It's a combination of Up down drag, displacement, and flood rate settings in the sub's sim file.
Edit: Displacement plays a fairly large role. Your first inclination may be to put the displacment at the historical settings, but that will not help you. These numbers are internal, and the player never see's them. What makes a boat dive slower is the difference between the surfaced and submerged displacement. An increment of 5 to 10 in the difference between the two can result in a second or so more, or less, in the dive time. IMO, It's generally unwise to rely on just one setting, as up down drag and floodrate also play a role.
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