What they call "Helmsman" is actually the Chief Engineer, the guy who stands at the front of the control room. He relays the orders for turning and diving, so you have to have someone in that position. In the Crew Management (F7) screen he is the officer on the left of the three. The middle one is the Navigator, and you need him to set a new course with the waypoints. The guy on the Right is the Weapons Officer and you need him to target ships.
It's a flaw in the game that the Watch officer never returns to the Bridge when you resurface after diving. You have to move him there yourself. H.sie's new mod fixes this, if you can use it.
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“Never do anything you can't take back.”
—Rocky Russo
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