How can I gain access to a sub basement with no trap door?
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Is there outside access? Do you just want to make access inside? You'll need to decide where you are willing to put steps or a ladder. Is there going to be enough space below for a staircase or will it have to be a ladder. If it's a staircase the opening will be much bigger.
There has to be some type of access somewhere.
So you don't have a basement you have a crawl space. Am I getting that right? You should at least have some sort of opening where you can get under the house. It is going to be dirty and full of icky things but that appears to be the only way to access what you need. If worse comes to worse you might need to make some sort of access.
What type of foundation do you have? If it was me I would get in touch with someone who knows how and where to make or cut an opening for you. You don't want to compromise the structure in any way.
I would think anyone who does foundation for a living could help you or at least give the name of someone who can help. Good luck!