this is great. The fix for the lid flex changing boyancy was also an opportunity: an internal motor that could push the lid up a variable from the inside would

this is great. The fix for the lid flex changing boyancy was also an opportunity: an internal motor that could push the lid up a variable from the inside would allow the whole container to act as a ballast trim tank for very small adjustments. Some RC subs have similar smalll diaphram tanks to complement the larger main ballast (sometimes just for fore-aft angle trim)