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SSN-22 USS Connecticut (already many Seawolfs). It has a homemade static ballast system: a water pumps fills a plastic bag, air escapes through a thin hole (0.5mm). Once submerged, to surface again, you run the pump the opposite way, water escapes through a hose and the bag collapses as water almost can't pass through the thin hole. Once surfaced, air enters again through it, draining the bag empty. That simple and inexpensive (the whole system costed less than $60: automotive windshield washer (geared) water pump, servo, switches, hoses, plastic tubing. The pump is a 12V one but I run it on 7.4V (two cell phones batteries in series) effectively. The radio and motor run on 6V.
WTC test:
First test:
First sea trials:
WTC test:
First test:
First sea trials: