Along with your depth of focus and shutter speed yes.
The reason for my shutter speed is that "I" was in another boat and I was rocking up and down heavily. I'm afraid that if I slowed my shutter down to 1/100 or so, it would have really been a disaster because the subject was flying by me while I was moving up and down, up and down, on the front bow of my boat, due to all the waves. I agree with the F5.6 was too shallow and yes, I think I did focus on the tube because their head was a tiny object to try and lock onto.

