After a couple of years this plan for an ultra simple (and cheap) but still practical plan is to be published in the September issue of Model Boats as a "Free plan".
Built mainly from plywood and stuff I had lying around (hence cheap) it has a free flooding hull with a central watertight compartment for the RC gear. Based loosely (very loosely if I'm honest) on the WW2 U-boats it's about 25 inches (63 cm) long with a weight of 2.5 pounds (1.1 kg). Powered by a single 385 motor and a 6 cell nimh battery pack and only needs a 3 function RC outfit.
It's just a dynamic diving type and once the operating weight (static trim with deck almost awash), speed and hydroplane angle sorted, it can cruise around in a stable submerged state (only the aerial wire showing).
I was able to check the plan before publication and it looked OK. Alas, the text escaped my checking so read it very carefully.
Glynn Guest