Table 2 Parameters and augments of Petrel-II

Lift coefficient K_L0, K_L

− 0.5, 381.73

Drag coefficient K_D0, K_D

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 D_P/m

0.08

Seawater density \(\rho\) /(kg/m³)

1030

Power of pitch motor P_m/W

10

Power of magnetic valve P_v/W

5

Power of pump (surface) P_p0/W

22.4

Coefficient of pump power k/(W·m)

0.032

Coefficient of screw propulsion k_P

0.023

Flux of pump q_p/(m³/s)

1.3 × 10⁻⁶

Flux of magnetic valve q_v/(m³/s)

2 × 10⁻⁵

Net buoyancy range B/N

[1, 7]

Gliding angle range \(\zeta\) /(°)

[10, 60]

Rotate rate of screw propeller n_P/(r/min)

[200, 1000]