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 Degasi habitat in the deep grand reef
Build a cyclops
Find the Degasi habitat in the jellyshroom caves
Find the Degasi habitat on the floating island
Build a seamoth
Build a habitat
Dive for the very first time
Repair the Aurora reactor
Find the Enforcement Platform
Find the Thermal Plant
Find the Disease Research Facility
Find the Primary Containment Facility
Cure the infection
Create and deploy a time capsule
Build a prawn suit
Launch the neptune rocket
Hatch and release a Cuddlefish