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active sonar aircraft angle anti-ship areas array attack submarine ballast tanks ballistic missile batteries beam boat bow planes British submarine built buoyancy cent coastal conning tower convoy craft cruiser deck detection developed diesel diesel-electric Doenitz effective engine escorts example fast submarine fire control fleet submarine frequency fuel German Guppy high speed homing torpedoes hull form hydrophones increased Japanese knots launched limited long-range marine miles minelayer missile submarine motors naval noise nuclear submarine operate passive sonar patrol periscope periscope depth postwar powerplant pressure hull programme propeller propulsion radar range reactor reduced relatively Royal Navy sail sensors signals snorkel SOSUS Soviet submarines stern strategic submarine commander submarine design submerged Subroc surface ships tactics target tons torpedo tubes turbine Type VIIC Type XXI Type XXI U-boat typical U-boat underwater speed warships wartime weapons World World War II yards