Some additional thoughts.
In transit I mostly travel underwater at a speed of 3 knots, sometimes increased to 4-5 at night between the two snorkel charges. I guess that if you are more comfortable than me with a greater battery drain and longer recharge time cruising at 4-5 all the time could be an option. To compensate somewhat for this slow speed I sometimes run on the surface in bad weather, diving periodically to perform sound checks. Occasionally with fog but calm sea I have kept using the snorkel even after having topped the battery but this is a less frequent condition.
In patrol I stay almost always underwater running at 1-2 knots, except for attacks and putting some distance from my last sinking for which I increase speed as necessary.
Some additional suggestions from real life can also be found here:
http://www.uboatarchive.net/BDUOrder1.htm