Mr. Monk Is Underwater - S7-E5
Trivia: A collision like the one described in this episode has actually happened. On 8 January 2005, the USS San Francisco (SSN-711) collided with a sea mount in the vicinity of the Caroline Islands. Out of a complement of 12 officers and 115 enlisted, 98 men were injured (some more seriously than others) and one was killed. The submarine was almost lost. The sub's captain was reprimanded and relieved of command. Repairs to the sub took over three years and cost $79 million.