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For both actions, diving and surfacing, I use atmospheric thrusters. My submarine contains 32 small Atmospheric Thrusters to push the submarine down for a dive and 14 thrusters to increase the surfacing speed (The Hydrogen tanks helps with this already). All the thrusters are switched off and their Override is pushed to the Max.
All the diving thrusters are pointing upwards and are grouped together and all the surfacing thrusters are pointing downwards and grouped together. If I want to dive I just switch on the dive thrusters and the surfacing thrusters off and vice versa for surfacing. There are also two programmable blocks running scrips to stabilize the ship, which I just copied from the water mod sub. One is Whip's Gravity Alignment Systems and the other I have no idea where it came from, didn't give a name.
@peppy The future is now and the demand is high