This is really cool. I wonder why the control distance is limited at 70 feet. I wouldn't think attenuation would be the issue unless the were using very high frequencies (like over 100 kHz). I guess maybe it could be the lag, even with a speed of sound in sea water of around 5000 ft/s, it would still take the signal around 14 milliseconds to go from the controller to the SoFi. A human probably wouldn't notice that, but maybe the sensor signals coming back have problems with it. I'll definitely have to read more about it.
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So just an update now that I've looked it up, unsurprisingly it turns out that using sound waves for underwater remote control is rather complicated. There are several other effects that hinder communication and signal processing, including multi-path propagation and Doppler shift. If you want to read more, check out Wikipedia's article on underwater acoustic communication.