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Yes, subs are part of the game, but to my knowledge, there are 2 types:
1) Depth controlled by speed
2) only stays at 1 depth
A sub that can float on the surface at 0, then sink to -10m, then stop, then sink to -40m, then stop, then sink to -100m, then stop, then raise to -50m, then stop, then to the surface again, all while remaining unmoving (which, to me, is a true fully-functioning submarine), is not possible to my knowledge.
On topic, subs work, but this isn't exactly a sim. For example, fuel engines work underwater without a problem. Flooding doesn't cause any damage beside the ship possibly sinking. Cannons work fine underwater. List goes on.
submarines can be setup to be controlled manualy useing complec controllers verry simularly to real submarines, hydrofoils work good for controling pitch and haveing indevidual keys for up and down pitch for your ballasts is pisible to. it would make controlling your sub easyer if you found the equalibriam or "zero boyancy/weight" and planned your controlls acordingly
My sub dives when something is in front of them or if enemies are in range. It resurfaces if its HP is below 81% or if enemies are gone