In this paper, we introduce the development of the Interactive Mobile Aqua Probe and Surveillance (IMAPS) system. It is a new version of autonomous surface craft that can communicate with users in real time and reach underwater using its onboard winch and sensor system. A graphical user interface is designed and an initial modeling of the robot is performed to provide a stepping stone for future autonomous control. Experimental result shows that the system is highly efficient and is ready to perform many demanding tasks in various water and weather conditions.