As has been said, the easiest way of sneaking into ports is usually surfaced on a moonless night. There are lots of different ways into Scapa Flow, but I can't honestly recommend it (although I manage to sink the Hood there in my current campaign).
I'd say the bigger problem is getting out intact... annoying underwater barriers and sneaking out on the surface is made diffuclt by the strange awareness model:
Nobody even knows you are there... but 2 seconds after a torpedo impact several km away, you are under fire from every ship in range. You dive and play dead, nobody finds you... but if you raise your scope to take a peek after several hours, it'll be shot off immediately.
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