Doraemon: Nobita's Great Mermaid Naval Battle

Nobita asks Doraemon to take him somewhere they can dive and as a result the robot-cat uses several gadgets to make it possible for both to able to swim on an imaginary ocean above sea level. Inadvertently a mermaid ends up on Nobita's backyard when they turn off the illusion. Her name is Sophia and she is a princess of an ancient underwater...