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Lucas Merckelbach, Anja Berger, Gerd Krahmann, Marcus Dengler, and Jeffrey R. Carpenter

; Schultze et al. 2017 ; St. Laurent and Merrifield 2017 ; Scheifele et al. 2018 ). The most commonly used flight model is that of Merckelbach et al. (2010) , who assume a steady-state balance between buoyancy, drag, and lift, and use the measured pitch angle and buoyancy change achieved by the buoyancy engine to compute the speed through water ( Fer et al. 2014 ; Peterson and Fer 2014 ; Palmer et al. 2015 ; Schultze et al. 2017 ; Scheifele et al. 2018 ). The numerical evaluation of these forces

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