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In this paper, we present a study of an underwater glider with a cylindrical body, a conical end shape and a spherical nose with NACA0009 airfoil wings. In the experimental section, we investigate the hydrodynamic coefficients of drag and lift as well as the torque on the glider then analyze the launch velocity, launch angles, angular velocity, and displacement range as the main parameters for evaluating of motion dynamics. In the numerical section, we investigate the optimal performance of the glider using the meta-heuristic optimization method in order to find the path and range of motion of the moving mass and control of the sea glider, which is very important for navigation scope. To be specific, body and wings hydrodynamic coefficients are obtained in the velocity range of [0.2, 1]    $$m/s$$  m / s ; According to the results, the drag coefficient increases with increasing velocity, while the lift coefficient increases up to velocity of    $$0.8 m/s$$  0.8 m / s , then decreases at velocity of    $$1 m/s$$  1 m / s . Also, the wing drag coefficient decreases with increasing velocity, while the wing lift coefficient increases with increasing velocity. In the next step, in order to calculate an optimum ratio between obtained depth and horizontal distance, the designed algorithm investigate the glider launch angle and finally, the 10 degrees launch angle is chosen as the optimum angle. Subsequently, the analysis performed on mass center displacement range shows that the oscillation interval    $$[- 0.045, 0.085]$$  [ - 0.045 , 0.085 ]     $$m$$  m is an optimum displacement domain.

Experimental analysis on hydrodynamic coefficients of an underwater glider with spherical nose for dynamic modeling and motion simulation