My copy of SH3 came with a key-chart....yours didn't?
A few basic keys:
View Radio messages = M
Dive to periscope depth = P
Dive = D
Crash dive = C (if depth under keel is over 70m)
Maintain depth = A
Surface = S
Emergency surface = E
Hard to port = [
Hard to starbord = ]
Rudder amidships = '
View to heading = - (make sure you're fully patched)
Head to view = = (make sure you're fully patched)
All stop = ~
Ahead slow = 1
Ahead 1/3 = 2
Ahead standard = 3
Ahead full = 4
Ahead flank = 5
Back slow = 6
Back 1/3 = 7
Back standard = 8
Back emergency = 9
...and last but not least,
F1 = Help.