Hi @Anirban, welcome to the forum! 
Camera calibration to determine the intrinsic and distortion parameters is unfortunately unique to individual cameras, and will also depend on the lens focus/zoom you were using at the time, as well as some additional light refraction that depends on the salinity and temperature of the water you were operating in. Calibration for the extrinsic parameters is completely situation-dependent (it involves the things being imaged), and likely isn’t what you’re asking about.
I can possibly do an intrinsics calibration in air tomorrow of mine, but be aware that there’s no guarantee that will be close to the parameters of the camera you were using, since mine may be at a different zoom level, have different lens and image placement imperfections in manufacturing, and won’t be in water. At best it might capture some aspect of how the cameras and enclosure domes come from the factory, but I don’t know how consistent either of those are.