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As far as ice vs water density goes, that's not the issue in SE. The ice has weight, and cargos aren't buoyant to begin with.
What I'd *really* like to see is a 1x1x1 small grid 'door' to use to open/close such spaces. Doors are too big and often too heavy. There's one in AWG's conventient weapon pack, but that's ~950MB of tank parts for just one block.
I am on my phone, so can't check, but are the maintenance hatches airtight? (Or maybe those are from a mod - maintenance hatches that can open/close and are fairly low profile)
So if cargo containers aren't buoyant, then Ice is better for weight, yes? Because water is just neutral - it eliminates the positive buoyancy of the airtight space... Obviously balancing and control are issues as well.
I have a little sub I just finished with three separate sets of airtight spaces that combine for ~160% buoyancy, the lowest by itself gives only ~89% bouyancy. And the other two by themselves give ~101-103% bouyancy, one is above the center of gravity and other is almost exactly at the CoG. Ice collection lets me balance the sub with only ~800kg. So imo it's not one or the other it's how you use both.
Do you mean the access panels? I also prayed for them to be airtight when closed, but no such luck. They don't seal.
Otherwise, the only maintenance hatches I can find are indeed modded blocks.