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mosfets are definitely better--but the scrs were a big deal prior to that
your dive planes may not have enough surface area--and we found that foil shapes with plated ends were more efficient--although they aren't very useful below about a knot--handy for running piplines and doing transects--useless for up close
vbts are a good option--they allow you to change your vessel's weight without altering its displacement in the water--very important stuff for close maneuvering or hovering--however, we ran the old Aquarius for years without a variable system--depending on a slight bubble in the forward main ballast tank and adjusting as needed
Aquarius is a good example of the problems found without a vertical thruster--you can manage without one--but life is lots easier when you can just bump a switch on and off to move, adjust, hold or swing the sub--one vertical will do it i expect--two laterals are good as well--mounted fore and aft--you'll be able to run sideways or rotate on the spot--
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