Use the tether ports. But you want a longer cable. We cut the tether cable in two and inserted used some old multi line phone cord. We used some of the extra wires for camera and other sensors. More info at:
http://www.phxhs.k12.az.us/education...detailid=44216
Watch the waterproofing. The water pressure will force water through the tiniest opening, even a nick in a cable.