If normal waterproofing is all you need, then an acrylic or urethane spray should be enough. Note that flexing the board might crack the protective film after it dries. The problems with the sprays are making sure it gets into all of the nooks and crannies, and *not* on connector pins. That is good enough for many military applications. Next up is a waterproof enclosure. Again, the connectors are a challenge, so you have to use ones that are sealed to IP67. Switchcraft makes low cost sealed connectors for boats. Last is potting, a messy business that bets into differential coefficients of expansion. Super rugged, explosion proof, relatively expensive and messy.
ak