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Thrust setting (1, lowest and 5, highest) changes the power given to the motors. Typical usage is 2-3. Heavy usage of level 5 will drain the batteries quickly and is only recommended for quick retreats and intermittent use.

Above you can see the indicators for depth and heading hold. These are toggle on/off to maintain current depth and/or current heading. This feature only functions with the depth/heading/IMU upgrade.