthers in the northern portion of the breeding range using 1) Global Positioning System (GPS) telemetry data collected during nocturnal and diurnal periods and 2) VHF telemetry data collected only during diurnal periods. Analysis of both types of telemetry data yielded similar results as panthers selected upland (P < 0.001) and wetland (P < 0.001) forested habitat types. Our results indicated that forests are the habitats selected by panthers and generally support the current United States Fish and Wildlife Service panther habitat ranking system. We suggest that future studies with greater numbers of panthers should investigate panther habitat selection using GPS telemetry data collected throughout the range of the Florida panther and with location attempts scheduled more evenly across the diel period. Global Positioning System radiocollars were effective at obtaining previously unavailable nocturnal telemetry data on panthers; however, we recommend that panther researchers continue to collect VHF telemetry data until acquisition rates and durability of GPS collars improve. (JOURNAL OF WILDLIFE MANAGEMENT 72(3):633–639; 2008)     

Accuracy of Lightweight Satellite Telemetry: A Case Study in the Iberian Peninsula

Abstract: Here we provide the first assessment of the accuracy of lightweight satellite transmitters (<80 g) under actual operating conditions and the performance of the Argos system in southern Europe. To estimate transmitter accuracy we used transmitters equipped with a Global Positioning System (GPS) and compared the location estimates provided by Argos with the estimates provided by the GPS. Using the 68th percentile to define the accuracy of locations estimates, observed accuracy was 4 km for Location Class (LC) 1, 15 km for LC 0, 20 km for LC A, and 59 km for LC B, which is in line with estimates reported by other authors. Yet, the error of the remaining 32% of the data ranged between 4 km and 11 km, 15 km and 217 km, 20 km and 145 km, and 59 km and 493 km, respectively, suggesting that using the 68th percentile to estimate accuracies might give misleading confidence on the accuracy of location estimates. Using the 90th percentile is probably more appropriate. Less than 10% of the locations we obtained corresponded to the more accurate LCs (3, 2, and 1), with Argos failing to provide a position estimate in 45% of the attempts. The low number of high-quality location estimates is likely a consequence of the electromagnetic interference reported for our study area, rather than a defect of the Platform Transmitter Terminals (PTTs), which under good conditions of signal reception seem to be as reliable as heavier ones. The recent advent of lightweight GPS transmitters overrides most of these problems. Yet, whereas the smallest Argos-GPS PTTs weigh 30 g, which restricts their use to animals weighting > 1,000 g, conventional PTTs can be as small as 9.5 g, allowing their use with animals weighting 250-300 g.     

Fix Success and Accuracy of Global Positioning System Collars in Old-Growth Temperate Coniferous Forests

Abstract: Global Positioning System (GPS) telemetry is used extensively to study animal distribution and resource selection patterns but is susceptible to biases resulting from data omission and spatial inaccuracies. These data errors may cause misinterpretation of wildlife habitat selection or spatial use patterns. We used both stationary test collars and collared free-ranging American black bears (Ursus americanus) to quantify systemic data loss and location error of GPS telemetry in mountainous, old-growth temperate forests of Olympic National Park, Washington, USA. We developed predictive models of environmental factors that influence the probability of obtaining GPS locations and evaluated the ability of weighting factors derived from these models to mitigate data omission biases from collared bears. We also examined the effects of microhabitat on collar fix success rate and examined collar accuracy as related to elevation changes between successive fixes. The probability of collars successfully obtaining location fixes was positively associated with elevation and unobstructed satellite view and was negatively affected by the interaction of overstory canopy and satellite view. Test collars were 33% more successful at acquiring fixes than those on bears. Fix success rates of collared bears varied seasonally and diurnally. Application of weighting factors to individual collared bear fixes recouped only 6% of lost data and failed to reduce seasonal or diurnal variation in fix success, suggesting that variables not included in our model contributed to data loss. Test collars placed to mimic bear bedding sites received 16% fewer fixes than randomly placed collars, indicating that microhabitat selection may contribute to data loss for wildlife equipped with GPS collars. Horizontal collar errors of >800 m occurred when elevation changes between successive fixes were >400 m. We conclude that significant limitations remain in accounting for data loss and error inherent in using GPS telemetry in coniferous forest ecosystems and that, at present, resource selection patterns of large mammals derived from GPS telemetry should be interpreted cautiously.     

Performance Assessment of Two Whole-Lake Acoustic Positional Telemetry Systems - Is Reality Mining of Free-Ranging Aquatic Animals Technologically Possible?

Acoustic positional telemetry systems (APTs) represent a novel approach to study the behaviour of free ranging aquatic animals in the wild at unprecedented detail. System manufactures promise remarkably high temporal and spatial resolution. However, the performance of APTs has rarely been rigorously tested at the level of entire ecosystems. Moreover, the effect of habitat structure on system performance has only been poorly documented. Two APTs were deployed to cover two small lakes and a series of standardized stationary tests were conducted to assess system performance. Furthermore, a number of tow tests were conducted to simulate moving fish. Based on these data, we quantified system performance in terms of data yield, accuracy and precision as a function of structural complexity in relation to vegetation. Mean data yield of the two systems was 40 % (Lake1) and 60 % (Lake2). Average system accuracy (acc) and precision (prec) were Lake1: acc = 3.1 m, prec = 1.1 m; Lake2: acc = 1.0 m, prec = 0.2 m. System performance was negatively affected by structural complexity, i.e., open water habitats yielded far better performance than structurally complex vegetated habitats. Post-processing greatly improved data quality, and sub-meter accuracy and precision were, on average, regularly achieved in Lake2 but remained the exception in the larger and structurally more complex Lake1. Moving transmitters were tracked well by both systems. Whereas overestimation of moved distance is inevitable for stationary transmitters due to accumulation of small tracking errors, moving transmitters can result in both over- and underestimation of distances depending on circumstances. Both deployed APTs were capable of providing high resolution positional data at the scale of entire lakes and are suitable systems to mine the reality of free ranging fish in their natural environment. This opens important opportunities to advance several fields of study such as movement ecology and animal social networks in the wild. It is recommended that thorough performance tests are conducted in any study utilizing APTs. The APTs tested here appear best suited for studies in structurally simple ecosystems or for studying pelagic species. In such situations, the data quality provided by the APTs is exceptionally high.     

Evaluating Global Positioning System Telemetry Techniques for Estimating Cougar Predation Parameters

ABSTRACT Using clusters of locations obtained from Global Positioning System (GPS) telemetry collars to identify predation events may allow more efficient estimation of behavioral predation parameters for the study and management of large carnivore predator-prey systems. Applications of field- and model-based GPS telemetry cluster techniques, however, have met with mixed success. To further evaluate and refine these techniques for cougars (Puma concolor), we used data from visits to 1,735 GPS telemetry clusters, 637 of which were locations where cougars killed prey >8 kg in a multi-prey system in west-central Alberta. We tested 1) whether clusters were reliably created at kill locations, 2) the ability of logistic regression models to identify kill occurrence (prey >8 kg) and multinomial regression models to identify the prey species at a kill cluster, and 3) the duration of monitoring required to accurately estimate kill rate and prey composition. We found that GPS collars programmed to attempt location fixes every 3 hours consistently identified locations where prey >8 kg were handled, and cluster creation was robust to GPS location acquisition failures (poor collar fix success). The logistic regression model was capable of estimating cougar kill rate with a mean 5-fold cross validation error of <10%, provided the appropriate probability cutoff distinguishing kill clusters from non-kill clusters was selected. Logistic models also can be used to direct visits to clusters, reducing field efforts by as much as 25%, while still locating >95% of all kills. The multinomial model overpredicted occurrence of primary prey (deer) in the diet and underpredicted consumption of alternate prey (e.g., elk and moose) by as much as 100%. We conclude that a purely model-based approach should be used cautiously and that field visitation is required to obtain reliable information on species, sex, age, or condition of prey. Ultimately, we recommend a combined approach that involves using models to direct field visitation when estimating behavioral predation parameters. Regardless of the monitoring approach, long continuous monitoring periods (i.e., >100 days of a 180-day period) were necessary to reduce bias and imprecision in kill rate and prey composition estimates.     

Assessment of Elk Highway Permeability by Using Global Positioning System Telemetry

Abstract: Highways have significant direct and indirect impact on natural ecosystems, including wildlife barrier and fragmentation effects, resulting in diminished habitat connectivity and highway permeability. We used Global Positioning System (GPS) telemetry to assess Rocky Mountain elk (Cervus elaphus nelsoni) permeability across a 30-km stretch of highway in central Arizona, USA, currently being reconstructed with 11 wildlife underpasses, 6 bridges, and associated ungulate-proof fencing. The highway was reconstructed in phases, allowing for comparison of highway crossing and passage rates during various stages of reconstruction. We instrumented 33 elk (25 F, 8 M) with GPS receiver collars May 2002 to April 2004. Our collars accrued 101,506 GPS fixes with 45% occurring within 1 km of the highway. Nearly 2 times the proportion of fixes occurred within 1 km of the highway compared with random. We think elk were attracted to the highway corridor by riparian—meadow foraging habitats that were 7 times more concentrated within the 1-km zone around the highway compared with the mean proportion within elk use areas encompassing all GPS fixes. Elk crossed the highway 3,057 times; crossing frequency and distribution along the highway were aggregated compared with random. Crossing frequency within 0.16-km highway segments was negatively associated with the distance to riparian—meadow habitats (r_s = -0.714, n = 190, P < 0.001). Mean observed crossing frequency (92.6 ± 23.5 [SE] crossings/elk) was lower than random (149.6 ± 27.6 crossings/elk). Females crossed 4.5 times as frequently as males. Highway permeability among reconstruction classes was assessed using passage rates (ratio of highway crossings to approaches); our overall mean passage rate was 0.67 ± 0.08 crossings per approach. The mean passage rate for elk crossing the highway section where reconstruction was completed (0.43 ± 0.15 crossings/approach) was half that of sections under reconstruction and control sections combined (0.86 ± 0.09 crossings/approach). Permeability was jointly influenced by the size of the widened highway and associated vehicular traffic on all lanes. Crossing frequency was used to delineate where ungulate-proof fencing yielded maximum benefit in intercepting and funneling crossing elk toward underpasses, promoting highway safety. Use of passage rates provides a quantitative measure to assess permeability, conduct future pre- and postconstruction comparisons, and to develop mitigation strategies to minimize highway impacts to wildlife.     

Age‐depending effects of narcosis and transmitter implantation on circadian body temperature and activity rhythms in mice

Summary

The effects of narcosis and of telemetry transmitter implantation on core temperature and locomotor activity were investigated in female laboratory mice of various age (3, 15 and 52 weeks old). Following surgery a transient hypothermia was observed. The body temperatures measured 30 min after beginning of narcosis were lower in juvenile and in presenile mice (29.6° ±0.8°C resp. 30.0° ±0.2°C) than in adult animals (31.9° ±0.3°C). The following temperature increase was fastest in juvenile mice. Normal body temperature was reached after 6h 20’ already. Adult and presenile mice needed 8h 30’ resp. 7h 30’. The temperature increase seemed to be independent from activity behaviour of the animals. No substantial differences could be obtained whether the transmitters had room or body temperature before implantation and whether the animals were warmed after surgery by an infrared bulb or not. Probably, the temperature increase depended mainly on the elimination rate of the drug.

Normal circadian core temperature and activity rhythms reappeared on average within 5–6 days in juvenile mice and a little faster in adult (4–5 days) as well as in presenile ones (3–4 days). However, interindividual differences in recovery time were more pronounced than age‐dependent variations.

Circadian core temperature and activity patterns were quite similar in all three age classes investigated. Ontogenetic differences concern, besides changes in daily mean values, mainly a temperature amplitude increasing with age, as well as a high percentage of ultradian components in the activity pattern of juvenile mice compared to older ones.

Telemetry systems are widely used for long‐term measurements of core temperature in laboratory animals (Clement et al., 1989; Refinetti and Menaker, 1992). In our investigations of ontogenetic changes of the circadian temperature and activity rhythms in mice we used an integrated telemetry and data acquisition system (Dataquest, Data Sciences Inc., USA). It comprises implantable wireless transmitters, telemetry receivers, a consolidation matrix and a data acquisition system. The aim of a preliminary study was to analyse the effects of narcosis and transmitter implantation. The time required to recover normal values of body temperature and of locomotor activity as well as normal circadian rhythms was determined, considering also ontogenetic variations.     

Analyzing geolocator data for birds that roost in cavities year‐round

The use of light‐level geolocators for monitoring migration has been limited to non‐cavity roosting species because light transitions for cavity‐roosting species are obscured. Using Northern Flickers (Colaptes auratus), nocturnal cavity‐roosting woodpeckers, as a model, I describe a method for analyzing geolocator data that initially adjusts light transitions to account for differences between the time of minimum light threshold and when a bird enters or exits a cavity. Using known locations from the breeding grounds, I assessed the precision of this adjustment method for estimating location by examining the associated error, the repeatability of the length of time individuals roosted in cavities, and by conducting a sensitivity analysis to assess uncertainty. Mean location error decreased from 1417 ± 277 km (SD) to 129 ± 194 km when sunrise and sunset times were adjusted and locations from >25 d were averaged. Sensitivity analysis showed that if an adjusted sunrise or sunset time was “incorrect” by 10 min, the error was 121–137 km from the actual location. This adjustment method significantly improved location estimates at known sites, suggesting that adjusting light transitions based off a calibration is a good initial step for determining location. However, to account for behavioral changes in entrance and emergence times, applying state‐space Kalman filter models can further improve the accuracy of location estimates. The combination of adjusting transitions and applying a state‐space Kalman filter thus allows location estimates to be obtained from cavity‐roosting species using geolocator data.     

Telemetry system to record force and EMG from cat ankle extensor and tibialis anterior muscles

The purpose of this technical note is to present the design of an eight-channel telemetry system of dimensions and weight small enough to record muscular forces and EMGs simultaneously from gastrocnemius, soleus, plantaris and tibialis anterior muscles of a freely moving cat. All schematics for constructing the telemetry device are shown in detail. Using this system, we were successful in measuring force and EMG data of all four instrumented muscles in freely moving animals. The telemetry system presented here has the advantage over a conventional cable system that recordings may be obtained at any time in the freely moving animal without interference by an experimenter.     

Assessment of largemouth bass (<Emphasis Type="Italic">Micropterus salmoides</Emphasis>) behaviour and activity at multiple spatial and temporal scales utilizing a whole-lake telemetry array

A whole-lake acoustic telemetry array was utilized to monitor the three-dimensional position of 20 largemouth bass (Micropterus salmoides). Code division multiple access (CDMA) technology enabled the simultaneous monitoring of the 20 transmitters (equipped with pressure and temperature sensors) at 15 s intervals with sub-meter accuracy. Fish were monitored between November 2003 and April 2004 to evaluate the behaviour of fish across different temporal and spatial scales. The distance moved by largemouth bass, assessed both on a daily and hourly basis, varied by season and was positively correlated with water temperature. For example, daily movement rates were 2.69 ± 1.45 km/day in mid November (average daily water temperature 5.9°C), 2.24 ± 0.73 km/day in early January (5.1°C), and 7.28 ± 2.62 km/day in mid April (7.7°C). Interestingly, daily movement rates varied by as much as 25 fold among individual fish. Visualization of fish swimming paths revealed that whereas some fish occupied discrete areas and made only localized movements, other individuals made lengthier journeys covering much of the lake in periods of as little as one day. Analysis of fish behaviour at a finer temporal scale revealed that during the winter, fish spend more than 95% of their time swimming at speeds less than 0.1 m/s (0.07 ± 0.24 m/s). During late fall, and especially in spring, swimming speeds were higher with mean swimming speeds of 0.11 ± 0.27 m/s and 0.19 ± 0.29 m/s, respectively. When the telemetry dataset was queried to simulate 24 h manual tracking intervals, it was clear that manual tracking data would not have been representative of actual daily movement rates, underestimating daily movement and swimming speeds by at least 75 fold. This study identifies the importance of evaluating fish activity at multiple spatial (whole lake to sub-meter position) and temporal (seasonal to seconds) scales and illustrates the potential of CDMA telemetry to yield such data.     

Predicting Secchi disk depth from average beam attenuation in a deep,ultra-clear lake

We addressed potential sources of error in estimating the water clarity of mountain lakes by investigating the use of beam transmissometer measurements to estimate Secchi disk depth. The optical properties Secchi disk depth (SD) and beam transmissometer attenuation (BA) were measured in Crater Lake (Crater Lake National Park, Oregon, USA) at a designated sampling station near the maximum depth of the lake. A standard 20 cm black and white disk was used to measure SD. The transmissometer light source had a nearly monochromatic wavelength of 660 nm and a path length of 25 cm. We created a SD prediction model by regression of the inverse SD of 13 measurements recorded on days when environmental conditions were acceptable for disk deployment with BA averaged over the same depth range as the measured SD. The relationship between inverse SD and averaged BA was significant and the average 95% confidence interval for predicted SD relative to the measured SD was ±1.6 m (range = −4.6 to 5.5 m) or ±5.0%. Eleven additional sample dates tested the accuracy of the predictive model. The average 95% confidence interval for these sample dates was ±0.7 m (range = −3.5 to 3.8 m) or ±2.2%. The 1996–2000 time-series means for measured and predicted SD varied by 0.1 m, and the medians varied by 0.5 m. The time-series mean annual measured and predicted SD’s also varied little, with intra-annual differences between measured and predicted mean annual SD ranging from −2.1 to 0.1 m. The results demonstrated that this prediction model reliably estimated Secchi disk depths and can be used to significantly expand optical observations in an environment where the conditions for standardized SD deployments are limited.     

Seasonal change in foraging areas and dive depths of breeding king penguins at Heard Island

The seasonal variation in the foraging behaviour of king penguins (Aptenodytes patagonicus) was studied at Heard Island (53°05′S, 73°30′E) during 1992/1993. On seven occasions throughout the breeding cycle, time-depth-light recorders were deployed on breeding adults to record the dive activities and foraging. Foraging locations changed with season: in autumn and spring 1992, adults foraged between 48–52°S and 74–78°E, about 370 km NNE of Heard Island close to the Polar Front. Two penguins tracked in winter travelled 2220 km east of Heard Island (95°E) along the northern ice limit, and 1220 km south of Heard Island to approximately 65°S, respectively. In spring (October), the penguins again foraged further north than during winter. The foraging area utilised in October overlapped the area where the penguins foraged in March/April. The penguins' diving behaviour also varied seasonally: the modal depth of deep dives (>50 m) increased from about 100 m in February to 220 m in October. Mean dive depths increased from 70 ± 52 m in March 1992 to 160 ± 68 m in August 1992. Penguins dived deep (>50 m) only during daylight hours (16 h in February, 9 h in July). Mean dive durations ranged from 2.9 ± 1.1 min in March 1992 to 5.1 ± 1.2 min in August 1992. Associated with changes in foraging location and dive behaviour was a change in diet composition: during summer the penguins ingested mainly myctophid fish (>90%) while in winter the most important diet item was squid. Accepted: 19 October 1998     

AUDIO CASSETTES REVIEW

ABSTRACT

Some animals emit sounds usable for acoustic monitoring of their population size. Such signals should be loud, omni-directional and easy to recognise and localise. Eurasian Bittern Botaurus stellaris mating calls (booms) are known to be loud and probably omni-directional but there is no data on acoustic localisation of this species. We made recordings of bittern booms with a 4-element GPS-linked microphone array, calibrated for absolute sound pressure level measurements. Receiver spacing was 65 to 294 m. The source level was 101 ± 3 dB re 20 μPa @ 1 m. The source level did not vary more than 7 dB for the same boom recorded at two different locations, with angular separations of 3°-27° as seen from the source. The geometric transmission loss was close to spherical, and the excess attenuation was much smaller than what was expected from the prevailing temperature and humidity conditions. The prevailing wind conditions caused sound velocity variations of up to 3%. The source location error was 104 ± 113 m (mean ± 1 s.d.). The prevalence of large location errors was probably caused by problems of discerning the direct path from multipath arrivals of the signal at the receivers and by sound velocity variations.     

Accounting for radiotelemetry signal flux in triangulation point estimation

Triangulation by radiotelemetry is a method commonly used to estimate locations of wildlife. Despite the importance of the accuracy of resulting location estimates, there has been little development and comparison of alternative methods for point-location estimation for 25 years. Most methods assume that signal transmissions as they are received are consistent, but signal heterogeneity and fluxing is common. Using data from a beacon study, we determined that a subjective ranking of confidence in the accuracy of a signal was correlated with absolute bearing error. Using this factor and the distance from a telemetry station to the error triangle incenter, we developed an algorithm to place a weighted point-location estimate in relative proximity to each error triangle leg. We have termed this the weighted-incenter method. Despite previous findings that the major confidence ellipse axis of Lenth’s maximum likelihood estimator (MLE) correlated best to linear distance error, our beacon test data indicated that total bearing angle difference was the best single predictor of linear error with an optimal total angle of about 100°. The new and intuitive weighted-incenter method offered some improvement over previous methods such as the MLE estimator, but only with suboptimal angle bearings that may be common in field studies. By using a MATLAB function to produce data for site-specific regression analyses, one can determine which method should produce the more accurate point-location estimate for each triangulation observation. Further significance of this study for field biologists is discussed.