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Here's a quick drill we used recently at practice to get our swimmers to HAVE to go deeper on their pushoffs.

Swimmers swim next to each other, taking up the entire lane. Three groups seems to be a good, safe limit.

Have the 2nd and 3rd group of swimmers go pretty soon after the group in front of them (they'll figure this out pretty quickly).

When the lead group, and the 2nd group of swimmers come out of their turn, they have to go deep enough to swim under the groups that follow.