If a personal submarine is too small to work autonomous and mothership free, the best thing to do is to make it as small as you can to push the weight down and make the handling easier - finally you will end up with a newt suit as perfect application for mothership based mini sub deployment.
On the other hand you can make your psub bigger, so you can live aboard - which brings you to a mothership free submarine yacht beginning at 20 tons - all what stays in middlefield between those concepts comes somehow short.
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