An underwater drilling assembly, comprising: a frame, comprising: a slide member; and an attachment element configured to hold the underwater drilling assembly to a surface of a ship skin; a drilling system, comprising: a sub-frame movably supported within the frame by way of the slide member; a linear actuator attached to the frame and configured to move the sub-frame relative to the frame upon an actuation of the linear actuator; and a bit drive mounted to the sub-frame, wherein the actuation of the linear actuator is configured to move the sub-frame relative to the frame to move the bit drive relative to the frame; and a tap assembly configured to be driven by the bit drive, wherein the tap assembly comprises: a tap element (2020, 6800) configured to be attached to and detached from the bit drive, wherein the tap element comprises self-tapping threads; a sealing plug (2040, 6810) drivingly engaged with and removably positioned within the tap element, wherein the sealing plug is configured to be driven by the tap element; and an annular cutter (2050, 6820) attached to and configured to be driven by the sealing plug (2040, 6810), wherein the bit drive is configured to drill a hole in the surface of the ship skin with the annular cutter and affix the tap element (2020, 6800) to the ship skin with the self-tapping threads, characterized in that the sealing plug and the annular cutter are configured to be ejected by a bottom shank portion of a pusher element from the tap element to permit fluid to flow through the tap element. a frame, comprising: a slide member; and an attachment element configured to hold the underwater drilling assembly to a surface of a ship skin; a slide member; and an attachment element configured to hold the underwater drilling assembly to a surface of a ship skin; a drilling system, comprising: a sub-frame movably supported within the frame by way of the slide member; a linear actuator attached to the frame and configured to move the sub-frame relative to the frame upon an actuation of the linear actuator; and a bit drive mounted to the sub-frame, wherein the actuation of the linear actuator is configured to move the sub-frame relative to the frame to move the bit drive relative to the frame; and a sub-frame movably supported within the frame by way of the slide member; a linear actuator attached to the frame and configured to move the sub-frame relative to the frame upon an actuation of the linear actuator; and a bit drive mounted to the sub-frame, wherein the actuation of the linear actuator is configured to move the sub-frame relative to the frame to move the bit drive relative to the frame; and a tap assembly configured to be driven by the bit drive, wherein the tap assembly comprises: a tap element (2020, 6800) configured to be attached to and detached from the bit drive, wherein the tap element comprises self-tapping threads; a sealing plug (2040, 6810) drivingly engaged with and removably positioned within the tap element, wherein the sealing plug is configured to be driven by the tap element; and an annular cutter (2050, 6820) attached to and configured to be driven by the sealing plug (2040, 6810), wherein the bit drive is configured to drill a hole in the surface of the ship skin with the annular cutter and affix the tap element (2020, 6800) to the ship skin with the self-tapping threads, characterized in that the sealing plug and the annular cutter are configured to be ejected by a bottom shank portion of a pusher element from the tap element to permit fluid to flow through the tap element. a tap element (2020, 6800) configured to be attached to and detached from the bit drive, wherein the tap element comprises self-tapping threads; a sealing plug (2040, 6810) drivingly engaged with and removably positioned within the tap element, wherein the sealing plug is configured to be driven by the tap element; and an annular cutter (2050, 6820) attached to and configured to be driven by the sealing plug (2040, 6810), wherein the bit drive is configured to drill a hole in the surface of the ship skin with the annular cutter and affix the tap element (2020, 6800) to the ship skin with the self-tapping threads, characterized in that the sealing plug and the annular cutter are configured to be ejected by a bottom shank portion of a pusher element from the tap element to permit fluid to flow through the tap element.