In case you haven't been tuning into the development calls, there has been a lot of work and discussion on the software.
More specifically, Brian just merged a lot of new code that fixed a lot of the bugs and added new features.
The code is merged to master on Github. You can download it here:
Here's a short video of us driving the ROV with the new code (note: we lost a prop right away so only ended up driving in circles):