GEOMETRY CONFIGURATION
In the BWB configuration of this under water glider, the disk body is blended and smoothed into the wings, and it is also a wing and a pitch control surface as shown in Fig. 1(a). This reduces interference drag and provides additional effective wing chord at the wing-body junction. Because our BWB underwater glider is designed to glide up and down at the same glide path angle and speed, its body and wings are top-to-bottom symmetrical. This is advantageous that gliding performance is the same gliding up or down as shown Fig. 1(b). The BWB Underwater Glider geometry proposed in this study includes planform and relative thickness distribution.