[jandrese]

Remote control with acoustics is undoubtedly feasible. Getting a return picture so you're not doing it blind is probably not. It would be much easier to make the drone autonomous and self pathfinding, but even that's quite state of the art and would be placing a lot of faith in your code to not get confused/lost/crash in the process.

[constantly]

Something like this maybe? The website claims 6,000m depth (20,000ft), which is more than enough to do the job.

https://www.anduril.com/hardware/dive-ld/