说明：  经典的船舶三自由度仿真程序，关于Mariner船舶的，共包含40个粘性类水动力导数，很多高水平的论文都是基于该程序完成的，是系统辨识、控制方面非常好的船舶操纵运动数学模型。
(Ships classic three degrees of freedom simulation program, on Mariner of the ship, contains a total of 40 classes hydrodynamic viscous derivative, many papers are based on a high level of completion of the program, the system identification, control is very good ship motion mathematical manipulation model.)