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Table 2 Parameters and augments of Petrel-II

From: Coordinate Control, Motion Optimization and Sea Experiment of a Fleet of Petrel-II Gliders

Parameter Value
Lift coefficient KL0, KL − 0.5, 381.73
Drag coefficient KD0, KD 7.65, 357.97
Mass of Petrel-II M/kg 65
Mass of battery package m/kg 18
Metacentric height h/m 0.04
Diameter of screw propeller DP/m 0.08
Seawater density \(\rho\) /(kg/m3) 1030
Power of pitch motor Pm/W 10
Power of magnetic valve Pv/W 5
Power of pump (surface) Pp0/W 22.4
Coefficient of pump power k/(W·m) 0.032
Coefficient of screw propulsion kP 0.023
Flux of pump qp/(m3/s) 1.3 × 10−6
Flux of magnetic valve qv/(m3/s) 2 × 10−5
Net buoyancy range B/N [1, 7]
Gliding angle range \(\zeta\) /(°) [10, 60]
Rotate rate of screw propeller nP/(r/min) [200, 1000]