A submarine good military weapon because of its confidentiality and intimidating power. Therefore, training warfighters how to maneuver submarine is very important. Because submarine is very expensive and has regional and temporal limitations, M&S(Modeling and Simulation) can be a good alternative. However, as the existing M&S systems of submarine generally use expensive commercial software and dedicated hardware, which cause the warfighters to take troubles to visit the secured places, and then to train themselves during limited time slots. Also, many M&S systems have only one-channel display system which reduces the sense of immersiveness. Another problem is that many heterogeneous simulators can hardly be used as an integrated system. To solve these problems, X3D, a platform-independent and open standard graphic file format, is used with the general-purpose PCs. To increase immersiveness, multi-channel display system and a motion chair are used. Finally, HLA/RTI is used to integrate individual components of the simulator. All of these are verified through experiments.