We are now developing a prototype of a 3000-m class underwater glider for virtual mooring. The vehicle glides back and forth between the sea surface and the seabed collecting ocean data at a specific point. Hydrodynamic forces acting on the half-size model were measured to determine the optimal wing shape. Next, to obtain the dynamical-hydrodynamic coefficients, forced oscillation tests were carried out using the optimally shaped model. Finally, the motions of the glider were simulated using the hydrodynamic coefficients obtained from these model experiments. The experimental and calculated results are shown in this paper.
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