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Regarding torpedo depth, you should know that the draught listed in the recognition manual does not line up with the torpedo depth in-game. This is a known issue that the devs need to fix. Your best bet is to leave torpedo depth set at 1.5 to 2 meters.
Regarding torpedo speed, usually when a torpedo misses in front of a target, that means your speed estimate was too fast. If the torpedo misses behind the target, that means your speed estimate was too slow.
99% of all merchants in Uboat move at 7 knots, unless they're alarmed! In which case they will first slow down to an almost dead stop (to throw off any torpedoes already heading towards them). Then they will full-throttle and begin a zig-zag pattern.
Because of this it's essential to try and time your torpedoes so they all arrive at each of their targets almost simultaneously. But if that's not the issue then I would defer back to the speed estimates.
If we knew how you arrive at your speed, course and range estimates maybe we'll find the issue together?
https://www.twitch.tv/videos/815017830
Or get the compass navigation mod and TDC mod, they're really great U_U <3
http://www.dev.wewh.de/ub/manual/TDC-Manual.pdf
The reason the compass navigation mod pairs together so nicely with the TDC mod is that the CN mod adds true bearings to all your map tools, and of course, always shows your true heading, which opens up a lot more fun map plotting techniques!