Maneuverability Analysis of a Novel Portable Modular AUV

Table 4

Heading zigzag parameters-tunnel control (50%).

Forward speed ()	10	20	40	60	80	100
(m/s)	0.26	0.56	1.14	1.79	2.22	2.87
(s)	8.50	6.31	6.38	8.19	9.69	12.00
	2.21	1.77	3.64	7.33	10.76	17.22
(s)	6.50	3.25	1.63	1.03	0.83	0.63
()	38.6	11.8	2.9	1.2	0.8	0.5