What kind of senses do you need to do so (since you generally don't have LoE, I think)?
Tremor sense, life sense, think there is one for plants too. Course you could just use divination magic/psionics. "ground level above me +5 feet" is probably a specific enough location for most such spells or powers.
Problem is, the ground breaks line of sight and line of effect, thus no spell use for you!
Can you just hang out in dirt without suffocating?
That's entirely up to your DM but probably not. Just pick a race that doesn't need to breath or pick up a magic scuba tank at your local Magi Mart. Decanter of Endless Air anyone?
Necklace of Adaptation or Bottle of Air, both in the DMG.
But again, it probably depends on your DM if you don't have either of those items. Moles live underground for hours at time. They don't suffocate. Badgers have a burrow speed, and the rules don't allow you to follow through the tunnel, but they don't suffocate either.
But put a worm in mud, and it climbs to the surface, because it doesn't want to drown.