Well to print A2 (full paper size) on my printers at 360 DPI resolution you need 50 MP. At 240 DPI (not optimal for my taste) you need 22MP more or less. One problem is perception; when you are in the water, your brain fills in a lot of things for you i.e, you ignored the fact that the scene is too blue. If you look at Maria's shark it is in fact too blue, proper white balance to get the white patch on the shark actually white, will show something very different.
You talk about only 24 mp and even then it is not sharp. Every camera system is just that, a combination of camera/sensor, lens, housing and port. I don't know what lens you are shooting wide but if every shot is not sharp, it likely isn't the sensor or sensor size.
Your third pic illustrates the same issue, your color balance is not very good there it is just too blue.
Bill