Once Atlas saw the Undine Queen wave him off, he took off for his palace at high speeds. It would take him a good two hours of hard swimming to reach the boarder of his kingdom. Once he reached it, his loyal hippocampus was waiting for him exactly where he'd left him.
The Undine Kingdom was in the middle of all of the others. It was technically the smallest kingdom out of them, but it was also the most powerful. The Selkie's Kingdom was to north, the Sirens were to south, the Gorgons were to the west, and the Merfolk kingdom was to the east.
The Siren's Kingdom was the largest because they could travel much deeper than most of the other Aquarians. Some select Gorgons could go even deeper than the Sirens, but they generally ruled over the depths.