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It depends on the submarine type and hull design.

Older WWI and WWII Fleet submarines were specifically designed as surface ships with limited submergence capability - they primarily ran on the surface with their diesel engines, and submerged using their battery powered electric motors when attacking a surface vessel. This hull design made gave them a lower water resistance on the surface, but much higher underwater. Their speed underwater was almost half of what they could do on the surface.

With modern submarines, the opposite is true. Submarines today are specifically designed for lower water resistance (higher speeds) underwater than they are on the surface. Top speed for most boats on the surface might approach 20 knots, but underwater they can do over 30 knots. The old Russian ALFA class submarines were known to do 45 knots submerged.

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