Later that morning in the shower block, Cook heard some other soldiers talking about an alleged sexual assault. "Rape was the word they used," he said.
He maintains he was "150 per cent" sure he and Galvin did not force the complainant into doing anything.
After realising the alleged assault was in relation to him and Galvin, Cook said he "freaked out".
"I was literally s****ing myself," he said. "All I could see in my head was the word 'rape' and jail."
During the closing of the defence case for Cook, defence lawyer Roger Crowley urged the jury to remember they should be convicting only if they were sure.
"You are not here to judge lifestyle. You are not here to judge people who may or may not have made a poor decision. You are not here to judge sexual promiscuity. Has the Crown, in the evidence you have heard in court, proved the case to you beyond reasonable doubt?"