The closest thing is MFCM by Heretic, which however uses existing ingame animations.
http://www.subsim.com/radioroom/showthread.php?t=163591
From the readme:
This is a mod for the crew AI to make them behave more realisticly. Currently, it addresses only the bridge watch and control room crew. Future versions will include changes for other crew members for surface and submerged cruising, surfaced and submerged battle stations, being attacked and/or damaged, and damage control. Adding additional crewmen is outside of the scope of this mod.
This mod is an improvisation using animations that were not made for the uses I'm putting them to. Because of this, there will be occasions where things don't line up perfectly and you'll see more clipping. The game has no collision detection so crewmen will sometimes walk through each other. I've tried to add timing logic to minimize this, but it's still going to happen more often than not.
There are no animations for climbing ladders or going through hatches, crewmen teleport. I have added animations to try to make that transition a little less jarring. It's a workaround. Don't expect too much.