when the platform was originaly designed and calculated it operated well within its design parameters. (When the platform was designed with only 6 vertical columns). and due to a constant modification of platform payload additional structural design choices had to be made to acomodate.
(in this design extra pontoons were added underneath to account for extra weight. the downside was an increase in centre of bouyancy).
(in the latest design proper batteries intented for a larger pontoon was not aquired and the system was overall very unstable, but fixed by adding weight at the bottom).
Fortunately with a newer ROV made out of lightweight materials, we will mostly be able to revert to the original design