First time at sea for 3D USR1 didn’t go well due to my inability to maintain heading during the descent. Heading hold jumped all over the place and I couldn’t hold course against the current to get down through the “blind” section where I can’t see bottom (see my post in the general section). Until I get the heading hold solved I am going back to ballasting negative and just drop to the bottom. I will use the vertical thruster to maintain depth while moving around. I’m going out to the reefs tomorrow and can hopefully give you a better report with some video.