story identification - 80s anime cartoon with mechs

Trying to remember an 80s era anime cartoon that had mechs in it. I can't remember if they were human controlled from inside the mechs or by remote. I think their base was a giant robot, and was stuck under water, possibly in the ocean. I vaguely remember an episode where they got enough power to briefly bring the base above water and fire a few shots before having the robot shaped base fall back under water. I believe the humans pioleted smaller mechs, that were sort of transformers like (I think)
Does anyone know or remember this cartoon?

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