Audivi vocem de caelo is probably the most celebrated work by Portuguese composer Duarte Lobo (c.1567-1646). It was widely known in Europe during his time and later, still being performed by the “ancient music” english choral societies in early nineteenth century. The work is scored for six voices (SSAATB) and was published in the 1621 Liber [primus] Missarum printed Antwerp by Balthazaris Moretus at the Officina Plantiniana.
There are several recordings of this motet, by The Sixteen, A Capella Portuguesa, Ars Nova, and other early music ensembles. I chose a live recording only extant in YouTube by Portuguese early music group Officium Vocal Ensemble, directed by Pedro Teixeira. They follow the so-called “Iberian” pronunciation of the Latin. An edition of this motet is available at MusicaNeo.