SF2 is also not recommended highly for wriggly caves due to the counterlung being exposed at the bottom. Gravel and crap can get it and stop it expanding.

Sensors a long way out the gas path (from my understanding)

Sidekick wouldn't do the dives you want.

Deep devil deco rider, jokis, sidemount a KISS classic (very easy to do) and so and so forth are the real machines that get used for these dives pretty regularly.

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