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Do not ask me how the units cancel to give pressure, but this is the formula. It might also be noted that you can go from the midpoint of the object to determine the average pressure over the object. There will be little variation in a small model.
Pressure exerted on the sub at the surface is 1atmosphere = 14.7psi =101.325 kilopascals. Every 10metres depth adds 1atm. Water pressure varies directly proportionally with depth, so at 1 metre down its 1.1atm, 2m down its 1.2atm, 3 m down its 1.3 atm and 10m its 2atm.
So I guess the equation you are looking for is pressure(in atm) = 1 + depth(m)/10
Just to clear it up I was describing the total pressure acting on a sub at depth, the 1 atm form the air above pushing down on the water surface and the actual water pressure itself. The pressure exerted by the water itself is 1 atm (14.7psi). at 10m. The important bit is it varies proportionately.
Have you got your sub yet?
Thanks for all the info Guys.
I have double checked Norbert Brueggen's book and his formula definately states pressure in Bar.
Looks as if the error wasn't picked up in proof reading.
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