Smarter every day has an entire series about US nuclear submarines and how they work. They can actually change depth without changing buoyancy if they angle their diving planes (fins) during movement.
As for changing buoyancy they have compressed gas aboard that can be pumped into ballast tanks which expels the water. Or they can allow water into the ballast tanks while expelling the air.
The diving planes in combination with forward movement are actually how more modern submarines control their depth and angle.
Latest Answers