I made it to the two chests at the "under the sea puzzle" and it wont let me pick up any orbs or anything, how do I fix this?
Well, you finished the puzzle, and the orbs became inactive because you no longer need them.
there is no way to escape once i get to the end
To the end of what?
once i complete the orb puzzle there looks like there us a way you can leave from but i cant open it
Leave the same way you entered then.