Englishman William Bourne designed a prototype submarine in 1578, featuring a completely enclosed boat that could be submerged and rowed beneath the surface.

Scottish mathematician John Napier wrote about underwater sailing and strategies for harming enemies in his Secret Inventions in 1596.

Cornelis Drebbel was able to create oxygen from saltpetre to refresh the air inside his submarine. This method was detailed in Drebbel's work 'On the Nature of the Elements' (1604), demonstrating his ingenuity in solving the problem of oxygen absence underwater.

In 1607, Johannes Kepler commented on Cornelis Drebbel's submarine concept, expressing astonishment at the scientific basis of Drebbel's claims. Kepler's remark highlighted the innovative nature of Drebbel's work in the field of submarine technology.

In 1620, Dutch inventor Cornelius Drebbel conducted a demonstration of the world's first working submarine beneath the River Thames. The sub, believed to be a modified rowboat coated in greased leather, dived 15 feet underwater and was witnessed by King James I and thousands of Londoners.

In 1636, Marin Mersenne proposed a cylindrical copper submarine design to withstand deep ocean pressures, influencing early submarine shapes resembling a porpoise.

In 1648, Bishop John Wilkins of Chester outlined the strategic advantages of submarines in his work 'Mathematical Magick'. This early recognition of the military potential of submersible vehicles paved the way for their future development in naval warfare.

In 1690, Constantijn Huygens, Jr. mentioned in his diary how Cornelis Drebbel used a quicksilver barometer to measure the depth of his submarine's descent, ensuring it did not sink. This innovative method showcased Drebbel's advanced understanding of submarine technology.

In 1692, Denis Papin designed an oval-shaped submarine that worked on similar principles as his first design, with a water pump controlling the buoyancy of the machine.

In 1720, Yefim Nikonov constructed the first military submarine under the orders of Peter the Great of Russia. The submarine was designed to approach enemy ships undetected and launch attacks using a combustible mixture.

In 1727, no fewer than 14 types of submarine boats were patented in England, showcasing the early development of submarine technology.

In 1747, an unidentified inventor proposed a unique method of submerging and resurfacing a submarine using goatskin bags attached to the hull, which served as a precursor to modern submarine ballast tanks.

Giovanni Borelli's 1680 boat design with goatskins in the hull laid the foundation for the modern ballast tank concept, allowing submarines to submerge and resurface by controlling water inside the vessel.

In 1775, David Bushnell, a young inventor from Connecticut, designed and built the first American submarine called Turtle. It featured innovative technologies such as a hand-cranked screw-like oar, air pipes for fresh air, ballast tanks for diving, and a primitive torpedo for attacking enemy ships.

During the American Revolutionary War, the first military submarine, Turtle, operated by Sgt. Ezra Lee of the Continental Army, attempted but failed to sink the British warship HMS Eagle in New York harbor on September 7, 1776.

In 1800, the French built the first successful combat submarine named The Nautilus based on a design by American engineer Robert Fulton. Despite successful trials, the project was eventually abandoned.

In May 1801, Robert Fulton built the submarine Nautilus in France under a grant from Napoleon Bonaparte. The craft was made of copper sheets over iron ribs and had features like a collapsing mast and sail for surface propulsion, a hand-turned propeller for underwater movement, and a conning tower for observation.

In 1805, the submarine Nautilus sank the brig Dorothy in a test. This event showcased the capabilities of the Nautilus in underwater operations.

In 1814, Silas Halsey died while using a submarine in an unsuccessful attack on a British warship stationed in New London harbor during the War of 1812.

In 1834, Russian Army General Karl Andreevich Shilder demonstrated the first rocket-equipped submarine to Emperor Nicholas I.

On September 18, 1837, the Submarino Hipopótamo, the first submarine built in South America, underwent testing in Ecuador, crossing the Guayas River successfully.

In 1850, Wilhelm Bauer constructed the Brandtaucher, a submarine designed to break the Danish blockade of Germany. Funding limitations led to a smaller and less capable submarine than planned, contributing to its sinking.

Wilhelm Bauer's first submarine, Le Plongeur-Marin, sank in Kiel harbour on February 1, 1851. Despite the sinking, Bauer and his two assistants managed to escape from a depth of 60 feet after being on the bottom for five hours.

Wilhelm Bauer's second submarine, Le Diable-Marin, built for the Russian government, was successful and completed 134 dives before being lost at sea.

During the coronation of Tsar Alexander II in September 1856, Wilhelm Bauer submerged his submarine in Kronshtadt harbour with musicians on board. An underwater rendition of the Russian national anthem was heard by persons inside ships in the harbour.

The Alligator was the first U.S. Navy submarine, equipped with hand-powered paddles initially and later upgraded to a hand-cranked propeller. It sank in April 1863 after service.

On February 17, 1864, the Confederate sub-H.L. Hunley successfully sank the Union vessel USS Housatonic with a torpedo attack, becoming the first submarine in history to destroy an enemy ship. Despite the victory, the Hunley also sank during the mission, resulting in the loss of its crew.

The Union's submarine, Alligator, the first U.S. Navy sub with advanced features, was lost in a storm off Cape Hatteras on April 1, 1863, while being towed for its first combat deployment at Charleston.

During the American Civil War, on February 17, 1864, the Confederate submarine CSS Hunley sank the USS Housatonic off Charleston Harbor, marking the first successful sinking of a ship by a submarine, although Hunley itself sank shortly after.

The Flach submarine, commissioned by the Chilean government during the Chincha Islands War, sank during tests in Valparaiso Bay on May 3, 1866, with the entire crew of eleven.

The Whitehead torpedo, designed in 1866 by British engineer Robert Whitehead, was the first practical self-propelled torpedo. It was propelled by compressed air, had a speed of 7 knots, and could hit a target 700 yards away.

In 1867, Catalan inventor Narcís Monturiol retrofitted the Ictineo II to become the first submarine powered by a combustion engine, moving away from human-powered propulsion.

The Nordenfelt II submarine was sold to the Ottoman Empire and renamed Abdülhamid.

In 1875, Irish-born John Holland submitted his first submarine design to the U.S. Navy, which was initially deemed impractical. This rejection spurred Holland to improve and redesign his underwater boats.

During the Russo-Turkish War on 16 January 1878, the Turkish ship Intibah was sunk by Russian torpedo boats carrying Whitehead torpedoes, proving their effectiveness in combat.

In 1879, the Peruvian government commissioned and built the Toro Submarino, designed by engineer Federico Blume. It was considered the first operational submarine in Latin America, capable of various underwater operations.

Stefan Drzewiecki built the world's first electrically powered submarines in Russia, which paved the way for the development of electric propulsion technology in submarines.

In 1885, the Nordenfelt I submarine, similar to the Resurgam, was launched. It was steam-powered, armed with a single torpedo, and operated on the surface before diving to release pressure for underwater propulsion.

In 1887, Nordenfelt commissioned the construction of Nordenfelt II (Abdül Hamid) and Nordenfelt III (Abdül Mecid) submarines. They were powered by a coal-fired steam engine, armed with torpedoes and machine guns, and capable of diving to a depth of 160 feet.

In 1888, the U.S. Navy recognized the potential of submarines and organized a design competition for a new underwater vessel. John Holland emerged as the winner of the competition.

After winning the U.S. Navy's design competition, John Holland started constructing the submarine Plunger in 1893. This marked a significant milestone in the development of submarines.

The USS Holland, the United States Navy's first commissioned submarine, was launched on May 17, 1897 at Navy Lt. Lewis Nixon's Crescent Shipyard in Elizabeth, New Jersey. It was designed by Irish inventor John Philip Holland and utilized internal combustion engine power on the surface and electric battery power for submerged operations.

On October 12, 1900, the USS Holland became the first submarine officially commissioned by the U.S. Navy. Designed by John Philip Holland, the 54-foot vessel featured both a gasoline engine and an electric motor for surface and underwater travel. It served as a training vessel and experimental craft for early American submariners.

The USS Holland, originally known as the Holland VI, was purchased by the United States Navy on April 11, 1900. It was a significant milestone as it marked the first commissioned submarine for the US Navy, showcasing the advancements in submarine technology during that period.

The first Holland-class submarine, commissioned by the Royal Navy from Vickers, Barrow-in-Furness, underwent a diving trial at sea on April 6, 1902. This marked a significant step in the testing and implementation of submarine designs purchased from the US company.

On June 14, 1904, the Imperial Japanese Navy placed an order for five Holland Type VII submersibles, which were later assembled in Japan but did not see action during the Russo-Japanese War.

In response to the naval blockade of Port Arthur, Russia established the world's first operational submarine fleet around seven submarines based in Vladivostok.

The newly created IRN submarine fleet conducted its first combat patrol on 14 February 1905, with submarines Delfin and Som, each patrol lasting about 24 hours.

On 29 April 1905, IRN submarine Som made contact with IJN torpedo boats, resulting in no casualties or damage as the torpedo boats withdrew shortly after opening fire.

On 1 July 1905, IRN submarine Keta encountered two IJN torpedo boats in the Tartar Strait, but was unable to obtain a proper firing position as both combatants broke contact.

In 1907, the D-class submarine became the first submarine class to be fitted with wireless transmitters, revolutionizing communication capabilities underwater.

On 22 September 1914, German U-boat U-9 sank three British Cressy-class armoured cruisers (HMS Aboukir, Hogue, and Cressy) in less than an hour in the southern North Sea.

In 1915, French physicist Paul Langevin worked on the development of active sound devices for detecting submarines using quartz.

James Richardson designed an early submarine snorkel in 1916, allowing submarines to travel underwater using non-electric powered propulsion to avoid detection for long periods. Although patented, the British Admiralty did not accept it for Royal Navy submarines.

USS K-5, one of the first U.S. diesel-electric submarines, was deployed to the Azores during World War I to patrol for German submarines.

During World War I, the U.S. diesel-electric submarine K-5 patrolled off the Azores to protect shipping. In 1918, the submarine suffered an explosion due to improper venting by the crew and had to return to the United States.

The British tested their ASDIC on HMS Antrim in 1920, marking a significant milestone in underwater active sound detection technology.

Production of ASDIC, an underwater active sound detection apparatus, started in 1922 after successful testing.

In 1924, an anti-submarine school, HMS Osprey, and a training flotilla of four vessels were established on the English Isle of Portland.

The US Sonar QB set arrived in 1931, contributing to advancements in underwater detection technology.

In 1935, the German Navy adopted a new U-boat strategy involving wolf packs to target Allied vessels in the Atlantic during World War II, showcasing the effectiveness of submarine warfare tactics.

The Anglo-German Naval Agreement of 1936 allowed Germany to achieve parity in submarines with Britain by secretly starting construction of submarines in the 1930s.

In 1940, the German Navy tested the Walter turbine system on the experimental submarine V-80 and later on the naval U-791, employing a chemical mix for propulsion based on the same principles as the Ictíneo II.

During World War II, 314 submarines served in the United States Navy, with nearly 260 deployed to the Pacific. On December 7, 1941, 111 boats were in commission, and 203 submarines from the Gato, Balao, and Tench classes were commissioned during the war.

In 1942, Japanese submarines successfully sank two fleet aircraft carriers, one cruiser, and several destroyers and other warships, while damaging many others, including two battleships. However, they were not able to sustain these results as Allied fleets became better organized and reinforced.

On December 2, 1943, the USS Tang (SS-306) was off the Mare Island Navy Yard in California.

The inability of the German U-boat arm to effectively disrupt Allied supply lines paved the way for the success of D-Day, a crucial turning point in World War II.

U.S. submarines played a crucial role in World War II by sinking more than 540,000 tons of Japanese naval vessels and nearly 5 million tons of merchant ships. This significantly disrupted Japan's war effort by blocking raw materials from reaching the country.

After the war, several of Japan's most original submarines, including I-400, I-401, I-201, and I-203, were sent to Hawaii for inspection in 'Operation Road's End' before being scuttled by the U.S. Navy in 1946, following Soviet demands for access to the submarines.

HMS Affray was lost in the English Channel in 1951 due to the snort mast fracturing.

In 1952, General Dynamics acquired the Electric Boat Company, which was previously known as the Holland Torpedo Boat Company founded by inventor John Philip Holland. The Electric Boat Company is a leading submarine manufacturer today.

The first launch of a cruise missile (SSM-N-8 Regulus) from a submarine occurred in July 1953 from the deck of USS Tunny, marking a significant advancement in submarine warfare capabilities.

USS Nautilus (SSN-571) was the first nuclear-powered submarine developed by Hyman G. Rickover. It became the first submarine to cross the North Pole under the Arctic polar ice pack.

On January 17, 1955, the USS Nautilus (SSN-571), the first nuclear-powered submarine, embarked on its maiden voyage, traveling completely submerged in the Atlantic for over 1,300 miles. This marked a significant milestone in naval history as nuclear power was demonstrated as an efficient propulsion method for submarines.

In 1957, the USS Nautilus made history by becoming the first submarine to cross the North Pole. This achievement showcased the capabilities of nuclear-powered submarines in navigating challenging environments.

In 1958, the USS Nautilus successfully crossed the North Pole beneath the Arctic ice cap, showcasing the capabilities of nuclear-powered submarines. This achievement was made possible by advancements in technology such as inertial navigation systems and oxygen extraction from seawater.

USS George Washington (SSBN-598) made history by successfully launching the first Polaris missile from a submerged submarine on 20 July 1960.

On July 24, 1961, the USS Thresher (SSN-593) was at sea.

The United States lost the nuclear submarine USS Thresher in 1963 due to equipment failure. It was a significant incident during the Cold War period.

The USS Scorpion, a United States Navy submarine, was lost with all hands in mysterious circumstances in the North Atlantic Ocean. The exact cause of its sinking remains unknown.

The sinking of PNS Ghazi in the Indo-Pakistani War of 1971 was the first submarine casualty in the South Asian region.

During sea trials on September 19, 1976, the USS Los Angeles (SSN-688) was underway in the Atlantic.

On March 21, 1981, Mrs. Barbara Bush served as the sponsor and christened the nuclear-powered-attack submarine USS Houston (SSN-713) during its launch ceremonies in Newport News, Virginia.

During the 1982 Falklands War, the sinking of the cruiser ARA General Belgrano by HMS Conqueror marked the first sinking by a nuclear-powered submarine in war.

The remains of the sunken Confederate submarine H.L. Hunley and its lost crew members were discovered in 1990, leading to its eventual raising in 2000.

The Tomahawk land-attack missile was first used in combat by submarines during Operation Desert Storm by USS Louisville (SSN-724) and USS Pittsburgh (SSN-720).

An incident occurred between the Russian K-276 and the USS Baton Rouge in February 1992.

The USS Seawolf, the first Seawolf-class submarine of the U.S. Navy, was commissioned in 1997. It is known for being extremely quiet and fast.

The USS Connecticut, a Seawolf-class submarine, was commissioned in 1998. It is part of the U.S. Navy's fleet known for its speed and stealth capabilities.

The Russian Kursk was lost on 12 August 2000 probably due to a torpedo explosion.

In August 2005, AS-28, a Russian Priz-class rescue submarine, was trapped by cables and/or nets off of Petropavlovsk, and saved when a British ROV cut them free in a massive international effort.

A new NATO Submarine Rescue System entered service in 2007, further enhancing the capabilities for rescuing crews from disabled submarines.

In 2020, the U.S. Navy signed a $9.5 billion deal with General Dynamics for the first two Columbia-class submarines. These submarines are set to replace the Ohio class of ballistic missile submarines. The completion of the work is expected by April 2030.

In March 2021, the USS Montana, the newest submarine of the U.S. Navy, was launched in Virginia. The construction of this submarine began in 2015, marking a significant milestone in naval technology.

Submarines are continuously evolving to meet the military and scientific needs. They are becoming faster, quieter, and equipped with deadlier ordnance for military purposes. In the realm of science, submarines are utilizing tougher building materials and more sensitive equipment to explore the depths of the oceans.