Up Periscope (1959) on Netflix

A Navy commando, Lt. (jg) Ken Braden, is sent on a secret mission to photograph a Japaneses code book. He's to be taken there aboard a submarine commanded by Paul Stevenson and then return without the Japanese knowing they have ever been there. Stevenson is a by-the-book captain who follows his operational orders to the letter. That approach had led to the death of a member of his crew on his last mission, and he's lost the respect and support of his crew. Braden and Stevenson don't quite hit it off at first but the eventually develop a respect for one another.