Surveying Underwater Caves

http://www.cavesurvey.com

http://www.cae.wisc.edu/~brodskye/diving/missouri_feb02/

References

Surveying Software

Caps 
Compass

WinKarst

Others:

http://caverender.de/
http://www.survex.com/
http://pubs.usgs.gov/of/of00-325/morin.html