An inversion scheme based on time-warping is presented for estimating seabed sound attenuation from modal dispersion of close-range single-hydrophone data. The dispersion information is extracted directly from the warped signal spectrum. Seabed sound speed and density are inverted from the modal group velocity curves, and the attenuation is inverted from the normalized modal amplitudes. The method is applied to experimental data collected in the Yellow Sea of China during the winter of 2002. The inverted sound speed and density are consistent with the sand-silt-clay sediment at the site, and the attenuation is nonlinear over the frequency band from 125-500 Hz.