Which came first?
FS-1, or that Beatles song "Yellow Submarine"?
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........."Voyage to the Bottom of the Sea" appeared as a movie in 1961 and first aired on TV in 1964. The Beatles's "Yellow Submarine" was released in mid 1966. It became an animated movie in 1968.
TAG LINE: True genius is a beautiful thing, but ignorance is ugly to the bone.
The Beatles song "Yellow Submarine" was released on August 5th, 1966.
The first appearance of FS-1 (the Flying Sub) in VTTBOTS was in the second season episode "Time Bomb", which first aired on September 26, 1965.
So to answer your question, FS-1 came first. :)
Now if that bastard so much as twitches, I'm gonna blow him right to Mars.