Underwater glider, a portable marine monitoring platform, is more and more widely used. Relative to the typical is Slocum, Seaglider and Spray. Slocum is an underwater glider propelled by environmental energy. Seaglider and Spray is work by battery energy. Both of them are based on the adjustment of their own state to realize the profile movement. Balance parameters setting in this process is critical. At present, there are two types of method for determining the balance parameters.