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That, or you're playing a quick mission. Subs there always cavitate. Or at least, it's been a while since one did not, for me.
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It may be because of currents. They are not implemented a bit correctly. In current the current speed is added to OS speed and they together affect mast breaking speeds, maybe cavitation too. Try to turn them off.
Edit: tested .. current speed affects cavitation. So for example if cavitation speed is 15 kts with no current, you will cavitate at 10 if you will go in same direction as 5 kts current and at 20 if you go in opposite direction. With extreme current speeds you can cavitate with engines off. Really .. use currents off. Winds too if you play OHP, it has too strong effects on it.