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Perhaps the best way to understand earthquake sounds are from an actual experiment that took place back in the 80's in California by David Hill. Dr. Hill's team recorded sounds that came out of the earth (from nearby small earthquakes between magnitude 2.0 and 3.0) and simultaneously measured the arrival of the P wave on a seismograph. Researchers also reported hearing a sound before the S waves were recorded; this turned out to be the arrival of the P wave