Concerning surface transit.....What if you had an outboard motor on the back, and when your sub reached the dive site, transfer the (small) outboard to the support boat. A 20 horse motor should be easy to disconnect and pick up, transfer to a motor boat, and would likely power a small sub at a good speed, while not using any battery power. I assume you would have a surface boat as a safety precaution when you're diving the sub.
If the outboard mount was connected to the subs rudders, you could use the same steering mechanism to steer the outboard. Frank D.