You can make a fair and simple approximation, if you can find the approximate kv- value for your vent.
Looking at table for ball valves I find DN500 (PN10) BV Kv=42500, DN600 Kv=62000, approximate middle for 560mm (your vent opening if figure is correctly read) -> kv 52000. This would be the maximum value. Sharp edges and turbulence would probably cut this down, but let us say not longer down than for a DN600 double eccentric BFL valve with approximate Kv=37.000.
Your driving force at start is the hydraulic pressure from sea below = H = 2,1m = 0,21 bar.
Your volume of air to escape in Norm cubic meter to equalize the pressure inside and out is equal to the volume earlier replaced by water : Height 8,1m - L = (8,1 - 6,69)m = 1,41m Volume to escape: 29m3
Now for supercritical air flow (P2 < P1/2) we have QN = 13,36 x P1 x kv.
13,36 x 0,21 x 52000 = 145 891 m3/h through the escape opening, and 13,36 x 0,21 x 37000 = 103 807 m3/h.
For 29m3 to escape from results above gives then between 0,74 to 1,00 seconds, at an air velocity through the 560mm diameter opening of between 164 and 117 m/s, which seems reasonable as a forced velocity. Speed of sound in air: 343m/s.
Even if we question this approximation and says as an example that we will never reach a higher air velocity than 30m/s (which is less than 10% of speed of sound, and in my opinion far below the true velocity in this case) you will land at under 4 seconds!
(Note: I have not checked your height calculations)