Getting Bot to hold peridepth at 0kts.

[Furia]

As fas as I know hovering any of the WWII era submarines at o Kts at periscope deep was a extremely difficult taks since without waterflow the dive planes are useless and only pumping in and out water was not very effective with very slow response time and risking broaching.
There is a minimum maneuvering speed required to keep an effective waterflow over the rudders and dive planes and I think 0 kts hovering at the precise periscope depth is too much to ask for a bot to perform it realistically.