Modern submarines are designed to go much faster submerged. This design also limits their surface speed capability.
WW1 and WW2 submarines were not considered true submersibles by today's standards. They were essentially surface vessels that had the capability of limited submerged operations. As such, their design and propulsion made them faster on the surface and much slower underwater. Modern submarines are true submersibles in that their only limitation is that of their crews.
The term "Boat" used to reference Submarines goes back to the very earliest submarine designs. A "Boat" is a term used for a vessel launched from a Ship; Submarines were first designed during the days of wooden sailing vessels, and were launched like any other boat from the ship. Though the official U.S. Navy designation for a submarine ("SS", for Submersible Ship) goes back to the days when submarines were surface vessels (Ships) that had limited submerged operational capability, submariners have always referred to them as "Boats". Even today, 20 years after leaving the Submarine Force, I still get irritated when someone refers to a submarine as anything other than a Boat. Today's submarines are true submersibles - their operational capability is limited only by their crews (still need food, even if everything else is taken care of). Even modern Diesel Electric submarines, who in WW2 could only stay submerged for hours, can now remain submerged for weeks. The other major difference that changed the submarine was the switch to a hull design that favored submerged operations. The old WWI and WWII boats were much faster on the surface than submerged. In contrast, today's boats are much faster submerged than they are on the surface.
The primary method of detection of submerged submarines is sonar. We also see magnetic anomaly detectors used at close range.
Bigger, Deadlier, Faster, more Comfortable.1. Bigger, Faster, Deadlier, more Comfortable.
To withstand high water pressure when they are submerged at sea.
Average: 20 knots surfaced 09 knots submerged
Many of the early submarines ran on diesel engines. These were used when on the surface for propulsion and power, as well as charging the batteries. When they submerged, they ran on electric power from the batteries.
Nuclear Submarines can stay almost indefently for them it is a question of Stores (food). Diesel Submarines are really not designed for under ice operations. AIP Subs can stay submerged for prolonged periods depending on the amount of Liquid Oxygen it has.
Modern DE submarines do have limited O2 generation capability, though the main reason it's limited is due to the enormous power consumption that electrolosis requires. Even on the surface with their diesel engines running, the electrical output just isn't enough for sustained O2 generation of any magnitude, and submerged battery operations negate using it. Nuclear Powered submarines generate more than enough power to produce enough oxygen to stay submerged indefinitely.
It will surely grow faster if left submerged on water. ~Isser
The VLF (very low frequency) band, which is 3kHz to 30kHz, is able to penetrate water a couple of tens of meters. That makes this band best suited to communicate with a submerged submarine.
WWII US Gato class went about 21 knots surface; 9 submerged.
USA. nuclear powered submarines can go faster than 25 knots (nautical miles per hour) underwater.