The planar motion mechanism (PMM) test is one experimental way to estimate hydrodynamic coefficients which are used to evaluate the maneuverability of a ship. The maneuverability of the submarine can be simulated by using the equation of motion. Furthermore, the course-keeping ability of submarine can be evaluated by analyzing the simplified maneuvering equations and hydrodynamic coefficients. The modelling of hydrodynamic forces in maneuvering equation is done without consideration of physics, but the Taylor series expansion is applied for simplicity. Therefore, a lot of hydrodynamic coefficients appear in the force modelling. These hydrodynamic coefficients should be evaluated in order to study the maneuvering performance of submarine.In the present work, hydrodynamic coefficients of the submarine model are evaluated in different submergence depths. Two tests are conducted to evaluate hydrodynamic coefficients. One way is towing the submarine model with constant drift angles. The resistance and hydrodynamic coefficients associated with damping are extracted. Then, the vertical PMM test is conducted to obtain added mass and damping. The influence of submergence depth on the hydrodynamic kinematic force is investigated. Finally, the course-keeping ability of submarine is evaluated.