  A reduced order model of a generic submarine is presented. Computational
fluid dynamics (CFD) results are used to create and validate a model that
includes depth dependence and the effect of waves on the craft. The model and
the procedure to obtain its coefficients are discussed, and examples of the
data used to obtain the model coefficients are presented. An example of
operation following a complex path is presented and results from the reduced
order model are compared to those from an equivalent CFD calculation. The
controller implemented to complete these maneuvers is also presented.
