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The oxygen in the air in the boat is a different story. Once you return to the surface and the hatches are opened, the oxygen is quickly replaced by exchange with the outside air. Takes a couple of minutes. Then you can dive again, but only until the oxygen level goes down to 17%. At that point, the crew has to get more oxygen, either from the tanks or from the atmosphere.
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Though it should be noted that in real life renewing the boat internal atmosphere would typically take quite a bit more than the "couple of minutes" the game often displays. For realism sake I would suggest at least a quarter of an hour.