1. College of Automation, Harbin Engineering University, Harbin 150001, China
2. Key Laboratory of Marine Environmental Information Technology, National Marine Data and Information Service, State Oceanic Administration, Tianjin 300171, China
3. Naval Ocean Analysis and Prediction Laboratory, Department of Oceanography, Naval Postgraduate School, Monterey, CA 93943, USA
4. College of Physical and Environmental Oceanography, Ocean University of China, Qingdao 266100, China