This article is about the development of the equations of the movement
in 6 DOF of AUV (Autonomous Underwater Vehicle) SIRENA carried out by students
of UPCT. As it is a pre-programmed submersible, one of the main targets is to
model mathematically the movement of the submarine to achieve simulations of
it. The equations are a non-lineal system of EDPs and EDOs and are simplified
using its own hydrodynamic coefficients. The aim of this study is to present a nonlineal
system of differential equations, function of these coefficients.