There's a BBC documentary from last year which I just watched: https://www.bbc.co.uk/programmes/p0fpz9zw and honestly a lot of it seems quite amateur hour. One of the steering motors was fitted backwards. When they discovered this, at the bottom of the ocean and a few hundred feet from Titanic, the solution they used was to hold the gamepad at right angles to compensate. That time they proceeded with the tour and mad…
It's only when it blows up that it turns from "ingenuity" into "amateur hour".
People who participated in this knew the risks. They fucked up. None of us would have designed a better submarine, and I'd wager we're not all that qualified to tell a crappy design from a good one, except - once again - after the fact.