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Thanks for all of the interest! To answer a few of the questions you had.
Sometimes you do have to go down there and there are no bathrooms. Instead they issue you a pee bottle. You have to be really comfortable with the people you're diving with because there's not much room. Many people, including myself, hold it so I didn't have to use it!
The way we navigated the sub was by using a compass as well as homing devices that have been placed down there to give the pilot a sense of direction. Also, the mothership has GPS and can "beam" us down coordinates.
I will definitely try and post some pics soon!
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