Remote Controlled Submarine / Underwater ROV

What could be more fun than exploring the  pitch black depths, finding new fishing spots, performing boat maintenance, or discovering treasure with your very own Remote Controlled Submarine? I'm going to be referring to the remote controlled submarine as a UROV for Underwater Remotely Operated Vehicle. This UROV features a live video feed with a viewing screen mounted on the controller, HD video recording capable via GoPro mounted camera, battery powered and capable of reaching depths up to 100 ft.


Use the video as the main guide and I will also list some of the priciples below:

Motors:
Bilge pump replacement cartridges (1250gph) that were bought on amazon.
Three total motors for which two for forward, reverse, and turning, and one for elevation control.
Pry off the impeller and machine an adapter to have the output shaft accept a propellor.

Buoyancy:
The urov needs to be neutrally buoyant, meaning if you bring the urov to a depth it shall not sink or float. However being slightly positively buoyant is beneficial for a few reasons; one being if the urov loses power than it will slowly float back to the surface, two when controlling the urov near the bottom of the water it won't have a tendency to hit the bottom causing debris to stir up and cloud the water, and three it makes the urov to have a smooth elevation control with the use of a prop as opposed to a ballast system.

Tether:
The most limiting factor is the tether. The tether is the lifeline to the urov it supplies power, control, and video feed via the 100ft. length cable connected to the controller. The tether must also be as close to neutrally buoyant as possible. The tether consists of two 12ga. power wires, one ethernet cable containing 8 pairs of 24 ga. wire for control of the relays, and one cable for the live video feed.

Lights:
There are two main headlights and one camera(live) light all made up of LED clusters. Unfortunately the GoPro does not work well in low light conditions therefore the recorded HD video gets a poor spotlight effect.

Controller:
The controller consists of a live video feed camera, a joystick, an elevation control toggle switch, a pressure sensor digital read out, and headlight toggle switches.

Power:
The power is controlled by a 12 volt marine battery which is connected to the controller.

See the videos below for more details!