Two points to factor into your thinking:I gave second thought to the issue, trying to analyze system response, so we have GPS altitude measurement and the sensors facing down. I think we can safely assume that those measure actual distance from the water surface reflection as well as the bottom below and safety system get "confused". So if my theory is right this wavering is more pronounced lower the drone fly towards the surface and depends of actual depth and translucency of the water
1. The drone only uses GPS for horizontal position data. It uses a barometric sensor to measure altitude.
2. The VPS is a combination of visual and ultrasonic sensors.