The present invention discloses a marine vessel with a monohedral v-shaped hull bow portion blending into catamaran hull sponsons, a center tunnel and individual terminal tunnels on each of the sponsons. This new hull design is capable of high speeds to travel to a desired location, while still providing platform stability and shallow draft of the catamaran shaped aft portion. A removable hull transom diffuser gate and a removable side hull deflector plate may be retracted and/or lowered to reduce the signature of the vessel underway. A retractable cockpit may be included to permit stacking of the marine vessels in order to allow multiple vessels to simultaneously be shipped in a C-130 or C-17 cargo plane to a distant location. This retractable cockpit may include a multi-positional pilot house which can be elevated for rough sea conditions with hinged windshield and side plates for protection from waves for the operators.

The present invention discloses a marine vessel with a monohedral v-shaped hull bow portion blending into catamaran hull sponsons, a center tunnel and individual terminal tunnels on each of the sponsons. This new hull design is capable of high speeds to travel to a desired location, while still providing platform stability and shallow draft of the catamaran shaped aft portion. A removable hull transom diffuser gate and a removable side hull deflector plate may be retracted and/or lowered to reduce the signature of the vessel underway. A retractable cockpit may be included to permit stacking of the marine vessels in order to allow multiple vessels to simultaneously be shipped in a C-130 or C-17 cargo plane to a distant location. This retractable cockpit may include a multi-positional pilot house which can be elevated for rough sea conditions with hinged windshield and side plates for protection from waves for the operators.

A motion controller guides movement of a vessel in a manner that optimally balances performance and noise emitted by the vessel. During a training phase, for each of a plurality of states of a motion system, the controller measures 1) motion of the vessel concurrent with parameters of the motion system, and 2) acoustic response associated with the motion. A model representing the plurality of states is defined, where the model relates the parameters signals, vessel motion, and acoustic response associated with each of the plurality of states. During an operating phase, based on the model, the controller determines a subset of the plurality of states to satisfy a motion goal and an acoustic threshold. The controller then operates the motion system to maneuver the vessel according to the subset of the plurality of states.