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The main entrance access points on submarines are termed "hatches". Most boats typically have 4 surface entry points:

Stern - Escape trunk and engineering access hatch
Amidship - Weapons Shipping Hatch, is angled for lowering torpedoes and other torpedo tube launched weapons into the torpedo room.
Bridge Access - Goes from the Control Room to the top of the fairwater (sail).
Bow Access - Escape trunk and Bow Compartment access.

Inside the boat, compartment doors are called "watertight doors", and like access hatches have geared dogging mechanisms that seal them tight from air and water leaks.

Of course stateroom and other similar doors are just called doors.

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