Whale Jump

An interesting book about how two American immigrants in Russia developed the FCS for Kilo-class submarines. Unfortunately, only the abstract is translated in English:

“Whale Jump” is an extremely complex emergency surfacing
manoeuvre, which can save a submarine in distress, provided that its
captain and crew have courage, experience and determination. An
action taken in extreme circumstances by a talented and brave leader
and his team to save the day can be called a “Whale Jump”.
“Whale Jump” is the name of this book, about the creation of the
command system of Soviet submarine Project 877 (Kilo class) also
known as “Varshavyanka”.
“Whale Jump” is a historical account of how the submarine’s
combat and navigation system “Usel” (Russian for “The Knot”) came
into being.
“Varshavyanka” and “Usel” are still deployed in the 2st century by
the navies of Russia, India, China, Iran, Algeria and other countries.
Their creation 40 years ago has tied an incredible «destiny knot»
of many peoples’ lives – a Leningrad team of young and enthusiastic
developers and their forever to be loved teachers and leaders: Philip
Staros and Josef Berg, talented American engineers of amazing and
tragic fates. More than once they had to execute a “Whale Jump”, was
luck always with them?
Intelligence service conflicts, daring scientific endeavors, collaboration
with the great creators of submarines, aircraft and spacecraft, the
emergence, development and downfall of Soviet microelectronics, all
formed the destiny knot described in this book.
The author, Mark Galperin, was born in Leningrad and educated at
LITMO University. He joined the design bureau headed by Philip Staros
as a student and worked under his guidance for 14 years. Mark was the
first deputy to Philip Staros in the “Usel” design and was awarded the
State Award of the USSR for his part in the Varshavyanka project. He
now resides in Australia.