In the original version of this series, Yamato 2, Gatlantis had some subspace submarines that sort of resembled 1960s era subs. In Yamato 3, the Galmans had dimensional submarines that would more squared off and didn't look like any particular submarine type.
But in Yamato 2199 and onwards, the Gamilas have dimensional submarines that resemble German U-boats from World War II.