Surfacing or broaching.
A submarine is a ship that can travel underwater.
Underwater volcanoes are called submarine volcanoes. They form in a similar way as their continental counterparts, that is close to plate boundaries.
The process of a submarine to move from the surface of the ocean to a position underneath the surface is called a dive. This is accomplished by allowing water to fill the tanks of the submarine, the heavy water pressure now inside the vessel now will force it to sink below the surface, thus a "dive".
The Naval term for a submarine's initial rise above the surface of the water is called "broaching", e.g., a submarine has broached the surface. It takes more effort to fully surface a boat to where it's buoyant enough to stay on the surface. Broaching can be done intentionally or unintentionally by nature. If a boat is at periscope depth (about 65' for most boats), and sea swells are large, a big enough wave can suck a boat right to the surface without warning.
When magma comes up to Earth's surface and hardens, it is called lava.
A submarine can surface from underwater in a matter of minutes, typically taking around 1-3 minutes to reach the surface.
Royal Navy submarine
A submarine is kept at, or close to, surface air pressure.
After you find the submarine you use dive up to the surface.
Magma that flows onto the Earth's surface is called Lava.
Below the surface............
Enemy surface ships are the main target of submarine warfare