diff --git a/ArduSub/ReleaseNotes.txt b/ArduSub/ReleaseNotes.txt
index 82a925de7c..ec55eadeb8 100644
--- a/ArduSub/ReleaseNotes.txt
+++ b/ArduSub/ReleaseNotes.txt
@@ -1,5 +1,11 @@
 APM:Sub Release Notes:
 
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Sub 3.5.4 5-April-2019
+
+- major depth hold performance improvement: remove overshoot and bounce-back
+- bugfix motor test initialization condition
+
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 Sub 3.5.3-beta 29-April-2018 / Sub 3.5.3 8-May-2018