TABLE 3.

Specifications for simulated AUV adapted from da Silva et al. (2007).

Symbol	Description	Value	Unit
m	Mass	18	kg
L	Length	108	cm
W	Weight	176	N
B	Buoyancy	177	N
$z_G$	Position of CM w.r.t. CB in z axis	1	cm
d	Diameter	15	cm
${\delta }_{\max }$	Maximum control fin deflection	${30}^{\circ }$	deg
${\eta }_{\max }$	Maximum propeller thrust	14	N