Stingray

Gerry Anderson's third SF supermarionation saga told the adventures of the WASPs (the World Aquanaut Security Patrol) as they explored the oceans and kept the world safe from a variety of perils. The WASP's main weapon was Stingray, a super-sub under the command of Troy Tempest. Troy's copilot was Phones, and they were often joined on missions by Marina, a princess of the undersea kingdom of Pacifica. Marina could breathe under water, but was unable to speak. (imdb)