1. Department of Mechanical and Process Engineering, Swiss Federal Institute of Technology in Zurich, 8092 Zurich, Switzerland
2. Department of Physics and Physical Oceanography, University of North Carolina Wilmington, Wilmington, NC 28403, USA
3. Center for Marine Science, University of North Carolina Wilmington, Wilmington, NC 28409, USA
4. Department of Computer Science, University of North Carolina Wilmington, Wilmington, NC 28403, USA
5. Department of Computer Science, Columbia University, New York, NY 10027, USA
6. Department of Information Networking Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA
7. Institute of Marine Sciences, University of North Carolina Chapel Hill, Morehead City, NC 28557, USA