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They have ballast tanks that can be filled with air for buoyancy.

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Floating or sinking in water is related to the density of the entire enclosed volume of the submarine. Obviously if the metal in a submarine were compressed into a ball it would sink as its density would exceed the density of water. However the average density of a submarine (metal skin, interior equipment and air) is less than that of water and it floats. To dive the air in the ballast tanks is compressed or allowed to escape increasing the average density and it sinks. Replacing the air in the same tanks decreases the density and it floats once more.

This is somewhat like a hot air balloon. The material in the balloon would not float in the air, however once the balloon is filled with hot air, the average density decreases and the balloon rises.

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Q: How do submarines float with heavy metal?
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