“…Active sonar has seen intense development for fisheries research, with sophisticated shipboard broadband (Lavery, Chu, & Moum, 2010) and multibeam (Gerlotto, Soria, & Fréon, 1999) systems now providing detailed information about the spatial and size distribution of epi-and meso-pelagic fauna. Sonar surveys can have global reach (Irigoien et al, 2014); however, the cost and limited temporal resolution of ship-based surveys have also led to the installation of sonars in fixed observatories (Ross, Keister, & Lara-Lopez, 2013) and AUVs (Dunlop et al, 2018). Close-in acoustic sampling with robotic vehicles enhances the possibility of distinguishing individual organisms and resolving species from echo returns, potentially enabling community structure to be inferred as a function of time (Benoit- Bird, Moline, & Southall, 2017).…”