Dynamics Modeling and Hydrodynamic Coefficients Identification of the Wave Glider
Round 1
Reviewer 1 Report
I consider appropiate your job analysing with a PMM the performance of the wave glider, separating the two main elements with the identification of the model. Please consider the minor corrections included in the commented file to improve your article. In resume:
- Line 13 and 32. The wave glider is not a new underwater vehicle. Please consider change by "....is an ocean-wave....."
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Based on Figure 1, Explain in the Line 41 (or before the Figure 1) the operation states of the vehicle and how the fins of the submerged glider operates in each state to asesse the forward movement. It is the main Figure that will introduce at the lector to the physics of the vehicle in your article.
Question. Is the submerged glider always in horizontal position or it has a rotation? Or only the Hydrofoils rotate? This is one specific point that I recommend explain in this introduction.
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Improve the quality of the Figure or change it to represent and describe better the states of operation. Attend with the comment of the Line 41.
Question. Are you representing a moment in the Hydrofoil Zoom or only ther rotation movement? This could be solved better with the description of the states.
- Figure 2. Try to improve the quality of the Figure to observe better the reference frames.
- Figure 5. Improve the quality of the Figure. Consider to include a CFD result Figure like complement and to make match with the states of operation of the wave glider.
- Verify if the metadata figure of Matlab is considered in your file becausse the Figures are Pixeled. With the proper file the image could be improved a lot. Verify Figures 6,7,9,10,12,14,15,17,18,19,20,21,22.
- Line 520 Fulfill the Author Contributions, Funding, Conflict of Interest, etc. to complete your final reference of your aricle.
Regards
Comments for author File: 
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Author Response
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Reviewer 2 Report
See the attached word file.
Comments for author File: Comments.pdf
Author Response
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Author Response File: Author Response.docx
Reviewer 3 Report
This paper presents a wave glider simulation model, together with a parameter estimation in line with some real implementation of such a cyber-physical system. The model is very detailed and has been simulated in a professional environment specific for fluid systems.
In general, the paper is well structured. The introduction and the description of the state of the art are correct. The methodology used is rigorous and the conclusions are supported by the results obtained. Let me suggest that English should be improved.
Regarding the technical aspect, I have only a few considerations. For example, it is not clear for me the influence of the angle between the forward direction of the waves, and the desired forward direction for the glider.
Also, in figure 2, the earth-fixed frame defines epsilon as the north direction. After that, (for simplicity) all the model is related to the advance of the glider in the epsilon direction. But finally, the real sea trial was performed following the east direction. Let me suggest defining the fixed frame not in north direction but in the “advance direction”.
Additionally, it is not clear the movement performed by the glider in figure 16. Starting from initial position, does the glider move to T1, T2, T1 (again), and final position?
Other minor suggestions:
All the figures containing plots should be in vector (not raster) format. Also, the low quality of Figures 8, 11, and 13 (although it is not relevant to understand the document) should be improved.
Author Response
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Author Response File: Author Response.docx
Round 2
Reviewer 2 Report
Comments for author File: Comments.pdf
Author Response
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Author Response File: Author Response.docx
