I don't believe there has ever been a member of the monarchy who has served or sailed on HMS submarines, however there have been a number of occasions that members of the Royal Family have visited and been onboard a sub. The most prominent figure was princess Diana who went to the naming ceremony of HMS Vanguard.
James the first was the British monarch who was against smoking and wrote a tract on the great harm that it did.
King George V
Team Magma will not appear in the submarine but you will see them get away with it the first time. The second time you see the submarine, you have to dive to the seafloor cavern to go challenge Maxie.
1594
Queen Elizabeth I of England and Ireland. Elizabeth I reigned between 1558 and 1603.
Queen Victoria (on 13th June 1842 according to Wikipedia).
submarine
James the first was the British monarch who was against smoking and wrote a tract on the great harm that it did.
He made the first radio speech by a Monarch in 1932.
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Harry S. Truman
King George V
Charles II
I learnt this 8 years ago from a facts card and I've never forgotten it: Queen Victoria (on 13th June 1842 according to Wikipedia).
Queen Elizabeth II
The submarine you are thinking about was the USS Nautilus. It was the world's first nuclear powered submarine and commissioned into the US Navy in 1955
Queen Victoria