This project developed a hardware-in-the-loop (HIL) environment for use with autonomous maritime vehicles. Specifically, the response of a surface vehicle due as a reaction to thrust forces. The simulation loop can be used to test control functions on a microcontroller without having to use hardware, which is applicable to a classroom environment. Hardware-in-the-loop simulates the surface vehicle's dynamics, which are passed to the controller; this provides a time and cost effective method for testing different controllers. The system is significantly modular in that vessel's dynamics, the environmental noise contributors, and sensor readings can all be altered.