## 4 Results and Discussion
\begin{table}
\begin{tabular}{l c c c c c c} \hline \hline  & \multicolumn{2}{c}{**Model 1000**} & \multicolumn{2}{c}{**Model 3000**} & \multicolumn{2}{c}{**Model 4500**} \\ \hline CO\_CS Adsorbent & Zeolite 13X & Mg-MOF-74 & Zeolite 13X & Mg-MOF-74 & Zeolite 13X & Mg-MOF-74 \\
**Endurance (h)** & **29.6** & **57.9** & **53.7** & **104.0** & **58.0** & **113.9** \\ \hline _Extrenal hull_ & & & & & & \\ \hline Overall length (mm) & 4500 & 4500 & 5500 & 5500 & 6000 & 6000 \\ Bcn length (mm) & 450 & 450 & 550 & 550 & 600 & 600 \\ Scn length (mm) & 900 & 900 & 1100 & 1100 & 1200 & 1200 \\ Outer diameter (mm) & 750 & 750 & 1000 & 1000 & 1000 & 1000 \\ Enclosed volume (L) & 1690.1 & 1690.1 & 3670.6 & 3670.6 & 4006.1 & 4006.1 \\ Shell mass (kg) & 35.1 & 35.1 & 58.8 & 58.8 & 62.6 & 62.6 \\ \hline _Pressure hulls_ & & & & & & \\ \hline Bph length (mm) & 400 & 400 & 400 & 400 & 400 & 400 \\ Bph diameter (mm) & 280 & 280 & 280 & 280 & 280 & 280 \\ Bph thickness (mm) & 13 & 10 & 12 & 13 & 13 & 13 \\ Bph head and thickness (mm) & 10 & 8 & 8 & 10 & 15 & 15 \\ Bph net volume (L) & 15.1 & 15.8 & 15.5 & 15.1 & 14.5 & 14.4 \\ Bph mass (kg) & 11.1 & 8.7 & 9.5 & 11.4 & 13.5 & 13.7 \\ Cph length (mm) & 2000 & 2000 & 2700 & 3050 & 3050 \\ Cph diameter (mm) & 730 & 730 & 980 & 980 & 980 & 980 \\ Cph thickness (mm) & 25 & 25 & 27 & 27 & 39 & 37 \\ Cph head end thickness (mm) & 26 & 25 & 30 & 26 & 38 & 34 \\ Cph frames spacing (mm) & - & - & 450 & 450 & 436 & 381 \\ Cph frame web height (mm) & - & - & 43 & 42 & 47 & 42 \\ Cph frame web width (mm) & - & - & 9 & 9 & 8 & 9 \\ Cph frame flange height (mm) & - & - & 20 & 26 & 22 & 29 \\ Cph frame flange width (mm) & - & - & 60 & 55 & 66 & 58 \\ Cph net volume (L) & 625.8 & 626.5 & 1521.3 & 1521.8 & 1641.9 & 1657.0 \\ Cph mass (kg) & 403.6 & 400.2 & 899.4 & 885.8 & 1419.0 & 1383.9 \\ Spin length (mm) & 750 & 750 & 750 & 750 & 750 & 750 \\ Sph diameter (mm) & 520 & 520 & 520 & 520 & 520 & 520 \\ Sph thickness (mm) & 24 & 26 & 26 & 25 & 25 & 28 \\ Sph head thickness (mm) & 18 & 18 & 18 & 15 & 19 & 19 \\ Sph net volume (L) & 98.1 & 96.9 & 96.9 & 98.7 & 97.1 & 95.3 \\ Sph mass (kg) & 70.7 & 73.7 & 73.7 & 66.88 & 73.9 & 78.4 \\ \hline _Power_ & & & & & & \\ \hline Payload (W) & 274.9 & 274.9 & 274.9 & 274.9 & 274.9 & 274.9 \\ Auxiliary equipment (W) & 52.6 & 52.6 & 52.6 & 52.6 & 52.6 & 52.6 \\ BoP (W) & 122.8 & 122.8 & 129.6 & 129.6 & 129.6 & 129.6 \\ Margin (W) & 22.5 & 22.5 & 23.7 & 23.7 & 23.7 & 23.7 \\ Propulsion (W) & 455.9 & 455.9 & 742.8 & 742.8 & 782.0 & 782.0 \\ \hline _Power plant_ & & & & & & \\ \hline Fuel cell, quantity & 1 & 1 & 2 & 2 & 2 & 2 \\ Fuel cell, unitary power (W) & 1000 & 1000 & 700 & 700 & 700 & 700 \\ Fuel cell, unitary mass (kg) & 10.5 & 10.5 & 7.7 & 7.7 & 7.7 & 7.7 \\ Fuel cell, unitary volume (L) & 9.1 & 9.1 & 7.1 & 7.1 & 7.1 & 7.1 \\ Hybridized batteries 1 & No & No & No & No & No \\ \hline _Reactants and Products_ & & & & & & \\ \hline Methanol. Mass (kg) & 18.0 & 35.3 & 46.0 & 89.1 & 49.7 & 97.5 \\ Methanol. Volume (L) & 22.7 & 44.4 & 57.8 & 112.0 & 62.5 & 122.6 \\ O\_2. Mass (kg) & 25.8 & 50.4 & 65.3 & 126.6 & 70.6 & 138.6 \\ O\_2 storage system. Mass (kg) & 49.5 & 97.0 & 125.6 & 243.4 & 135.8 & 266.5 \\ O\_2 storage system. Volume (L) & 76.7 & 150.1 & 194.3 & 376.7 & 210.2 & 412.4 \\ CO\_2. Mass (kg) & 23.5 & 46.1 & 60.0 & 116.2 & 64.9 & 127.3 \\ CO\_2 adsorbent. Mass (kg) & 164.6 & 130.9 & 419.2 & 330.1 & 453.4 & 361.4 \\ CO\_2 adsorbent. Volume (L) & 322.6 & 193.1 & 821.7 & 490.5 & 888.7 & 537.0 \\ Water. Mass (kg) & 19.3 & 37.7 & 49.1 & 95.2 & 53.1 & 104.2 \\ Water. Volume (L) 2 & 38.6 & 75.5 & 98.3 & 190.5 & 106.3 & 208.5 \\ \hline _Displacement_ & & & & & & \\ \hline Total dry mass (kg) & 1109.0 & 1161.9 & 2284.9 & 2402.2 & 2934.2 & 3058.2 \\ Volumetric displacement (m\({}^{3}\)) & 1438.2 & 1438.2 & 3088.1 & 3088.1 & 3365.8 & 3365.8 \\ \hline _Margins_ & & & & & & \\ \hline Cph. volume margin (\%) & 20.7 & 20.1 & 20.0 & 20.2 & 20.1 & 20.0 \\ Weight margin (\%) & 24.8 & 21.3 & 27.9 & 24.2 & 15.0 & 11.4 \\ \hline \hline \end{tabular}  
* as a result of the operational applied hybridization is not needed, see Section 2.6. Do not confuse these batteries with the auxiliary batteries defined within the BoP. 2 as explained in Section 2.7, the AUV is equipped with two water storing tanks that form the trim control system. Each tank has a volume equal to the maximum amount of water that can be produced. Thus, the volume assigned for water storing is double than the volume strictly necessary.  
\end{table}