I rotate my entire crew out every 8 hours in good weather, every 4 hours in bad weather. Never leave anyone in the torpedo rooms - they'll be useless when you need them. Extra crew who don't fit in the quarters go in the unused propulsion room (electric while surfaced, engine while submerged). In GWX they don't fatigue as quickly that way.
As for saving fuel by running submerged, it works in SH3, but don't try it in SH4, or in real life.
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