[1] MIT, Dept Civil & Environm Engn, Cambridge, MA 02139 USA
[2] Univ Oxford, Dept Engn Sci, Oxford OX1 3PJ, England
[3] Univ Cambridge, Dept Appl Math & Theoret Phys, Inst Theoret Geophys, Cambridge CB3 9EW, England
[4] Univ New S Wales, Sch Math, Kensington, NSW 2033, Australia
[5] Univ Bristol, Fac Sci, Bristol, Avon, England