1. Applied Ocean Physics and Engineering Department, Woods Hole Oceanographic Institution, Woods Hole MA 02543, USA
2. Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge MA 02139, USA
3. Biology Department, Woods Hole Oceanographic Institution, Woods Hole, MA 02543, USA
4. Marine Mammal and Marine Bioacoustics Laboratory, Institute of Deep-Sea Science and Engineering, Chinese Academy of Sciences, Sanya, 572000, China
5. Research and Development, Monterey Bay Aquarium Research Institute, 7700 Sandholdt Road, Moss Landing, CA 95039, USA
6. MARE – Marine and Environmental Sciences Centre, R. Frederico Machado, 9901-862 Horta, PT, Portugal
7. IMAR- Institute of Marine Research, University of the Azores, 9901-862 Horta, PT, Portugal
8. Okeanos - University of the Azores, 9901-862 Horta, PT, Portugal
9. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, USA