Joseph Shin
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I wouldn't upgrade if you already have the 6. If you're purchasing new, I would go 6 if you will only use it underwater, but the 7 if you plan to also use it on land. At some point you may want to take advantage of the HyperSmooth stabilization and other features. Both use the same battery and Super Suit housing.
Definitely get a tray and handle system so you can hold the camera steady.