AMOG was engaged to develop a system of equations of motion suitable for modelling the zero forward speed near surface motions (Hover Mode) of a COLLINS class submarine in an irregular sea. Methods of calculation of the first and second order wave forces were incorporated into the equations of motion, and a method of simulating an irregular sea wave elevation time history was provided. 

Algorithms for implementation of the equations of motion and the wave load parameters were provided such that a numerical model of the Hover Mode dynamic response of the COLLINS class submarine was able to be implemented in the ASC STSSF environment. 

AMOG further supported the implementation of these equations of motion by performing an initial calibration of the hydrodynamic coefficients representing the COLLINS class utilised in the two degree of freedom hover mode submarine model.