The USS Cobia was docked outside the museum in the Manitowoc River. The freshwater river has helped preserve the submarine over the years since it's less corrosive than saltwater.

Becker served on the USS Silversides during the Cold War.

The USS Cobia sank 13 ships during its six patrols in World War II, earning four battle stars. The submarine also rescued seven downed American pilots.

After the war, the USS Cobia was brought to Manitowoc to serve as a memorial for submariners. The Wisconsin Maritime Museum acquired it in 1986. That same year, the USS Cobia became a National Historic Landmark and was added to the National Register of Historic Places.

It's not the first submarine to grace the shores of Manitowoc. The Manitowoc Shipbuilding Company, which was located just miles from the museum, built 28 submarines during World War II.

Becker told us that the USS Cobia actually spent most of her patrols on the surface of the water, not underwater.

"Cobia is basically a gunboat that can submerge if she has to, not like a true submarine like I was on," he said. "Cobia was better on the surface. Faster, more maneuverable, and way more firepower."

The stairs didn't exist during the USS Cobia's wartime service. Sailors used ladders to enter and exit the sub through narrow hatches.

The first stop on the tour, the forward torpedo room, featured pull-out bunks where torpedomen slept.

The captain's stateroom was not available to overnight guests out of respect for the rank.

I couldn't believe that a crew of 80 men once navigated the submarine's narrow spaces for months at a time.

Instead of doorways that could be walked through, the hatches required me to duck and climb through the small openings.

Becker said that during his submarine service in the Navy, he once hit his head while running through the ship after a call rang out for crew members to report to their battle stations.

"I didn't duck far enough, and, pow, I hit my head at the top of that thing," he said. "I damn near knocked myself out."

In the control room, which contained the ship's navigational equipment and controls, Becker opened a hatch in the floor that led to the pump room. I climbed down the ladder to take a look.

A laminated set of directions included 54 steps to operate the machinery. Becker said that crew members would have been working here all day and all night.

The USS Cobia has been so well maintained that many of its controls still work. The museum staff instructed us not to touch any of the buttons or switches while staying on the submarine to prevent any technical mishaps.

In the control room, Becker showed my dad how to pull the lever that sounded the "battle stations" alarm. I was surprised by how loud it was, but it needed to be heard over the roar of the submarine's four diesel engines.

Each seabag provided by the museum included a pillow, a pillowcase, a fitted sheet, a top sheet, and a microplush blanket.

Sailors received similar seabags during their submarine service.

The night we visited the USS Cobia, temperatures in Manitowoc reached a low of 16 degrees Fahrenheit. Thankfully, the submarine was heated, and the forward torpedo room was the warmest on the ship.

When the rank of chief petty officer was established in 1893, the officers' duties included managing the goats that were kept on ships to produce fresh milk. The goats were kept in the chief petty officer's quarters, which then became known as the "goat locker," according to the Naval History and Heritage Command.

Becker said that the nickname also poked fun at the senior officers, who were referred to as "old goats" since they had been in the Navy for a long time.

The goat locker contained five beds, and the mattress was surprisingly comfortable. The confined quarters reminded me of the night I once spent in a Dolly Parton-themed RV in Tennessee. Journalism is fun, kids.

Most crew members only received one cubic foot of space for their personal belongings, but higher-ranking officers had access to more storage in their bunks.

We brought our own food and ate on the submarine, but there are several restaurants located near the museum for visitors who want to dine out.

It was surreal to step inside an active museum exhibit and eat dinner alongside the fake food displayed on real US Navy tableware.

When guests sleep on the USS Cobia, the museum stays open for them all night. A staff member also sleeps at the museum to be available if guests need anything.

Staying on the submarine required going up and down its stairs and outside for every bathroom trip, which could prove difficult for those with mobility challenges or inconvenient for those who make frequent nighttime trips. The museum can also accommodate overnight guests inside the building if needed.

There was no phone service on the submarine, either.

"You are in an entirely metal encapsulated vessel, therefore cell phone service and internet is not available on board," the email with our check-in instructions read.

Ever since I watched "Night at the Museum," a 2006 film in which exhibits at the American Museum of Natural History come alive at night, I've wondered what it would be like to visit a museum after hours.

All of my "Night at the Museum" dreams came true at the Wisconsin Maritime Museum. We were given free rein to wander as we pleased.

Walking around the museum at night did feel different, similar to the way that watching a scary movie in the dark adds a certain gravitas.

I particularly enjoyed the exhibits about shipwreck artifacts discovered off the coasts of Wisconsin and the history of the Manitowoc Shipbuilding Company. Even though I grew up in Wisconsin, I had no idea of the extent of its maritime history.

It's one thing to walk through a World War II submarine on a guided tour and imagine what life was like on board. It's another to fully immerse yourself in the experience by eating where they ate and sleeping where they slept.

I thought about what Becker told us during our tour as we walked through the crew's quarters — no matter how tough sailors seemed, the sound of tearful sniffles would always be audible at night.

"I don't care what ship it is — aircraft carrier, submarine — you're going to hear it," he said.

I'd been a little bit worried about getting seasick on the sub, but I didn't notice much movement and felt fine the whole time. I slept from around 11 p.m. to 5 a.m. then found it difficult to fall back asleep due to the chilly temperature on board.

I took advantage of the early hour and watched the sun's pink glow start to peek through the clouds.

The USS Cobia was equipped with three guns: a 50-caliber deck gun, a Bofors 40 mm gun, and an Oerlikon 20 mm cannon.

Cobia, pronounced KOH-bee-uh, is a species of fish.

At 312 feet, the USS Cobia was almost as long as the Green Bay Packers' Lambeau Field.

Breakfast included instant oatmeal packets, granola bars, muffins, bagels, orange juice, and coffee.

The USS Cobia exhibit inside the museum featured an immersive audiovisual presentation set in a model of the submarine's control room. Voice actors and animated crew members reenacted the USS Cobia's sinking of a Japanese ship loaded with 28 tanks headed to Iwo Jima in 1945.

The magnet cost $5.95.

Cullen, the museum director, hopes that when guests stay on the USS Cobia, it sparks "a moment of recognition of the tremendous sacrifice that submariners in World War II underwent."

"That's what museums really are here for," he said. "The objects are witness to history — witness to tremendous tragedy as Cobia was in wartime efforts, but also witness to the tremendous humanity of those moments in time that I think connect us as people cross-culturally and cross-generationally."

I also asked my dad for his take.

"Sleeping in the forward torpedo room with the gentle movement of the floating sub and the ever-prevalent smell of old diesel fuel long expired gave me a small taste of what life on a submarine must have been like," he said. "Truly a unique experience and a must for all militaria aficionados."

Indeed, the smell of diesel fuel lingered in my hair and on my clothes after our stay — a souvenir of its own.