The only real rescue from underwater was the Squalus, off the east coast of the US in fairly shallow water. I don't know of any subs that were sunk in combat from which the crews escaped, except in cases like the Tang, in which the sub was sunk on the surface and those on the bridge survived.
While the RadioLog mod didn't add subs to the game, it sure made it seem like there was help out there. I don't know if SH4 will have anything like that or not, but I doubt it.
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