diff --git a/libraries/SITL/SIM_Submarine.cpp b/libraries/SITL/SIM_Submarine.cpp
new file mode 100644
index 0000000000..acc50af09e
--- /dev/null
+++ b/libraries/SITL/SIM_Submarine.cpp
@@ -0,0 +1,72 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  Submarine simulator class
+*/
+
+#include "SIM_Submarine.h"
+#include <AP_Motors/AP_Motors.h>
+
+#include <stdio.h>
+
+using namespace SITL;
+
+Submarine::Submarine(const char *home_str, const char *frame_str) :
+    Aircraft(home_str, frame_str),
+    frame(NULL)
+{
+    frame = Frame::find_frame(frame_str);
+    if (frame == NULL) {
+        printf("Frame '%s' not found", frame_str);
+        exit(1);
+    }
+    if (strstr(frame_str, "-fast")) {
+        frame->init(1.5, 0.5, 85, 4*radians(360));
+    } else {
+        frame->init(1.5, 0.51, 15, 4*radians(360));
+    }
+    frame_height = 0.1;
+    ground_behavior = GROUND_BEHAVIOR_NO_MOVEMENT;
+}
+
+// calculate rotational and linear accelerations
+void Submarine::calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel)
+{
+    frame->calculate_forces(*this, input, rot_accel, body_accel);
+}
+    
+/*
+  update the Submarine simulation by one time step
+ */
+void Submarine::update(const struct sitl_input &input)
+{
+    // get wind vector setup
+    update_wind(input);
+
+    Vector3f rot_accel;
+
+    calculate_forces(input, rot_accel, accel_body);
+
+    update_dynamics(rot_accel);
+
+    // update lat/lon/altitude
+    update_position();
+
+    // update magnetic field
+    update_mag_field_bf();
+}
+
+
diff --git a/libraries/SITL/SIM_Submarine.h b/libraries/SITL/SIM_Submarine.h
new file mode 100644
index 0000000000..8937a185b9
--- /dev/null
+++ b/libraries/SITL/SIM_Submarine.h
@@ -0,0 +1,49 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  ROV/AUV/Submarine simulator class
+*/
+
+#pragma once
+
+#include "SIM_Aircraft.h"
+#include "SIM_Motor.h"
+#include "SIM_Frame.h"
+
+namespace SITL {
+
+/*
+  a submarine simulator
+ */
+class Submarine : public Aircraft {
+public:
+    Submarine(const char *home_str, const char *frame_str);
+
+    /* update model by one time step */
+    void update(const struct sitl_input &input);
+
+    /* static object creator */
+    static Aircraft *create(const char *home_str, const char *frame_str) {
+        return new Submarine(home_str, frame_str);
+    }
+
+protected:
+    // calculate rotational and linear accelerations
+    void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
+    Frame *frame;
+};
+
+}