## 2 The Problem Statement
Including C++ consumes less RAM when executing programs. The program for mission planning and monitoring the condition of the underwater glider is also implemented in C++, taking into account the use of additional user libraries. The structure of the program is based on the modular principle of construction. A Raspberry Pi 3 single-board computer running under Ubuntu OS is installed as the main onboard computer on the slider. The battery pack is presented in the form of three parallel-connected sets of lithium-ion batteries with a total capacity of 50 A/h. We investigate the motion mode of the glider during the turning maneuver. To do so, we set the following parameters: deviation angle of the rotary unit \(\sigma=60\) degrees; maximum forward buoyancy engine offset is \(r_{rx}=0.095\) m. The simulation results are shown in the Figure 5. \begin{table}
\begin{tabular}{c c} \hline \hline
**Parameter Name** & **Parameter Value** \\ \hline Mass of the glider & 138.45 kg \\ Forward buoyancy engine displacement & 1.3 L \\ Backward buoyancy engine displacement & 1.2 L \\ Mass of the trim control system & 10.2 kg \\ Offset of the trim control system along OX axis & 0.095 m \\ Mass of the rotation system (roll control system) & 8.3 kg \\ Roll control system rotation range along OX axis & 75 deg \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Primary parameters of the SHADOW underwater glider. The study of the developed model has shown that the turning radius of the glider with the configuration of the forward buoyancy engine is \(\hat{R}=41\) m.  
The next step of the development was to change the arrangement configuration of the glider's individual elements in order to study the maneuverability characteristics of the vehicle. In particular, the developers decided to implement a configuration with only backward buoyancy engine (shifting the glider's center of mass backwards), as well as to move the wings backward by a distance of \(\Delta=712\) mm. So, when the wings have a 712 mm offset backwards, the moment created by the wings will be \(13.3\) N*m. The resulting estimate for the hydrodynamic moment on the wings is twice as high as the estimate for the moment of the center of mass on the hull. Thus, offsetting the wings backwards should automatically lead to the appearance of a significant hydrodynamic moment on them, rotating the vehicle along the pitch. It follows from this that the pitch control system needs to shift the center of mass not by 95 mm, but only by 38 mm, or by 40 percent of the piston/plunge stroke. Let us consider the results of the glider turning maneuver, taking into account the modified configuration of the buoyancy engine system and glider wings. The parameters used are similar to the first study. The results are shown in the Figure 6.  
As seen above, the introduced design and hardware modification significantly increased the underwater glider's maneuverability by reducing the turning radius \(\hat{R}=21\) m. An increase of more than 1.5 times allows a group of underwater gliders, when receiving the path correction data from the wave glider, to perform a quick turning maneuver to  
Figure 5: Glider turning radius and values of linear and angular velocities (**a**), as well as pitch and roll angles during the turning maneuver (**b**). Figure 6: Glider’s turning radius, linear and angular velocity values (**a**), as well as pitch and roll angles when performing a turning maneuver (**b**) with wings and backward buoyancy engine. comply with condition (2). An example of a double turning circle mission is shown in the Figure 7.  
At the same time, a reserve for increasing the maneuverability is retained due to the algorithms for the combined use of the glider's roll control system and hydrodynamic rudder as a function of optimizing energy consumption with the adaptive kind of the mission. The authors conducted several comparative tests to study the glider's driving characteristics with different wing surfaces.