[1] Woods Hole Oceanog Inst, Dept Appl Ocean Phys & Engn, Woods Hole, MA 02543 USA
[2] MIT, Dept Mech Engn, Cambridge, MA 02139 USA
[3] MIT WHOI Joint Program Oceanog Appl Ocean Sci & E, Cambridge, MA USA
[4] MIT WHOI Joint Program Oceanog Appl Ocean Sci & E, Woods Hole, MA USA