This is kind of a silly example because the vast majority of subs ever built weren't really personnel transportation systems. They are weapons delivery systems which require humans to operate them.

And I suspect that non-catastrophic accident data is very hard to come by.

For instance, I nearly collided with a sailboat while coming to periscope depth one night. But there was no contact between vessels and no newspaper reported the near-miss so no one but me (the guy looking thru the periscope)had any reason to be afraid.

And the peacetime record is not zero. Collisions have killed some people and sank some smaller ships.....

(I was a Submariner)