Experiencing the ocean in a personal submarine is like accessing another world from the comfort of your living room. Whether diving deep to the Titanic, as Limiting Factor has done, to exploring shallower depths and coral reefs in the two-person Nemo, the underwater world is officially open for adventurers.

The next generation of submersibles has moved beyond a cramped sphere with limited visibility, and gone for faster, more torpedo-like shapes, large acrylic domes so transparent that it feels like you can touch passing fish, and amenities like leather seats, joystick controls, and high-end sound systems. The largest even have bathrooms and bars.

Here are seven of the best personal submersibles to unlock your inner Jacques Cousteau.