Please see the link and attached file carefully.
RoboSub Competition:
https://robonation.org/programs/robosub/

RoboSub 2019 Mission and Scoring:
https://robonation.org/app/uploads/sites/4/2019/10/2019-RoboSub-Mission-and-Scoring_v2.0.pdf

Video:
https://www.youtube.com/watch?v=OtnOgefsm0w&feature=youtu.be