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Firstly, make sure that there still is a door (the door 'shuttle' should be visible on sonar), because sometimes they can just kind of pop out of existence due to game weirdness.
If the door hasn't disappeared, and it's just stuck in the 'open' position. Make sure the door control lever is flipped to 'closed' (the indicator lamp should be blinking orange/yellow) and then you may have to try rocking it loose using physics.
Either trying to dislodge it from outside with a character, or by intentionally ramming the submarine into a wall at a low-ish speed, try forwards, or up & down. I tried to make the door as smooth as possible, however the small 'endcap' of the hull shell could cause slight sticking issues.