The Cave ROVer Update: The on board computer firmware update to reduce the aft (rear) thrusters by 50% during vertical descent/ascent seems to do well. The optional enclosure guards are being fabricated for the aft thrusters. So since flooding the ballast cylinders the unit is smoother but less responsive, still undecided results. Adding the 450g of additional total ballast was to much and now we are negatively buoyant meaning we sink. So I believe prior to next weeks dive, will reinstall the ballast spacers in the rear half of the cylinders, resulting in 150g in the rear half of each ballast tank and 225 in the front half bring each ballast to 375g (originally 300g) instead of present 450g each (x3).