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In general for most vegetables you want at least 12 inches deep, for tomatoes and large squash 18 inches deep, for herbs and small flowers 8 inches deep. Longer and wider is always better because the soil stays more evenly moist (up to 8ft long x 4 ft wide for raised beds and 8ft long x 3 ft wide for boxes).
Starting seeds is always a delicate part of growing anything, and learning how to grow tomatoes is no different. Start with a regular nursery tray full of your soil mix. Tomato seeds should be planted 1/4 inch deep, and about 8 seeds/inch. You may want to cover them for the first few days to keep them from drying out. If your seed starting tray does not have a lid, a sheet of plastic wrap will do fine.