[1] Netherlands Org Appl Sci Res, Acoust & Sonar Dept, NL-2597 AK The Hague, Netherlands
[2] Univ Amsterdam, Inst Biodivers & Ecosyst Dynam, NL-1090 GE Amsterdam, Netherlands
[3] Kelp Marine Res, NL-1624 CJ Hoorn, Netherlands
[4] Univ St Andrews, Sea Mammal Res Unit, Scottish Ocean Inst, St Andrews KY16 9LZ, Fife, Scotland
[5] Univ St Andrews, Sch Math & Stat, Ctr Res Ecol & Environm Modelling, St Andrews KY16 8LB, Fife, Scotland
[6] Univ Tokyo, Atmosphere & Ocean Res Inst, Kashiwa, Chiba 2778564, Japan
[7] Norwegian Def Res Estab, Maritime Syst Div, NO-2007 Kjeller, Norway