Can a submarine jump out of the water like a dolphin?

Obviously, I dont expect an absolute positive answer. But its an interesting subject regarding maths and inertia to consider. This question includes civil and military vessels and perhaps the development of a model to make such useless jump possible. So also the actual performances of existing subs in these venture.

To some degree, I can imagine a modified torpedo to do such, or even a small sub, capable of carrying one crewmember. The greater the size and mass, the greater the speed and propulsion needs to be. Mass, friction and speed would matter, as well the right angle when exiting the water. And no rocket propulsion!

Anyone taking the bait?