Here is the full list of all 17 Subnautica achievements. It takes around 40-50 hours to unlock all of the achievements on Windows.
Find the Thermal Plant
Build a prawn suit
Repair the Aurora reactor
Build a seamoth
Find the Degasi habitat on the floating island
Find the Enforcement Platform
Cure the infection
Build a habitat
Find the Primary Containment Facility
Dive for the very first time
Find the Disease Research Facility
Create and deploy a time capsule
Find the Degasi habitat in the jellyshroom caves
Find the Degasi habitat in the deep grand reef
Build a cyclops
Launch the neptune rocket
Hatch and release a Cuddlefish