I have only seen morale change one time. It happened when I stayed too long on the surface and took damage from a destroyer. A few crew members, all in the compartment that took damage, had their morale 'shaken', while one other crewmember in another compartment went 'fanatic'. The effect seemed to last a few days at least. However, refitting or saving/loading reset morale back to 'normal'.
It's hard to say if it affected crew efficiency, but I assume it does.
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