Definitely fenders of some sort.
Would anyone surface a Golf-boat through ice?
I wonder about DSRV testing, though; seems to me you'd be better off testing in as close to a real-world scenario as possible, and I'd think that fenders wouldn't be that. Can't say for sure, though. Those folks do things differently.
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At Fiddler’s Green, where seamen true
When here they’ve done their duty
The bowl of grog shall still renew
And pledge to love and beauty.
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