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Why were they carrying nuclear weapons in the Northern Atlantic Ocean? There aren't any wars in that part of the world that I'm aware of.
Why risk carting around nukes when they will never be used?
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The point of doing it is you never know where the guy with a nuke is hiding, and he is ALWAYS out there just in case.
As for the navigation system... you fail to realize how good these subs are. The Modern Nuclear Attack sub is quieter than a shrimp when it's at cruising speed. The modern Nuclear Missile Submarine is even quieter. My uncle was a P3 Orion pilot (sub hunter plane), he says you don't look for their sound... you look for an abnormally quiet spot in the water.
As stated before, the entire point is to NOT be seen. Subs have collided before, even those armed with Nuclear missiles. The US/Soviet submarines in the Cold War actually had quite a few run-ins, the Soviets lost one while we've had a couple damaged.