The same way you did it in SH3 - manually ordering 7 or 8 meters depth on the gauge.
However it's not worth doing though. When you do this, the game considers you "submerged." That means you can't get anything but underwater speeds (max is 6 or 7 knots at flank), and before diving, you have to surface completely before you can open the hatch in order to get down it and dive. So it becomes a big case of "what's the point?"
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They don’t think it be like it is, but it do.
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