It's been updating in a long time :). In the meantime, there have been major electrical and hardware modifications. The control board has been redesigned to be more stable, and the front part of the main tube has been replaced with a hemispherical shape. I will replace the camera with a fisheye lens in the future. So it has been changed to hemisphere to make space. Detailed instructions about assembly and fabrication will be posted soon!

I have tested the waterproofing, and once I have confirmed that the water is not leaking. I'll test the waterproofing once again in a deeper water.