I performed both buoancy and thruster tests on a test platform. Both tests went extremely well. I was surprised by the results of each. Based on my observations on the thruster performance, I can reduce my power requirement.
The reduction in the power requirement will also allow me to reduce the overall footprint of the system which was another point that was concerning me. I now believe that I can fit all of the electronics in one pressure hull.
The Gyropoint mice came in last week (thanks hudson for the post). I bought two units. I think they will do nicely.
The next steps are to mount the pressure hull(s) and get started on the electronics.