@Rusty,
With your suggestion concerning adding some forward speed, that will already be taking place on the diving missions because the primary purpose of having heading hold is to dead-reckon to my target destination. With the boat at anchor and heading into the current, I know the direction and distance to my target based on gps. I set the rover into the water with it heading into the current. I then crank up the speed forward and turn to the heading of the target, plus an estimated current correction angle, and place my rover in heading hold. If I judged the current correctly and have computed a proper corrected intercept angle, I will arrive right on target. This won’t happen often, but if it gives me visual contact I am in business. Once on station, and holding a stationary position, I can manually control heading more smoothly than auto heading hold.
