Abstract
The stability of the motion of an underwater vehicle is usually examined for the condition of neutral buoyancy. In this paper the stability of an ascent to the surface under the action of positive buoyancy is examined. It is shown that both the longitudinal and the lateral motions may be unstable. Criteria are established. In this part, ascents whose motion is predominantly forward are examined. Lateral instability is shown to be caused by excessive buoyancy and a divergent motion in roll and yaw then occurs. In Part II, near-vertical ascents are examined. These also are unstable if the buoyancy is excessive.
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