Yes what he said. Go for quick recce dive first & check it out. Cleaning a heavily fouled hull in water (even with scuba gear) is hard work. And potentially dangerous. And may get you in trouble with causing water pollution. Only dive under the hull in good light. Have a dive buddy on board the yacht to make sure you are OK & keep coming back to surface . Not sitting with head phones on drinking beer!!

Aim for slack tides. Wear gloves - riggers gloves are good. And a wetsuit. And fins. You will leave some of blood in the water. Big bucket of fresh water for rinse after is desirable, and maybe a 1st aid kit for all the scrapes & cuts. Do you know if you have hard or soft (ablative) AF? Hard stuff will tolerate a bit of scraping. Soft stuff - well you are rubbing away what keeps marine life at bay. Scraper - I prefer to use those hard plastic paint scrapers rather than metal scrapers. A good stiff scrubbing brush (plastic or natural bristles) with a handle is also good. You will need to have ties on them, or a basket hanging above the water to store them.
In terms of bang for your buck (dives), do the hull in the following order:
* Prop
* Rudder
* Water line (ie what you can reach while still on the surface) - easy with just a mask & snorkel.
* Everything else.
Have a bottle of rum handy for when you are finished. We call it "dive rum". Take several swigs straight from the bottle when you are finished in the water. The bottle of dive rum should be stored with the boat cleaning gear so it looks suitably manky.
Good luck!