The reality is that for most of the time we could only see a blue abyss, even in bright daylight and clear water.
By the end we had collected some water inside the main tube and called it a day.
Steering was still a huge problem. The ROV always wants to go left. No matter what. We have swapped motors, propellers, tried inversion settings and updated the software to try and solve this problem to no avail. Our newly joined member Evan suggested we try a fixed-position rudder. We may just do it. I am willing to try almost anything given how bad this neutrally buoyant brick flies.