The Naval and Submarine Museum in Cartagena (Spain) is good as well. Free, at least when we went 2 years ago, well laid out with information in English as well as Spanish. The submarine section has models from the inception of the Spanish Submarine Service to present day and numerous artefacts.
Decent toilets as well and all positioned just by the harbour at the foot of the main shopping street and close to the cruise terminal. Adjacent is the naval base just round the corner.
Cartagena was one of the main bases for the anti-Franco faction in the 1930’s Civil War.
Paul.