Your "Up" thrusters aren't aligned with your center of mass, forcing your vehicle to pitch. Move your "Up" thrusters below the center of mass.

In the PIDs, make the integral maximal (250), and reduce gain to below 0.1. Also increase the fake set point of the "Hover" PID to 30 or more so that it doesn't touch the water (jet thrusters do not work underwater).

thank you I was thinking with the power of pids I could make any odd shape fly I ended up scratching it but needed help getting my latches and stuff to open right in combat sort of like my other designs. i like adding hidden compartments for weapons so they are kind of protected and cool.

This might help you: https://steamhost.cn/steamcommunity_com/sharedfiles/filedetails/?id=2429730986