In fact there is nothing involved that can not be solved by a "molusk brain" which is the only resource that Nautilus has available for pulling off the task. It was for a good reason why the intelectual father of all submarines - Jules Verne - was so fascinated by those critters that he named his fictionary submarine Nautilus.
Having a closer look to their "engineering" you will find a very different "engineering aproach" with no dynamic diving and control surfaces involved - a concept that was not really implemented until the BEN FRANKLIN drift dive and stays forgotten by the military submarine building establishment.
At concretesubmarine.com we do not implement a "civil version of a military submarine" with all the complicated and dangerous sistems and operation envelopes that military submarines normally struggle with. We go back to the origin Nautilus and its technical implementation Ben Franklin. Piccard compared it with a "smooth baloon ride under the sea". The concept works best if the hull is virtually "non compressible" - Nautilus is - our concrete submarine yacht hulls are - classic submarine steel hulls are not.