[1] Univ Trento, Dept Informat Engn & Comp Sci, I-38123 Trento, Italy
[2] Univ Plymouth, Sch Biol & Marine Sci, Plymouth PL4 8AA, Devon, England
[3] Inst Marine Res, Ecosyst Acoust Grp, N-5817 Bergen, Norway
[4] Univ Agder, Ctr Coastal Res, Dept Nat Sci, N-4604 Kristiansand, Norway
[5] Univ Bergen, Fac Nat Sci, Dept Informat, N-5008 Bergen, Norway
[6] Univ Verona, Dept Comp Sci, I-37134 Verona, Italy