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Snow depth observations can be leveraged with data assimilation (DA) to improve estimation of snow density and snow water equivalent (SWE). A key consideration for mission and campaign design is how snow depth retrieval characteristics (including observation timing/frequency and sampling error) influence SWE accuracy and uncertainty in a DA framework. To quantify these effects, we implement a particle filter (PF) assimilation technique to assimilate depth and validate this approach against observed snow density and SWE at 49 snow telemetry sites across 9 years. We sample from continuous in situ snow depth records to test a range of measurement timing and sampling error scenarios representative of remote sensing capabilities. Assimilation reduces density bias by over 40% and SWE bias by over 70% across climate zones and in both wet and dry years. There is little incremental benefit to SWE accuracy when assimilating more than one depth observation near peak accumulation. SWE estimates are less sensitive to observation timing than sampling error. Alternatively, more frequent depth observations improve melt-out date timing and reduce SWE uncertainty, a key consideration when evaluating the operational utility of DA. In matching depth observations, the PF mostly acts to increase model precipitation inputs, while not systematically shifting other parameter values or forcings across the climate zones represented with the study sites. This demonstrates that precipitation is the largest source of model error. With DA, density errors are still nontrivial (above 10%), illuminating the need for further improvements to modeled density to estimate SWE within specified error limits.