Jacob,
Thanks for the additional troubleshooting!! It worked!!
I reversed all of the vertical motors in Parameters-MOT and then recalibrated the joystick accordingly. Now Stabilize and Depth Hold modes no longer result in counterclockwise spinning!!
(I misinterpreted the joystick calibration instructions to mean calibrate the joysticks, including the direction you push the stick, opposite of QGC’s prompts. This resulted in the problematic inverse parameter settings.)
Thanks again!
Steph