Version 1 of the drone submarine is complete! It still lacks many of the capabilities I hope to add to it, but I have reached a significant milestone. The sub:

• does not leak
• powers on when the nose is attached
• can power the main motor
• can steer using its fins
• can operate the ballast system
• can be reprogrammed without opening

Capabilities I hope to add in version 2:

• GPS connectivity
• compass connectivity
• pressure sensor connectivity
• diving capability (the sub is currently too light to dive. I plan to add an extra battery pack to add weight and resolve this issue)
• rechargeability (the sub currently uses disposable batteries)

In order to fit another battery pack in the sub, I've made adjustments to the ballast system that will allow it to use only 1 gear instead of 2, and I shielded the piston from the battery pack with a tube-like structure. I am modifying the battery packs to stay in place so they can't jumble around as much.

I have a new PCB on its way from China right now that will allow me to add a GPS and compass module. I have yet to perform a sanity test on the pressure sensor; that will need to happen as well.