I managed to carry out a deep(ish) dive with my ROV. I got down to 26.3m or 86 feet.
The only problems encountered was:
QGC telling me my compass cal was bad. I had turned the ROV on the previous day and it was fine. I unticked the self-check and no further problems?
I get the impression the ROV is nose heavy, I might remove another weight and move the remainder aft.
Absolutely no leaks, the boat was drifting with a fair amount of tide.
Four images for your perusal.