submarine

History

Etymology

The word submarine means 'underwater' or 'under-sea' (as in submarine canyon, submarine pipeline) though as a noun it generally refers to a vessel that can travel underwater. The term is a contraction of submarine boat and occurs as such in several languages, e.g. French (sous-marin), and Spanish (submarino), although others retain the original term, such as Dutch (Onderzeeboot), German (Unterseeboot), Swedish (Undervattensbåt), and Russian (подводная лодка: podvodnaya lodka), all of which mean 'submarine boat'. By naval tradition, submarines are usually referred to as boats rather than as ships, regardless of their size. Although referred to informally as boats, U.S. submarines employ the designation USS (United States Ship) at the beginning of their names, such as USS Alabama. In the Royal Navy, the designation HMS can refer to "His Majesty's Ship" or "His Majesty's Submarine", though the latter is sometimes rendered "HMS/m".

Early human-powered submersibles

According to a report in Opusculum Taisnieri published in 1562:

Two Greeks submerged and surfaced in the river Tagus near the City of Toledo several times in the presence of The Holy Roman Emperor Charles V, without getting wet and with the flame they carried in their hands still alight.

In 1578, the English mathematician William Bourne recorded in his book Inventions or Devises one of the first plans for an underwater navigation vehicle. A few years later the Scottish mathematician and theologian John Napier wrote in his Secret Inventions (1596) that "These inventions besides devises of sayling under water with divers other devises and strategems for harming of the enemyes by the Grace of God and worke of expert Craftsmen I hope to perform." It is unclear whether he carried out his idea.

Jerónimo de Ayanz y Beaumont (1553–1613) created detailed designs for two types of air-renovated submersible vehicles. They were equipped with oars, autonomous floating snorkels worked by inner pumps, portholes and gloves used for the crew to manipulate underwater objects. Ayanaz planned to use them for warfare, using them to approach enemy ships undetected and set up timed gunpowder charges on their hulls.

The first submersible of whose construction there exists reliable information was designed and built in 1620 by Cornelis Drebbel, a Dutchman in the service of James I of England. It was propelled by means of oars.

By the mid-18th century, over a dozen patents for submarines/submersible boats had been granted in England. In 1747, Nathaniel Symons patented and built the first known working example of the use of a ballast tank for submersion. His design used leather bags that could fill with water to submerge the craft. A mechanism was used to twist the water out of the bags and cause the boat to resurface. In 1749, the Gentlemen's Magazine reported that a similar design had initially been proposed by Giovanni Borelli in 1680. Further design improvement stagnated for over a century, until application of new technologies for propulsion and stability.

The first military submersible was Turtle (1775), a hand-powered acorn-shaped device designed by the American David Bushnell to accommodate a single person. It was the first verified submarine capable of independent underwater operation and movement, and the first to use screws for propulsion.

Mechanically powered submarines

Submarines could not be put into widespread or routine service use by navies until suitable engines were developed. The era from 1863 to 1904 marked a pivotal time in submarine development, and several important technologies appeared. A number of nations built and used submarines. Diesel electric propulsion became the dominant power system and equipment such as the periscope became standardized. Countries conducted many experiments on effective tactics and weapons for submarines, which led to their large impact in World War I.

The first submarine not relying on human power for propulsion was the French Plongeur (Diver), launched in 1863, which used compressed air at 1,200 kPa (180 psi). Narcís Monturiol designed the first air-independent and combustion-powered submarine, Ictíneo II, which was launched in Barcelona, Spain in 1864.

The submarine became feasible as potential weapon with the development of the Whitehead torpedo, designed in 1866 by British engineer Robert Whitehead, the first practical self-propelled torpedo. The spar torpedo that had been developed earlier by the Confederate States Navy was considered to be impracticable, as it was believed to have sunk both its intended target, and H. L. Hunley, the submarine that deployed it.

The Irish inventor John Philip Holland built a model submarine in 1876 and in 1878 demonstrated the Holland I prototype. This was followed by a number of unsuccessful designs. In 1896, he designed the Holland Type VI submarine, which used internal combustion engine power on the surface and electric battery power underwater. Launched on 17 May 1897 at Navy Lt. Lewis Nixon's Crescent Shipyard in Elizabeth, New Jersey, Holland VI was purchased by the United States Navy on 11 April 1900, becoming the Navy's first commissioned submarine, christened USS Holland.

Discussions between the English clergyman and inventor George Garrett and the Swedish industrialist Thorsten Nordenfelt led to the first practical steam-powered submarines, armed with torpedoes and ready for military use. The first was Nordenfelt I, a 56-tonne, 19.5-metre (64 ft) vessel similar to Garrett's ill-fated Resurgam (1879), with a range of 240 kilometres (130 nmi; 150 mi), armed with a single torpedo, in 1885.

Usage

Military

Before and during World War II, the primary role of the submarine was anti-surface ship warfare. Submarines would attack either on the surface using deck guns, or submerged using torpedoes. They were particularly effective in sinking Allied transatlantic shipping in both World Wars, and in disrupting Japanese supply routes and naval operations in the Pacific in World War II.

Mine-laying submarines were developed in the early part of the 20th century. The facility was used in both World Wars. Submarines were also used for inserting and removing covert agents and military forces in special operations, for intelligence gathering, and to rescue aircrew during air attacks on islands, where the airmen would be told of safe places to crash-land so the submarines could rescue them. Submarines could carry cargo through hostile waters or act as supply vessels for other submarines.

Submarines could usually locate and attack other submarines only on the surface, although HMS Venturer managed to sink U-864 with a four torpedo spread while both were submerged. The British developed a specialized anti-submarine submarine in WWI, the R class. After WWII, with the development of the homing torpedo, better sonar systems, and nuclear propulsion, submarines also became able to hunt each other effectively.

The development of submarine-launched ballistic missile and submarine-launched cruise missiles gave submarines a substantial and long-ranged ability to attack both land and sea targets with a variety of weapons ranging from cluster bombs to nuclear weapons.

The primary defense of a submarine lies in its ability to remain concealed in the depths of the ocean. Early submarines could be detected by the sound they made. Water is an excellent conductor of sound (much better than air), and submarines can detect and track comparatively noisy surface ships from long distances. Modern submarines are built with an emphasis on stealth. Advanced propeller designs, extensive sound-reducing insulation, and special machinery help a submarine remain as quiet as ambient ocean noise, making them difficult to detect. It takes specialized technology to find and attack modern submarines.

Active sonar uses the reflection of sound emitted from the search equipment to detect submarines. It has been used since WWII by surface ships, submarines and aircraft (via dropped buoys and helicopter "dipping" arrays), but it reveals the emitter's position, and is susceptible to counter-measures.

Civilian

Although the majority of the world's submarines are military, there are some civilian submarines, which are used for tourism, exploration, oil and gas platform inspections, and pipeline surveys. Some are also used in illegal activities.

The Submarine Voyage ride opened at Disneyland in 1959, but although it ran under water, it was not a true submarine, as it ran on tracks and was open to the atmosphere. The first tourist submarine was Auguste Piccard, which went into service in 1964 at Expo64. By 1997, there were 45 tourist submarines operating around the world. Submarines with a crush depth in the range of 400–500 feet (120–150 m) are operated in several areas worldwide, typically with bottom depths around 100 to 120 feet (30 to 37 m), with a carrying capacity of 50 to 100 passengers.

In a typical operation a surface vessel carries passengers to an offshore operating area and loads them into the submarine. The submarine then visits underwater points of interest such as natural or artificial reef structures. To surface safely without danger of collision the location of the submarine is marked with an air release and movement to the surface is coordinated by an observer in a support craft.

A recent development is the deployment of so-called narco-submarines by South American drug smugglers to evade law enforcement detection. Although they occasionally deploy true submarines, most are self-propelled semi-submersibles, where a portion of the craft remains above water at all times. In September 2011, Colombian authorities seized a 16-meter-long submersible that could hold a crew of 5, costing about $2 million. The vessel belonged to FARC rebels and had the capacity to carry at least 7 tonnes of drugs.

Polar operations

1903 – Simon Lake submarine Protector surfaced through ice off Newport, Rhode Island.

1930 – USS O-12 operated under ice near Spitsbergen.

1937 – Soviet submarine Krasnogvardeyets operated under ice in the Denmark Strait.

1941–45 – German U-boats operated under ice from the Barents Sea to the Laptev Sea.

1946 – USS Atule used upward-beamed fathometer in Operation Nanook in the Davis Strait.

1946–47 – USS Sennet used under-ice sonar in Operation High Jump in the Antarctic.

1947 – USS Boarfish used upward-beamed echo sounder under pack ice in the Chukchi Sea.

1948 – USS Carp developed techniques for making vertical ascents and descents through polynyas in the Chukchi Sea.

1952 – USS Redfish used an expanded upward-beamed sounder array in the Beaufort Sea.

1957 – USS Nautilus reached 87 degrees north near Spitsbergen.

3 August 1958 – Nautilus used an inertial navigation system to reach the North Pole.

17 March 1959 – USS Skate surfaced through the ice at the north pole.

1960 – USS Sargo transited 900 miles (1,400 km) under ice over the shallow (125 to 180 feet or 38 to 55 metres deep) Bering-Chukchi shelf.

Technology

Buoyancy and trim

All surface ships, as well as surfaced submarines, are in a positively buoyant condition, weighing less than the volume of water they would displace if fully submerged. To submerge hydrostatically, a ship must have negative buoyancy, either by increasing its own weight or decreasing its displacement of water. To control their displacement and weight, submarines have ballast tanks, which can hold varying amounts of water and air.

For general submersion or surfacing, submarines use the main ballast tanks (MBTs), which are ambient pressure tanks, filled with water to submerge or with air to surface. While submerged, MBTs generally remain flooded, which simplifies their design, and on many submarines, these tanks are a section of the space between the light hull and the pressure hull. For more precise control of depth, submarines use smaller depth control tanks (DCTs)—also called hard tanks (due to their ability to withstand higher pressure) or trim tanks. These are variable buoyancy pressure vessels, a type of buoyancy control device. The amount of water in depth control tanks can be adjusted to hydrostatically change depth or to maintain a constant depth as outside conditions (mainly water density) change. Depth control tanks may be located either near the submarine's center of gravity, to minimise the effect on trim, or separated along the length of the hull so they can also be used to adjust static trim by transfer of water between them.

When submerged, the water pressure on a submarine's hull can reach 4 MPa (580 psi) for steel submarines and up to 10 MPa (1,500 psi) for titanium submarines like K-278 Komsomolets, while interior pressure remains relatively unchanged. This difference results in hull compression, which decreases displacement. Water density also marginally increases with depth, as the salinity and pressure are higher. This change in density incompletely compensates for hull compression, so buoyancy decreases as depth increases. A submerged submarine is in an unstable equilibrium, having a tendency to either sink or float to the surface. Keeping a constant depth requires continual operation of either the depth control tanks or control surfaces.

Submarines in a neutral buoyancy condition are not intrinsically trim-stable. To maintain desired longitudinal trim, submarines use forward and aft trim tanks. Pumps move water between the tanks, changing weight distribution and pitching the sub up or down. A similar system may be used to maintain transverse trim.

Control surfaces

The hydrostatic effect of variable ballast tanks is not the only way to control the submarine underwater. Hydrodynamic maneuvering is done by several control surfaces, collectively known as diving planes or hydroplanes, which can be moved to create hydrodynamic forces when a submarine moves longitudinally at sufficient speed. In the classic cruciform stern configuration, the horizontal stern planes serve the same purpose as the trim tanks, controlling the trim. Most submarines additionally have forward horizontal planes, normally placed on the bow until the 1960s but often on the sail on later designs, where they are closer to the center of gravity and can control depth with less effect on the trim.

An obvious way to configure the control surfaces at the stern of a submarine is to use vertical planes to control yaw and horizontal planes to control pitch, which gives them the shape of a cross when seen from astern of the vessel. In this configuration, which long remained the dominant one, the horizontal planes are used to control the trim and depth and the vertical planes to control sideways maneuvers, like the rudder of a surface ship.

Alternatively, the rear control surfaces can be combined into what has become known as an X-stern or an X-form rudder. Although less intuitive, such a configuration has turned out to have several advantages over the traditional cruciform arrangement. First, it improves maneuverability, horizontally as well as vertically. Second, the control surfaces are less likely to get damaged when landing on, or departing from, the seabed as well as when mooring and unmooring alongside. Finally, it is safer in that one of the two diagonal lines can counteract the other with respect to vertical as well as horizontal motion if one of them accidentally gets stuck.

The x-stern was first tried in practice in the early 1960s on the USS Albacore, an experimental submarine of the US Navy. While the arrangement was found to be advantageous, it was nevertheless not used on US production submarines that followed due to the fact that it requires the use of a computer to manipulate the control surfaces to the desired effect. Instead, the first to use an x-stern in standard operations was the Swedish Navy with its Sjöormen class, the lead submarine of which was launched in 1967, before the Albacore had even finished her test runs. Since it turned out to work very well in practice, all subsequent classes of Swedish submarines (Näcken, Västergötland, Gotland, and Blekinge class) have or will come with an x-rudder.

Hull

Modern submarines are cigar-shaped. This design, also used in very early submarines, is sometimes called a "teardrop hull". It reduces hydrodynamic drag when the sub is submerged, but decreases the sea-keeping capabilities and increases drag while surfaced. Since the limitations of the propulsion systems of early submarines forced them to operate surfaced most of the time, their hull designs were a compromise. Because of the slow submerged speeds of those subs, usually well below 10 kt (18 km/h), the increased drag for underwater travel was acceptable. Late in World War II, when technology allowed faster and longer submerged operation and increased aircraft surveillance forced submarines to stay submerged, hull designs became teardrop shaped again to reduce drag and noise. USS Albacore (AGSS-569) was a unique research submarine that pioneered the American version of the teardrop hull form (sometimes referred to as an "Albacore hull") of modern submarines. On modern military submarines the outer hull is covered with a layer of sound-absorbing rubber, or anechoic plating, to reduce detection.

The occupied pressure hulls of deep-diving submarines such as DSV Alvin are spherical instead of cylindrical. This allows a more even distribution of stress and efficient use of materials to withstand external pressure as it gives the most internal volume for structural weight and is the most efficient shape to avoid buckling instability in compression. A frame is usually affixed to the outside of the pressure hull, providing attachment for ballast and trim systems, scientific instrumentation, battery packs, syntactic flotation foam, and lighting.

A raised tower on top of a standard submarine accommodates the periscope and electronics masts, which can include radio, radar, electronic warfare, and other systems. It might also include a snorkel mast. In many early classes of submarines (see history), the control room, or "conn", was located inside this tower, which was known as the "conning tower". Since then, the conn has been located within the hull of the submarine, and the tower is now called the "sail" or "fin". The conn is distinct from the "bridge", a small open platform in the top of the sail, used for observation during surface operation.

"Bathtubs" are related to conning towers but are used on smaller submarines. The bathtub is a metal cylinder surrounding the hatch that prevents waves from breaking directly into the cabin. It is needed because surfaced submarines have limited freeboard, that is, they lie low in the water. Bathtubs help prevent swamping the vessel.

Propulsion

The first submarines were propelled by humans. The first mechanically driven submarine was the 1863 French Plongeur, which used compressed air for propulsion. Anaerobic propulsion was first employed by the Spanish Ictineo II in 1864, which used a solution of zinc, manganese dioxide, and potassium chlorate to generate sufficient heat to power a steam engine, while also providing oxygen for the crew. A similar system was not employed again until 1940 when the German Navy tested a hydrogen peroxide-based system, the Walter turbine, on the experimental V-80 submarine and later on the naval U-791 and type XVII submarines; the system was further developed for the British Explorer-class, completed in 1958.

Until the advent of nuclear marine propulsion, most 20th-century submarines used electric motors and batteries for running underwater and combustion engines on the surface, and for battery recharging. Early submarines used gasoline (petrol) engines but this quickly gave way to kerosene (paraffin) and then diesel engines because of reduced flammability and, with diesel, improved fuel-efficiency and thus also greater range. A combination of diesel and electric propulsion became the norm.

Initially, the combustion engine and the electric motor were in most cases connected to the same shaft so that both could directly drive the propeller. The combustion engine was placed at the front end of the stern section with the electric motor behind it followed by the propeller shaft. The engine was connected to the motor by a clutch and the motor in turn connected to the propeller shaft by another clutch.

With only the rear clutch engaged, the electric motor could drive the propeller, as required for fully submerged operation. With both clutches engaged, the combustion engine could drive the propeller, as was possible when operating on the surface or, at a later stage, when snorkeling. The electric motor would in this case serve as a generator to charge the batteries or, if no charging was needed, be allowed to rotate freely. With only the front clutch engaged, the combustion engine could drive the electric motor as a generator for charging the batteries without simultaneously forcing the propeller to move.

The motor could have multiple armatures on the shaft, which could be electrically coupled in series for slow speed and in parallel for high speed (these connections were called "group down" and "group up", respectively).

Armament

The success of the submarine is inextricably linked to the development of the torpedo, invented by Robert Whitehead in 1866. His invention (essentially the same now as it was 140 years ago), allowed the submarine make the leap from novelty to a weapon of war. Prior to the development and miniaturization of sonar sensitive enough to track a submerged submarine, attacks were exclusively restricted to ships and submarines operating near or at the surface. Targeting of unguided torpedoes was initially done by eye, but by World War II analog targeting computers began to proliferate, being able to calculate basic firing solutions. Nonetheless, multiple "straight-running" torpedoes could be required to ensure a target was hit. With at most 20 to 25 torpedoes stored on board, the number of attacks a submarine could make was limited. To increase combat endurance starting in World War I submarines also functioned as submersible gunboats, using their deck guns against unarmed targets, and diving to escape and engage enemy warships. The initial importance of these deck guns encouraged the development of the unsuccessful Submarine Cruiser such as the French Surcouf and the Royal Navy's X1 and M-class submarines. With the arrival of anti-submarine warfare (ASW) aircraft, guns became more for defense than attack. A more practical method of increasing combat endurance was the external torpedo tube, loaded only in port.

The ability of submarines to approach enemy harbours covertly led to their use as minelayers. Minelaying submarines of World War I and World War II were specially built for that purpose. Modern submarine-laid mines, such as the British Mark 5 Stonefish and Mark 6 Sea Urchin, can be deployed from a submarine's torpedo tubes.

After World War II, both the US and the USSR experimented with submarine-launched cruise missiles such as the SSM-N-8 Regulus and P-5 Pyatyorka. Such missiles required the submarine to surface to fire its missiles. They were the forerunners of modern submarine-launched cruise missiles, which can be fired from the torpedo tubes of submerged submarines, for example, the US BGM-109 Tomahawk and Russian RPK-2 Viyuga and versions of surface-to-surface anti-ship missiles such as the Exocet and Harpoon, encapsulated for submarine launch. Ballistic missiles can also be fired from a submarine's torpedo tubes, for example, missiles such as the anti-submarine SUBROC. With internal volume as limited as ever and the desire to carry heavier warloads, the idea of the external launch tube was revived, usually for encapsulated missiles, with such tubes being placed between the internal pressure and outer streamlined hulls. Guided torpedoes also proliferated extensively during and after World War II, even further increasing the combat endurance and lethality of submarines and allowing them to engage other submarines at depth (with the latter now being one of the primary missions of the modern attack submarine).

Sensors

A submarine can have a variety of sensors, depending on its missions. Modern military submarines rely almost entirely on a suite of passive and active sonars to locate targets. Active sonar relies on an audible "ping" to generate echoes to reveal objects around the submarine. Active systems are rarely used, as doing so reveals the sub's presence. Passive sonar is a set of sensitive hydrophones set into the hull or trailed in a towed array, normally trailing several hundred feet behind the sub. The towed array is the mainstay of NATO submarine detection systems, as it reduces the flow noise heard by operators. Hull mounted sonar is employed in addition to the towed array, as the towed array can not work in shallow depth and during maneuvering. In addition, sonar has a blind spot "through" the submarine, so a system on both the front and back works to eliminate that problem. As the towed array trails behind and below the submarine, it also allows the submarine to have a system both above and below the thermocline at the proper depth; sound passing through the thermocline is distorted resulting in a lower detection range. Global climate change and warmer oceans may complicate detecting submarines at depth in most places in the world.

Submarines also carry radar equipment to detect surface ships and aircraft. Submarine captains are more likely to use radar detection gear than active radar to detect targets, as radar can be detected far beyond its own return range, revealing the submarine. Periscopes are rarely used, except for position fixes and to verify a contact's identity.

Civilian submarines, such as the DSV Alvin or the Russian Mir submersibles, rely on small active sonar sets and viewing ports to navigate. The human eye cannot detect sunlight below about 300 feet (91 m) underwater, so high intensity lights are used to illuminate the viewing area.

Navigation

Early submarines had few navigation aids, but modern subs have a variety of navigation systems. Modern military submarines use an inertial guidance system for navigation while submerged, but drift error unavoidably builds over time. To counter this, the crew occasionally uses the Global Positioning System to obtain an accurate position. The periscope—a retractable tube with a prism system that provides a view of the surface—is only used occasionally in modern submarines, since the visibility range is short. The Virginia-class and Astute-class submarines use photonics masts rather than hull-penetrating optical periscopes. These masts must still be deployed above the surface, and use electronic sensors for visible light, infrared, laser range-finding, and electromagnetic surveillance. One benefit to hoisting the mast above the surface is that while the mast is above the water the entire sub is still below the water and is much harder to detect visually or by radar.

Communication

Military submarines use several systems to communicate with distant command centers or other ships. One is VLF (very low frequency) radio, which can reach a submarine either on the surface or submerged to a fairly shallow depth, usually less than 250 feet (76 m). ELF (extremely low frequency) can reach a submarine at greater depths, but has a very low bandwidth and is generally used to call a submerged sub to a shallower depth where VLF signals can reach. A submarine also has the option of floating a long, buoyant wire antenna to a shallower depth, allowing VLF transmissions by a deeply submerged boat.

By extending a radio mast, a submarine can also use a "burst transmission" technique. A burst transmission takes only a fraction of a second, minimizing a submarine's risk of detection.

To communicate with other submarines, a system known as Gertrude is used. Gertrude is basically a sonar telephone. Voice communication from one submarine is transmitted by low power speakers into the water, where it is detected by passive sonars on the receiving submarine. The range of this system is probably very short, and using it radiates sound into the water, which can be heard by the enemy.

Civilian submarines can use similar, albeit less powerful systems to communicate with support ships or other submersibles in the area.

Life support systems

With nuclear power or air-independent propulsion, submarines can remain submerged for months at a time. Conventional diesel submarines must periodically resurface or run on snorkel to recharge their batteries. Most modern military submarines generate breathing oxygen by electrolysis of fresh water (using a device called an "Electrolytic Oxygen Generator"). Emergency oxygen can be produced by burning sodium chlorate candles. Atmosphere control equipment includes a Carbon dioxide scrubber, which uses a spray of monoethanolamine (MEA) absorbent to remove the gas from the air, after which the MEA is heated in a boiler to release the CO2 which is then pumped overboard. Emergency scrubbing can also be done with lithium hydroxide, which is consumable. A machine that uses a catalyst to convert carbon monoxide into carbon dioxide (removed by the CO2 scrubber) and bonds hydrogen produced from the ship's storage battery with oxygen in the atmosphere to produce water, is also used. An atmosphere monitoring system samples the air from different areas of the ship for nitrogen, oxygen, hydrogen, R-12 and R-114 refrigerants, carbon dioxide, carbon monoxide, and other gases. Poisonous gases are removed, and oxygen is replenished by use of an oxygen bank located in a main ballast tank. Some heavier submarines have two oxygen bleed stations (forward and aft). The oxygen in the air is sometimes kept a few percent less than atmospheric concentration to reduce fire risk.

Fresh water is produced by either an evaporator or a reverse osmosis unit. The primary use for fresh water is to provide feedwater for the reactor and steam propulsion plants. It is also available for showers, sinks, cooking and cleaning once propulsion plant needs have been met. Seawater is used to flush toilets, and the resulting "blackwater" is stored in a sanitary tank until it is blown overboard using pressurized air or pumped overboard by using a special sanitary pump. The blackwater-discharge system requires skill to operate, and isolation valves must be closed before discharge. The German Type VIIC boat U-1206 was lost with casualties because of human error while using this system. Water from showers and sinks is stored separately in "grey water" tanks and discharged overboard using drain pumps.

Trash on modern large submarines is usually disposed of using a tube called a Trash Disposal Unit (TDU), where it is compacted into a galvanized steel can. At the bottom of the TDU is a large ball valve. An ice plug is set on top of the ball valve to protect it, the cans atop the ice plug. The top breech door is shut, and the TDU is flooded and equalized with sea pressure, the ball valve is opened and the cans fall out assisted by scrap iron weights in the cans. The TDU is also flushed with seawater to ensure it is completely empty and the ball valve is clear before closing the valve.

Crew

A typical nuclear submarine has a crew of over 80; conventional boats typically have fewer than 40. The conditions on a submarine can be difficult because crew members must work in isolation for long periods of time, without family contact, and in cramped conditions. Submarines normally maintain radio silence to avoid detection. Operating a submarine is dangerous, even in peacetime, and many submarines have been lost in accidents.

Women

Most navies prohibited women from serving on submarines, even after they had been permitted to serve on surface warships. The Royal Norwegian Navy became the first navy to allow women on its submarine crews in 1985. The Royal Danish Navy allowed female submariners in 1988. Others followed suit including the Swedish Navy (1989), the Royal Australian Navy (1998), the Spanish Navy (1999), the German Navy (2001) and the Canadian Navy (2002). In 1995, Solveig Krey of the Royal Norwegian Navy became the first female officer to assume command on a military submarine, HNoMS Kobben.

On 8 December 2011, British Defence Secretary Philip Hammond announced that the UK's ban on women in submarines was to be lifted from 2013. Previously there were fears that women were more at risk from a build-up of carbon dioxide in the submarine. But a study showed no medical reason to exclude women, though pregnant women would still be excluded. Similar dangers to the pregnant woman and her fetus barred women from submarine service in Sweden in 1983, when all other positions were made available for them in the Swedish Navy. Today, pregnant women are still not allowed to serve on submarines in Sweden. However, the policymakers thought that it was discriminatory with a general ban and demanded that women should be tried on their individual merits and have their suitability evaluated and compared to other candidates. Further, they noted that a woman complying with such high demands is unlikely to become pregnant. In May 2014, three women became the RN's first female submariners.

Women have served on US Navy surface ships since 1993, and as of 2011–2012, began serving on submarines for the first time. Until presently, the Navy allowed only three exceptions to women being on board military submarines: female civilian technicians for a few days at most, women midshipmen on an overnight during summer training for Navy ROTC and Naval Academy, and family members for one-day dependent cruises. In 2009, senior officials, including then-Secretary of the Navy Ray Mabus, Joint Chief of Staff Admiral Michael Mullen, and Chief of Naval Operations Admiral Gary Roughead, began the process of finding a way to implement women on submarines. The US Navy rescinded its "no women on subs" policy in 2010.

Both the US and British navies operate nuclear-powered submarines that deploy for periods of six months or longer. Other navies that permit women to serve on submarines operate conventionally powered submarines, which deploy for much shorter periods—usually only for a few months. Prior to the change by the US, no nation using nuclear submarines permitted women to serve on board.

Abandoning the vessel

In an emergency, submarines can contact other ships to assist in rescue, and pick up the crew when they abandon ship. The crew can use escape sets such as the Submarine Escape Immersion Equipment to abandon the submarine via an escape trunk, which is a small airlock compartment that provides a route for crew to escape from a downed submarine at ambient pressure in small groups, while minimising the amount of water admitted to the submarine. The crew can avoid lung injury from over-expansion of air in the lungs due to the pressure change known as pulmonary barotrauma by maintaining an open airway and exhaling during the ascent. Following escape from a pressurized submarine, in which the air pressure is higher than atmospheric due to water ingress or other reasons, the crew is at risk of developing decompression sickness on return to surface pressure.

An alternative escape means is via a deep-submergence rescue vehicle that can dock onto the disabled submarine, establish a seal around the escape hatch, and transfer personnel at the same pressure as the interior of the submarine. If the submarine has been pressurised the survivors can lock into a decompression chamber on the submarine rescue ship and transfer under pressure for safe surface decompression.