The answer to your question:Is it possible to measure the force required to tow an underwater vehicle (from the tow point) in a certain configuration? Yes. You will have to play with certain settings to achieve your end objective. I am almost certain you can achieve this in Solidworks. There are a lot of tutorials on finding drag force in Solidworks. Here is one PDF that may get you started.
Best tip, start with something with a know answer like the drag over a cylinder in the tech reference. Otherwise the analysis should be straightforward by studying the tutorials and the kb and the documentation. Post up when you get stuck.