That seems like quite a challenge to me.

In order to control a sub with a PC, you need the sub to return information to the PC, to allow the control program to work.
This requieres two way radio contact.

I'm sure it can be done, after all, there are people who have live video feed from their sub/boat/plane, so why not sensor info to and fro?

Sadly it's not my field of expertise, so I can't help you further.

Good luck!

Regards, Jan.