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If you stay submerged a lot, even if only at 2 knots, then you have charge batteries when you surface, which uses a lot of fuel, so you are burning just as much if not more fuel than if stay on surface.On surface, esp with surface radar, you have a better chance of encountering targets and more time to track and set up your attack.
I follow both doctrines, depends on what phase of war.Early war i stay submerged often during day in patrol area(as most skippers did then) and surface at night to charge.No surface attacks(wasnt common until late 42 early 43) periscope only.
Later war, I yo-yo, meaning when a plane comes around, i dive and then pop back up or try to plot their path and range, put them astern and stay on surface if possible.More difficult once IJN planes have radar but it works.
Bottom line, charging batteries burns a lot of fuel.
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