1School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138 USA
2Department of Physics and Astronomy, University of California, Los Angeles, CA 90095 USA
3Physical Oceanography Department, Woods Hole Oceanographic Institution, Woods Hole, MA 02543 USA
4Aerospace and Ocean Engineering, Virginia Tech, Blacksburg, VA 24061 USA
5Mechanical Engineering Dep., Massachusetts Institute of Technology, Cambridge, MA 02139 USA
6U.S. Coast Guard Office of Search and Rescue, Washington, DC 20593 USA
7Institute for Mechanical Systems, ETH Zürich, 8092 Zurich, Switzerland
© The Author(s) 2020
Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.