Flight Crew Commercial; Flight Crew Flight Instructor; Flight Crew Instrument
Situational Awareness
Deviation / Discrepancy - Procedural Published Material / Policy; Inflight Event / Encounter CFTT / CFIT; Inflight Event / Encounter Unstabilized Approach
Air Traffic Control Issued Advisory / Alert; Flight Crew Executed Go Around / Missed Approach
Human Factors
While conducting RNAV Runway 15 approach into ESN; received a low altitude alert from Easton Tower while at our MDA of 440 ft. MSL. We immediately climbed to 550 ft. MSL and conducted a missed approach once at the MAP. My assumption is that the aircraft descended too rapidly; causing us to be below glide slope as indicated by the PAPI's.
Flight instructor reported executing a missed approach from an instrument approach after descending below minimums.