First of all, welcome to the Forum. Yes you can compress time by using the + and - keys on the number pad. This will allow you to get to your destination much faster. Your other questions really depend on your realism settings within the game. If you are going to spend a lot of time submerged, then you need to set your speed to about 2 knots in order to conserve battery power and increase the length of time that you can remain submerged.
Personally, I spend most of my time on the surface, and I dive when I come into contact with an enemy unit.
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