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The Museum was founded by former submariners and civic leaders who wanted to bring a World War II submarine to Manitowoc to commemorate the role the city played in building submarines and supporting the war effort. In 1970, the United States Navy donated the USS Cobia to the Museum, which is the same type of submarine constructed in Manitowoc during the war. The Cobia is permanently berthed in the river adjacent to the Museum, and thousands of visitors tour her each year.