The Cave ROVer Update: I am dancing with glee! After going through code looking for an error with live firmware updating from sun up till wee hours for days, I found it, yay, no need to disassemble to make internal firmware modifications. This will allow live changes during next pool dive to adjust the aft thrusters vertical force to match the mid thrusters during descent/ascent, while leaving full force for rolls, tilts and special precision maneuvers. Once dialed in it will be nice and hard coded into the autonomous pilot & stabilizing system. You can’t see this silly grin on my face.
Aft cage protective guard enclosures have been redesigned and fabricating now to apply and test. Getting near time to splash it in the cave.