Hi @andrea, thanks for sharing this - it looks great! 
I like that it includes some of the less commonly simulated parts of operation, like dome collision damage, and different water and lighting types. I’m curious, is there also some kind of sand cloud effect or other visibility reduction when crashing into the sea floor?
As a couple of pointers,
- You might find some interesting ideas and potentially some interested people in this thread
- If Tethys can be made to output a video stream and appropriate telemetry data, and accept MAVLink-based control inputs, it may be able to be hooked into the control station softwares that people are already using to control their vehicles (like QGroundControl and Cockpit), which would add an additional level of immersion