[1] Scottish Assoc Marine Sci, Oban PA37 1QA, Argyll, Scotland
[2] Univ Strathclyde, Dept Math & Stat, Glasgow G1 1XH, Lanark, Scotland
[3] UiT Arctic Univ Norway, Dept Arctic & Marine Biol, N-9037 Tromso, Norway
[4] Univ Ctr Svalbard, N-9171 Longyearbyen, Svalbard, Norway
[5] Norwegian Univ Sci & Technol, Ctr Autonomous Marine Operat & Syst, N-7491 Trondheim, Norway