09:55:16.064 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
09:55:16.064 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-03-11 09:55:16.064137684 +01:00
09:55:16.064 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
09:55:16.064 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:55:16.064 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
09:55:16.064 INFO  [utilities/logging/src/logger_manager.rs:91] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/mission_data/2025-03-11/2025-03-11_09-55-16.lobsterlog")
09:55:16.066 DEBUG [utilities/logging/src/time_series_logger.rs:103] Creating logger to table: logs
09:55:16.067 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223]})
09:55:16.067 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:55:16.069 INFO  [utilities/simulator/src/simulator.rs:74] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
09:55:16.146 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223]})
09:55:16.146 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:55:16.378 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223]})
09:55:16.378 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:55:16.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: imu
09:55:16.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_waterlinked
09:55:16.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_bottom_track
09:55:16.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_water_track
09:55:16.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_current_profile
09:55:16.713 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_depth
09:55:16.713 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: magnetometer
09:55:16.713 WARN  [robot_core/launch/src/lib.rs:328] Magnetometer not enabled
09:55:16.713 WARN  [robot_core/launch/src/lib.rs:308] IMU not enabled
09:55:16.713 WARN  [robot_core/launch/src/lib.rs:345] Can Magnetometer not enabled
09:55:16.713 WARN  [robot_core/launch/src/lib.rs:363] Waterlinked DVL not enabled
09:55:16.713 WARN  [robot_core/launch/src/lib.rs:388] Nortek DVL not enabled
09:55:16.713 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223]})
09:55:16.713 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:55:16.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: kinematic_state
09:55:16.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: environment_state
09:55:16.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: se_debug_stats
09:55:16.715 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
09:55:16.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
09:55:16.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
09:55:16.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: thruster_manager
09:55:16.717 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
09:55:16.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/cascaded_control
09:55:16.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position_settings
09:55:16.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position
09:55:16.720 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
09:55:16.720 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position_settings
09:55:16.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position
09:55:16.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
09:55:16.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position_settings
09:55:16.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position
09:55:16.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude_settings
09:55:16.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
09:55:16.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude
09:55:16.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude_settings
09:55:16.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
09:55:16.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude
09:55:16.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude_settings
09:55:16.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
09:55:16.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude
09:55:16.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
09:55:16.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity_settings
09:55:16.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity
09:55:16.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity_settings
09:55:16.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
09:55:16.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity
09:55:16.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
09:55:16.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity_settings
09:55:16.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity
09:55:16.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
09:55:16.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity_settings
09:55:16.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity
09:55:16.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
09:55:16.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity_settings
09:55:16.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity
09:55:16.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
09:55:16.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity_settings
09:55:16.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity
09:55:16.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
09:55:16.729 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223]})
09:55:16.730 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:55:16.730 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
09:55:16.730 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
09:55:16.730 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
09:55:16.730 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
09:55:16.730 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 4881.134130083
09:55:16.797 INFO  [robot_core/path_planning/src/lib.rs:113] Loading Python Path Planner from '/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python'
09:55:17.104 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
09:55:17.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
09:55:17.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
09:55:17.105 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
09:55:17.105 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
09:55:17.105 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
09:55:17.105 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for gps
09:55:17.105 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'gps' with StopRunningFlag { name: "gps", id: 0, stop_running: false, do_auto_stop: true }
09:55:17.105 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'gps' successfully started
09:55:17.105 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
09:55:17.105 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
09:55:17.105 INFO  [peripherals/communication/src/lib.rs:68] grpc listening on 0.0.0.0:10820
09:55:17.105 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: task_executor_actions
09:55:17.105 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
09:55:17.106 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
09:55:17.106 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
09:55:17.106 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'discovery_node' successfully started
09:55:17.106 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
09:55:17.106 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
09:55:17.106 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
09:55:17.106 INFO  [peripherals/communication/src/discovery_node.rs:63] Sending heartbeats to: ["255.255.255.255:10899", "192.168.191.255:10899"]
09:55:17.180 INFO  [robot_core/launch/src/lib.rs:283] Waiting until code stops running so threads can be joined
09:55:17.180 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'state_estimator'
09:55:17.244 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
09:55:17.245 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1068.45Hz
09:55:17.536 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:55:17.552 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:55:17.563 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:55:17.563 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:55:18.108 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
09:55:18.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:18.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:18.291 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:19.309 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5384.94Hz
09:55:19.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:19.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:19.333 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:20.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:20.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:20.485 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:21.553 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5006.66Hz
09:55:21.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:21.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:21.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:22.676 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:22.681 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:22.690 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:23.766 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6345.42Hz
09:55:23.770 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:23.777 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:23.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:25.102 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:25.113 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:25.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:26.569 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6889.14Hz
09:55:26.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:26.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:26.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:27.571 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:27.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:27.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:28.574 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4126.76Hz
09:55:28.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:28.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:28.597 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:29.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:29.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:29.625 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:30.628 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4531.33Hz
09:55:30.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:30.640 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:30.650 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:31.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:31.641 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:31.648 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:32.617 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4934.57Hz
09:55:32.622 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:32.628 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:32.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:33.109 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: AddTask(3: '')
09:55:33.638 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:33.646 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:33.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:34.661 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7379.47Hz
09:55:34.665 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:34.671 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:34.679 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:35.683 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:35.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:35.697 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:36.701 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3932.36Hz
09:55:36.707 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:36.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:36.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:37.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:37.742 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:37.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:38.744 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5994.49Hz
09:55:38.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:38.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:38.766 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:39.271 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: Engage
09:55:39.272 DEBUG [robot_core/path_planning/src/lib.rs:224] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 35.37479725947183, y: 31.530645976895613 }, Coord { x: 35.37496431777824, y: 51.572360546698704 }, Coord { x: 15.384166263318384, y: 51.572567367972354 }, Coord { x: 15.383999204042876, y: 31.530772424639224 }, Coord { x: 35.37479725947183, y: 31.530645976895613 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
09:55:39.272 INFO  [robot_core/task_scheduler/src/executor/active.rs:98] Starting a SurveyPolygon task ''
09:55:39.272 DEBUG [robot_core/path_planning/src/lib.rs:226] Current goal: None. Updated pending goals queue: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 35.37479725947183, y: 31.530645976895613 }, Coord { x: 35.37496431777824, y: 51.572360546698704 }, Coord { x: 15.384166263318384, y: 51.572567367972354 }, Coord { x: 15.383999204042876, y: 31.530772424639224 }, Coord { x: 35.37479725947183, y: 31.530645976895613 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (15.383999203346193 m^1, 32.53064597689561 m^1), end: (35.374813889167726 m^1, 32.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (35.374822233817994 m^1, 33.53064597689561 m^1), end: (15.384007488391816 m^1, 33.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (15.384015833042085 m^1, 34.53064597689561 m^1), end: (35.37483057846826 m^1, 34.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (35.37483892311853 m^1, 35.53064597689561 m^1), end: (15.384024177692353 m^1, 35.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (15.384032522342622 m^1, 36.53064597689561 m^1), end: (35.3748472677688 m^1, 36.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (35.37485561241907 m^1, 37.53064597689561 m^1), end: (15.38404086699289 m^1, 37.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (15.384049211643159 m^1, 38.53064597689561 m^1), end: (35.37486389746469 m^1, 38.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (35.37487224211496 m^1, 39.53064597689561 m^1), end: (15.384057496688783 m^1, 39.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (15.384065841339051 m^1, 40.53064597689561 m^1), end: (35.37488058676523 m^1, 40.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (35.3748889314155 m^1, 41.53064597689561 m^1), end: (15.38407418598932 m^1, 41.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (15.384082530639589 m^1, 42.53064597689561 m^1), end: (35.37489727606577 m^1, 42.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (35.374905620716035 m^1, 43.53064597689561 m^1), end: (15.384090875289857 m^1, 43.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (15.384099219940126 m^1, 44.53064597689561 m^1), end: (35.374913965366304 m^1, 44.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (35.37492225041193 m^1, 45.53064597689561 m^1), end: (15.384107564590394 m^1, 45.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (15.384115849636018 m^1, 46.53064597689561 m^1), end: (35.374930595062196 m^1, 46.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (35.374938939712465 m^1, 47.53064597689561 m^1), end: (15.384124194286287 m^1, 47.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (15.384132538936555 m^1, 48.53064597689561 m^1), end: (35.37494728436273 m^1, 48.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (35.374955629013 m^1, 49.53064597689561 m^1), end: (15.384140883586824 m^1, 49.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (15.384149228237092 m^1, 50.53064597689561 m^1), end: (35.37496397366327 m^1, 50.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (35.37496433129114 m^1, 51.53064597689561 m^1), end: (15.38415757288736 m^1, 51.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (15.38416591753763 m^1, 52.53064597689561 m^1), end: (35.37496433129114 m^1, 52.53064597689561 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
09:55:39.275 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 35.37479725947183, y: 31.530645976895613 }, Coord { x: 35.37496431777824, y: 51.572360546698704 }, Coord { x: 15.384166263318384, y: 51.572567367972354 }, Coord { x: 15.383999204042876, y: 31.530772424639224 }, Coord { x: 35.37479725947183, y: 31.530645976895613 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), Started)
09:55:39.275 WARN  [robot_core/task_scheduler/src/executor/active.rs:74] Could not add task logger since the logger is not active
09:55:39.275 INFO  [robot_core/task_scheduler/src/executor/mod.rs:99] TaskExecutor performed: NewMode(OnTask(with:Task(type: SurveyPolygon, id: 0, name: ''))
09:55:39.275 INFO  [utilities/logging/src/logger_manager.rs:154] Started logging to database 2025-03-11T09:55:39.275745863+01:00_task_executor
09:55:39.276 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.0938322630509186, Enable control depth: 0.2, Depth control enabled: true
09:55:39.276 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
09:55:39.276 INFO  [robot_core/control/src/cascaded_control.rs:354] Disabling depth control.
09:55:39.276 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
09:55:39.276 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
09:55:39.276 DEBUG [utilities/logging/src/time_series_logger.rs:198] Transaction commited: logs
09:55:39.276 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.0938322630509186 }
09:55:39.276 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
09:55:39.276 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
09:55:39.276 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
09:55:39.276 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
09:55:39.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
09:55:39.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
09:55:39.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
09:55:39.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
09:55:39.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
09:55:39.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
09:55:39.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
09:55:39.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
09:55:39.350 DEBUG [robot_core/control/src/cascaded_control.rs:156] Depth control enabled: reset vertical velocity controller
09:55:39.350 DEBUG [robot_core/control/src/cascaded_control.rs:359] Details: Current depth: 0.21498075153148774, Enable control depth: 0.2, Depth control enabled: false
09:55:39.350 INFO  [robot_core/control/src/cascaded_control.rs:358] Enabling depth control. 
09:55:39.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
09:55:39.379 DEBUG [robot_core/control/src/cascaded_control.rs:192] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
09:55:39.379 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
09:55:39.379 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
09:55:39.440 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:39.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:39.458 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:39.666 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:39.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:39.680 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:39.688 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:39.694 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:39.703 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:39.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:39.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:39.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:39.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:39.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:39.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:39.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:39.765 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:39.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:39.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:39.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:40.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:40.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:40.055 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:40.061 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:40.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:40.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:40.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:40.088 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:40.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:40.099 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:40.106 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:40.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:40.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:40.137 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:40.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:40.215 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:40.223 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:40.276 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
09:55:40.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:40.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:40.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:40.412 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:40.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:40.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:40.433 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:40.440 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:40.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:40.455 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:40.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:40.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:40.484 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:40.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:40.563 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:40.575 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:40.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:40.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:40.771 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:40.778 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:40.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:40.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:40.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:40.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:40.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:40.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:40.832 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:40.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:40.847 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:40.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:40.979 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:40.989 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:41.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:41.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:41.246 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:41.251 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:41.256 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:41.262 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:41.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:41.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:41.281 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:41.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:41.293 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:41.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:41.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:41.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:41.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:41.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:41.451 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:41.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:41.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:41.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:41.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:41.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:41.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:41.741 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:41.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:41.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:41.765 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:41.771 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:41.776 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:41.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:41.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:41.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:41.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:41.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:41.928 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:42.224 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:42.232 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:42.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:42.249 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:42.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:42.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:42.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:42.281 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:42.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:42.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:42.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:42.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:42.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:42.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:42.398 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1847.05Hz
09:55:42.470 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:42.478 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:42.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:42.718 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:42.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:42.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:42.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:42.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:42.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:42.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:42.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:42.770 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:42.776 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:42.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:42.788 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:42.795 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:42.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:42.942 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:42.949 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:42.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:43.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:43.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:43.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:43.207 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:43.213 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:43.220 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:43.226 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:43.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:43.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:43.246 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:43.254 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:43.262 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:43.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:43.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:43.389 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:43.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:43.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:43.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:43.638 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:43.643 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:43.651 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:43.657 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:43.664 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:43.670 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:43.676 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:43.680 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:43.684 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:43.690 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:43.697 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:43.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:43.709 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:43.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:43.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:43.862 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:44.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:44.118 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:44.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:44.130 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:44.136 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:44.144 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:44.151 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:44.158 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:44.164 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:44.169 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:44.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:44.179 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:44.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:44.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:44.352 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:44.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:44.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:44.628 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:44.634 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:44.640 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:44.647 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:44.653 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:44.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:44.664 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:44.671 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:44.677 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:44.683 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:44.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:44.695 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:44.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:44.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:44.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:44.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:44.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:45.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:45.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:45.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:45.133 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:45.139 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:45.146 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:45.153 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:45.162 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:45.170 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:45.177 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:45.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:45.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:45.201 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:45.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:45.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:45.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:45.346 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:45.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:45.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:45.597 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:45.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:45.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:45.620 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:45.626 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:45.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:45.644 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:45.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:45.660 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:45.670 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:45.677 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:45.690 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:45.699 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
09:55:45.699 WARN  [peripherals/payload/src/lib.rs:59] Payload session was dropped without being stopped, stopping it now
09:55:45.699 INFO  [utilities/logging/src/logger_manager.rs:169] Stopped logging
09:55:45.700 INFO  [robot_core/task_scheduler/src/executor/mod.rs:133] Stopping logging to database '2025-03-11T09:55:39.275745863+01:00_task_executor'
09:55:45.700 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
09:55:45.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
09:55:45.700 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
09:55:45.700 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
09:55:45.701 INFO  [utilities/simulator/src/simulator.rs:179] Simulator dropped: Simulator()
09:55:45.707 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:55:45.707 DEBUG [utilities/logging/src/time_series_logger.rs:198] Transaction commited: logs
09:55:45.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:55:45.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:55:45.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:55:45.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
09:55:45.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:55:45.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'state_estimator' stopped
09:55:45.725 INFO  [robot_core/launch/src/lib.rs:297] Joined thread 'state_estimator'
09:55:45.725 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'control'
09:55:45.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:55:45.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:55:45.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:55:45.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:55:45.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:55:45.735 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:55:45.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:55:45.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:55:45.740 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:55:45.741 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:55:45.742 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:55:45.743 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:55:45.743 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
09:55:45.743 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send position goal request': utilities/python_bindings/src/rust_control_handle.rs:59
09:56:53.020 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
09:56:53.020 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-03-11 09:56:53.020386533 +01:00
09:56:53.020 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
09:56:53.020 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:56:53.020 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
09:56:53.020 INFO  [utilities/logging/src/logger_manager.rs:91] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/mission_data/2025-03-11/2025-03-11_09-56-53.lobsterlog")
09:56:53.022 DEBUG [utilities/logging/src/time_series_logger.rs:103] Creating logger to table: logs
09:56:53.023 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0]})
09:56:53.023 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:56:53.026 INFO  [utilities/simulator/src/simulator.rs:74] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
09:56:53.089 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0]})
09:56:53.089 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:56:53.230 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0]})
09:56:53.230 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:56:53.553 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: imu
09:56:53.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_waterlinked
09:56:53.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_bottom_track
09:56:53.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_water_track
09:56:53.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_current_profile
09:56:53.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_depth
09:56:53.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: magnetometer
09:56:53.556 WARN  [robot_core/launch/src/lib.rs:328] Magnetometer not enabled
09:56:53.556 WARN  [robot_core/launch/src/lib.rs:308] IMU not enabled
09:56:53.556 WARN  [robot_core/launch/src/lib.rs:345] Can Magnetometer not enabled
09:56:53.556 WARN  [robot_core/launch/src/lib.rs:363] Waterlinked DVL not enabled
09:56:53.556 WARN  [robot_core/launch/src/lib.rs:388] Nortek DVL not enabled
09:56:53.556 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0]})
09:56:53.556 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:56:53.557 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: kinematic_state
09:56:53.557 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: environment_state
09:56:53.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: se_debug_stats
09:56:53.558 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
09:56:53.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
09:56:53.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
09:56:53.559 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: thruster_manager
09:56:53.560 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
09:56:53.560 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/cascaded_control
09:56:53.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position_settings
09:56:53.562 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position
09:56:53.562 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
09:56:53.562 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position_settings
09:56:53.563 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position
09:56:53.563 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
09:56:53.564 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position_settings
09:56:53.564 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position
09:56:53.564 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
09:56:53.564 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude_settings
09:56:53.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude
09:56:53.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
09:56:53.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude_settings
09:56:53.566 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude
09:56:53.566 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
09:56:53.566 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude_settings
09:56:53.566 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude
09:56:53.567 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
09:56:53.567 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity_settings
09:56:53.567 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity
09:56:53.568 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
09:56:53.568 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity_settings
09:56:53.568 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity
09:56:53.568 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity_settings
09:56:53.568 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
09:56:53.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity
09:56:53.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
09:56:53.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity_settings
09:56:53.570 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity
09:56:53.570 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
09:56:53.570 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity_settings
09:56:53.570 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity
09:56:53.571 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
09:56:53.571 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity_settings
09:56:53.571 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity
09:56:53.572 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0]})
09:56:53.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
09:56:53.572 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:56:53.572 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
09:56:53.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
09:56:53.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
09:56:53.572 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
09:56:53.572 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 4977.975877246
09:56:53.633 INFO  [robot_core/path_planning/src/lib.rs:113] Loading Python Path Planner from '/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python'
09:56:53.858 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
09:56:53.858 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
09:56:53.858 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
09:56:53.858 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
09:56:53.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
09:56:53.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
09:56:53.859 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for gps
09:56:53.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'gps' with StopRunningFlag { name: "gps", id: 0, stop_running: false, do_auto_stop: true }
09:56:53.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'gps' successfully started
09:56:53.859 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
09:56:53.859 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
09:56:53.859 INFO  [peripherals/communication/src/lib.rs:68] grpc listening on 0.0.0.0:10820
09:56:53.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: task_executor_actions
09:56:53.861 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
09:56:53.861 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
09:56:53.861 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
09:56:53.861 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'discovery_node' successfully started
09:56:53.861 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
09:56:53.861 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
09:56:53.861 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
09:56:53.862 INFO  [peripherals/communication/src/discovery_node.rs:63] Sending heartbeats to: ["255.255.255.255:10899", "192.168.191.255:10899"]
09:56:53.933 INFO  [robot_core/launch/src/lib.rs:283] Waiting until code stops running so threads can be joined
09:56:53.933 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'state_estimator'
09:56:53.995 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
09:56:53.996 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1034.80Hz
09:56:54.862 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
09:56:55.669 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:56:55.676 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:56:55.686 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:56:56.820 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5874.68Hz
09:56:56.824 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:56:56.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:56:56.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:56:57.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:56:57.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:56:57.921 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:56:58.912 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6888.76Hz
09:56:58.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:56:58.921 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:56:58.928 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:56:58.949 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:56:58.952 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:56:58.990 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:56:58.990 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:56:59.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:56:59.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:56:59.923 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:00.890 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3789.31Hz
09:57:00.896 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:00.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:00.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:01.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:01.899 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:01.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:02.191 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: AddTask(3: '')
09:57:02.947 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5000.65Hz
09:57:02.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:02.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:02.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:03.981 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:03.989 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:03.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:04.998 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2431.11Hz
09:57:05.003 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:05.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:05.019 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:06.031 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:06.039 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:06.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:06.063 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: Engage
09:57:06.063 DEBUG [robot_core/path_planning/src/lib.rs:224] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 53.01675082088994, y: 21.19080183544606 }, Coord { x: 53.016876308201745, y: 41.232516586310524 }, Coord { x: 33.02607771187935, y: 41.232681942470876 }, Coord { x: 33.025952223992526, y: 21.190886817647545 }, Coord { x: 53.01675082088994, y: 21.19080183544606 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
09:57:06.063 INFO  [robot_core/task_scheduler/src/executor/active.rs:98] Starting a SurveyPolygon task ''
09:57:06.063 DEBUG [robot_core/path_planning/src/lib.rs:226] Current goal: None. Updated pending goals queue: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 53.01675082088994, y: 21.19080183544606 }, Coord { x: 53.016876308201745, y: 41.232516586310524 }, Coord { x: 33.02607771187935, y: 41.232681942470876 }, Coord { x: 33.025952223992526, y: 21.190886817647545 }, Coord { x: 53.01675082088994, y: 21.19080183544606 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (33.025952228322495 m^1, 22.19080183544606 m^1), end: (53.01676333786534 m^1, 22.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (53.01676959635304 m^1, 23.19080183544606 m^1), end: (33.0259584868102 m^1, 23.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (33.0259647452979 m^1, 24.19080183544606 m^1), end: (53.016775854840745 m^1, 24.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (53.016782113328446 m^1, 25.19080183544606 m^1), end: (33.0259710037856 m^1, 25.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (33.0259772622733 m^1, 26.19080183544606 m^1), end: (53.01678837181615 m^1, 26.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (53.01679463030385 m^1, 27.19080183544606 m^1), end: (33.025983520761 m^1, 27.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (33.025989779248704 m^1, 28.19080183544606 m^1), end: (53.01680088879155 m^1, 28.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (53.01680714727925 m^1, 29.19080183544606 m^1), end: (33.025996037736405 m^1, 29.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (33.02600229622411 m^1, 30.19080183544606 m^1), end: (53.01681340576695 m^1, 30.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (53.016819664254655 m^1, 31.19080183544606 m^1), end: (33.02600855471181 m^1, 31.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (33.02601481319951 m^1, 32.19080183544606 m^1), end: (53.016825922742356 m^1, 32.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (53.01683218123006 m^1, 33.19080183544606 m^1), end: (33.02602107168721 m^1, 33.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (33.02602733017491 m^1, 34.19080183544606 m^1), end: (53.01683843971776 m^1, 34.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (53.01684469820546 m^1, 35.19080183544606 m^1), end: (33.026033588662614 m^1, 35.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (33.026039847150315 m^1, 36.19080183544606 m^1), end: (53.01685095669316 m^1, 36.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (53.01685721518086 m^1, 37.19080183544606 m^1), end: (33.02604610563802 m^1, 37.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (33.02605236412572 m^1, 38.19080183544606 m^1), end: (53.016863473668565 m^1, 38.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (53.016869732156266 m^1, 39.19080183544606 m^1), end: (33.02605862261342 m^1, 39.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (33.02606488110112 m^1, 40.19080183544606 m^1), end: (53.01687599064397 m^1, 40.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (53.01687628866719 m^1, 41.19080183544606 m^1), end: (33.02607113958882 m^1, 41.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (33.026077398076524 m^1, 42.19080183544606 m^1), end: (53.01687628866719 m^1, 42.19080183544606 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
09:57:06.064 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 53.01675082088994, y: 21.19080183544606 }, Coord { x: 53.016876308201745, y: 41.232516586310524 }, Coord { x: 33.02607771187935, y: 41.232681942470876 }, Coord { x: 33.025952223992526, y: 21.190886817647545 }, Coord { x: 53.01675082088994, y: 21.19080183544606 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), Started)
09:57:06.065 WARN  [robot_core/task_scheduler/src/executor/active.rs:74] Could not add task logger since the logger is not active
09:57:06.065 INFO  [robot_core/task_scheduler/src/executor/mod.rs:99] TaskExecutor performed: NewMode(OnTask(with:Task(type: SurveyPolygon, id: 0, name: ''))
09:57:06.065 INFO  [utilities/logging/src/logger_manager.rs:154] Started logging to database 2025-03-11T09:57:06.065062096+01:00_task_executor
09:57:06.065 DEBUG [utilities/logging/src/time_series_logger.rs:198] Transaction commited: logs
09:57:06.065 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.09383226415178443, Enable control depth: 0.2, Depth control enabled: true
09:57:06.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
09:57:06.066 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
09:57:06.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
09:57:06.066 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.09383226415178443 }
09:57:06.066 INFO  [robot_core/control/src/cascaded_control.rs:354] Disabling depth control.
09:57:06.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
09:57:06.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
09:57:06.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
09:57:06.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
09:57:06.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
09:57:06.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
09:57:06.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
09:57:06.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
09:57:06.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
09:57:06.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
09:57:06.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
09:57:06.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
09:57:06.108 DEBUG [robot_core/control/src/cascaded_control.rs:359] Details: Current depth: 0.20179753173061257, Enable control depth: 0.2, Depth control enabled: false
09:57:06.108 DEBUG [robot_core/control/src/cascaded_control.rs:156] Depth control enabled: reset vertical velocity controller
09:57:06.109 INFO  [robot_core/control/src/cascaded_control.rs:358] Enabling depth control. 
09:57:06.109 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
09:57:06.150 DEBUG [robot_core/control/src/cascaded_control.rs:192] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
09:57:06.150 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
09:57:06.151 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
09:57:06.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:06.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:06.455 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:06.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:06.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:06.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:06.484 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:06.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:06.498 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:06.505 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:06.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:06.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:06.531 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:06.537 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:06.546 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:06.553 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:06.560 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:06.856 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:06.866 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:06.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:06.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:06.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:06.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:06.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:06.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:06.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:06.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:06.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:06.940 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:06.948 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:06.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:06.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:06.978 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:06.992 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:07.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
09:57:07.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:07.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:07.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:07.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:07.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:07.331 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:07.342 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:07.354 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:07.364 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:07.378 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:07.392 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:07.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:07.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:07.425 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:07.435 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:07.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:07.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:07.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:07.823 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:07.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:07.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:07.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:07.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:07.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:07.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:07.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:07.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:07.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:07.921 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:07.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:07.941 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:07.951 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:07.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:07.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:08.234 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1839.19Hz
09:57:08.331 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:08.345 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:08.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:08.370 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:08.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:08.391 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:08.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:08.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:08.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:08.432 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:08.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:08.452 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:08.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:08.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:08.481 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:08.493 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:08.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:08.937 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:08.949 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:08.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:08.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:08.985 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:08.991 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:08.999 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:09.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:09.016 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:09.024 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:09.032 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:09.042 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:09.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:09.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:09.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:09.072 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:09.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:09.426 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:09.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:09.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:09.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:09.452 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:09.458 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:09.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:09.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:09.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:09.481 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:09.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:09.493 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:09.499 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:09.505 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:09.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:09.518 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:09.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:09.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:09.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:09.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:09.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:09.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:09.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:09.924 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:09.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:09.938 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:09.944 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:09.951 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:09.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:09.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:09.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:09.984 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:09.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:09.997 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:10.340 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:10.348 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:10.360 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:10.366 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:10.374 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:10.379 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:10.387 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:10.394 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:10.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:10.409 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:10.415 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:10.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:10.426 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:10.432 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:10.441 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:10.446 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:10.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:10.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:10.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:10.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:10.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:10.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:10.922 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:10.929 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:10.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:10.942 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:10.949 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:10.953 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:10.960 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:10.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:10.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:10.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:10.980 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:10.987 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:11.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:11.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:11.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:11.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:11.335 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:11.343 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:11.348 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:11.357 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:11.363 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:11.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:11.377 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:11.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:11.389 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:11.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:11.407 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:11.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:11.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:11.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:11.835 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:11.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:11.849 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:11.856 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:11.862 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:11.869 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:11.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:11.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:11.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:11.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:11.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:11.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:11.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:11.922 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:11.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:11.943 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:12.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:12.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:12.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:12.331 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:12.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:12.341 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:12.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:12.355 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:12.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:12.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:12.376 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:12.384 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:12.391 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:12.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:12.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:12.412 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:12.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:12.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:12.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:12.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:12.824 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:12.830 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:12.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:12.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:12.849 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:12.863 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:12.869 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:12.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:12.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:12.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:12.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:12.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:12.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:13.193 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2039.53Hz
09:57:13.282 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:13.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:13.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:13.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:13.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:13.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:13.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:13.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:13.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:13.338 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:13.345 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:13.353 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:13.360 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:13.368 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:13.376 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:13.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:13.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:13.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:13.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:13.764 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:13.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:13.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:13.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:13.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:13.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:13.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:13.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:13.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:13.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:13.823 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:13.830 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:13.840 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:13.848 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:13.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:14.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:14.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:14.246 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:14.252 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:14.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:14.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:14.273 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:14.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:14.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:14.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:14.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:14.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:14.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:14.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:14.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:14.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:14.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:14.684 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:14.692 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:14.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:14.707 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:14.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:14.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:14.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:14.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:14.736 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:14.743 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:14.749 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:14.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:14.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:14.768 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:14.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:14.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:14.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:15.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:15.128 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:15.137 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:15.144 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:15.150 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:15.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:15.159 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:15.164 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:15.168 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:15.172 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:15.176 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:15.183 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:15.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:15.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:15.203 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:15.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:15.220 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:15.680 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:15.688 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:15.696 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:15.703 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:15.709 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:15.716 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:15.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:15.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:15.736 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:15.743 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:15.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:15.760 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:15.767 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:15.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:15.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:15.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:15.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:16.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:16.246 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:16.257 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:16.271 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:16.279 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:16.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:16.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:16.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:16.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:16.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:16.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:16.331 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:16.338 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:16.344 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:16.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:16.356 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:16.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:16.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:16.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:16.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:16.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:16.840 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:16.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:16.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:16.860 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:16.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:16.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:16.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:16.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:16.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:16.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:16.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:16.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:16.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:17.326 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:17.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:17.344 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:17.358 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
09:57:17.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
09:57:17.375 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
09:57:17.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
09:57:17.389 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
09:57:17.396 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
09:57:17.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
09:57:17.409 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
09:57:17.416 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
09:57:17.424 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
09:57:17.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
09:57:17.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
09:57:17.452 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
09:57:17.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
09:57:17.676 WARN  [peripherals/payload/src/lib.rs:59] Payload session was dropped without being stopped, stopping it now
09:57:17.676 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
09:57:17.676 INFO  [utilities/simulator/src/simulator.rs:179] Simulator dropped: Simulator()
09:57:17.676 INFO  [utilities/logging/src/logger_manager.rs:169] Stopped logging
09:57:17.676 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'task_scheduler' panicked at 'Simulator has been dropped': utilities/simulator/src/time.rs:4
09:57:40.686 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
09:57:40.686 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-03-11 09:57:40.686363684 +01:00
09:57:40.686 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
09:57:40.686 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
09:57:40.686 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
09:57:40.686 INFO  [utilities/logging/src/logger_manager.rs:91] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/mission_data/2025-03-11/2025-03-11_09-57-40.lobsterlog")
09:57:40.688 DEBUG [utilities/logging/src/time_series_logger.rs:103] Creating logger to table: logs
09:57:40.689 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
09:57:40.689 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:57:40.695 INFO  [utilities/simulator/src/simulator.rs:74] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
09:57:40.749 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
09:57:40.749 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:57:40.891 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
09:57:40.891 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:57:41.181 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: imu
09:57:41.181 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_waterlinked
09:57:41.181 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_bottom_track
09:57:41.181 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_water_track
09:57:41.181 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_current_profile
09:57:41.181 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_depth
09:57:41.181 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: magnetometer
09:57:41.182 WARN  [robot_core/launch/src/lib.rs:328] Magnetometer not enabled
09:57:41.182 WARN  [robot_core/launch/src/lib.rs:308] IMU not enabled
09:57:41.182 WARN  [robot_core/launch/src/lib.rs:345] Can Magnetometer not enabled
09:57:41.182 WARN  [robot_core/launch/src/lib.rs:363] Waterlinked DVL not enabled
09:57:41.182 WARN  [robot_core/launch/src/lib.rs:388] Nortek DVL not enabled
09:57:41.182 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
09:57:41.182 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:57:41.182 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: kinematic_state
09:57:41.182 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: environment_state
09:57:41.183 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: se_debug_stats
09:57:41.184 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
09:57:41.184 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
09:57:41.184 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
09:57:41.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: thruster_manager
09:57:41.185 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
09:57:41.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/cascaded_control
09:57:41.186 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position_settings
09:57:41.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position
09:57:41.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
09:57:41.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position_settings
09:57:41.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position
09:57:41.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
09:57:41.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position_settings
09:57:41.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position
09:57:41.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
09:57:41.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude_settings
09:57:41.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude
09:57:41.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
09:57:41.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude_settings
09:57:41.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude
09:57:41.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
09:57:41.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude_settings
09:57:41.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude
09:57:41.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
09:57:41.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity_settings
09:57:41.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity
09:57:41.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
09:57:41.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity_settings
09:57:41.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity
09:57:41.192 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity_settings
09:57:41.192 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
09:57:41.192 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity
09:57:41.192 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity_settings
09:57:41.192 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
09:57:41.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity
09:57:41.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity_settings
09:57:41.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
09:57:41.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity
09:57:41.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
09:57:41.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity_settings
09:57:41.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity
09:57:41.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
09:57:41.195 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
09:57:41.195 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
09:57:41.195 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
09:57:41.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
09:57:41.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
09:57:41.195 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
09:57:41.195 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 5025.59947262
09:57:41.256 INFO  [robot_core/path_planning/src/lib.rs:113] Loading Python Path Planner from '/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python'
09:57:41.427 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
09:57:41.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
09:57:41.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
09:57:41.427 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
09:57:41.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
09:57:41.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
09:57:41.427 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for gps
09:57:41.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'gps' with StopRunningFlag { name: "gps", id: 0, stop_running: false, do_auto_stop: true }
09:57:41.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'gps' successfully started
09:57:41.428 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
09:57:41.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: task_executor_actions
09:57:41.428 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
09:57:41.428 INFO  [peripherals/communication/src/lib.rs:68] grpc listening on 0.0.0.0:10820
09:57:41.428 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
09:57:41.428 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
09:57:41.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
09:57:41.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'discovery_node' successfully started
09:57:41.428 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
09:57:41.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
09:57:41.428 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
09:57:41.428 INFO  [peripherals/communication/src/discovery_node.rs:63] Sending heartbeats to: ["255.255.255.255:10899", "192.168.191.255:10899"]
09:57:41.474 INFO  [robot_core/launch/src/lib.rs:283] Waiting until code stops running so threads can be joined
09:57:41.474 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'state_estimator'
09:57:41.533 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:57:41.535 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
09:57:41.536 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1192.95Hz
09:57:41.548 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:57:41.603 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:57:41.603 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
09:57:42.429 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
09:57:42.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:42.495 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:42.504 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:43.462 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5181.99Hz
09:57:43.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:43.472 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:43.478 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:44.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:44.499 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:44.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:45.477 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6494.98Hz
09:57:45.481 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:45.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:45.495 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:46.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:46.524 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:46.531 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:47.471 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3883.50Hz
09:57:47.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:47.482 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:47.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:48.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:48.496 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:48.505 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:49.472 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5711.19Hz
09:57:49.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:49.485 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:49.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:50.432 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:50.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:50.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:51.375 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7776.41Hz
09:57:51.379 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:51.388 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:51.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:52.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:52.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:52.325 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:53.266 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5946.93Hz
09:57:53.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:53.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:53.285 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:54.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:54.263 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:54.271 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:55.198 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3225.65Hz
09:57:55.201 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:55.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:55.218 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:56.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:56.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:56.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:57.240 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6570.65Hz
09:57:57.246 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:57.256 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:57.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:58.218 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:58.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:58.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:57:59.212 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4778.04Hz
09:57:59.219 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:57:59.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:57:59.232 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:00.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:00.233 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:00.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:01.183 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5837.95Hz
09:58:01.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:01.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:01.206 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:02.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:02.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:02.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:03.175 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5950.40Hz
09:58:03.178 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:03.186 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:03.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:04.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:04.181 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:04.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:05.181 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5637.04Hz
09:58:05.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:05.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:05.201 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:06.145 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:06.152 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:06.160 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:07.133 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5097.13Hz
09:58:07.139 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:07.146 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:07.153 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:08.138 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:08.147 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:08.154 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:09.089 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6339.91Hz
09:58:09.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:09.098 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:09.107 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:10.099 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:10.106 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:10.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:11.090 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6626.60Hz
09:58:11.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:11.102 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:11.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:12.074 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:12.078 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:12.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:13.022 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2721.41Hz
09:58:13.027 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:13.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:13.044 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:14.010 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:14.015 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:14.021 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:14.972 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7047.42Hz
09:58:14.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:14.983 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:14.988 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:16.017 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:16.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:16.039 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:17.521 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3260.48Hz
09:58:17.528 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:17.540 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:17.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:18.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:18.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:18.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:19.510 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6126.17Hz
09:58:19.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:19.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:19.527 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:20.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:20.500 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:20.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:21.512 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6888.62Hz
09:58:21.518 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:21.528 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:21.536 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:22.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:22.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:22.499 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:23.723 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3283.79Hz
09:58:23.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:23.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:23.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:25.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:25.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:25.222 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:26.427 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5097.49Hz
09:58:26.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:26.441 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:26.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:27.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:27.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:27.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:28.355 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3420.41Hz
09:58:28.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:28.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:28.375 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:29.354 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:29.360 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:29.368 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:30.323 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4433.15Hz
09:58:30.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:30.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:30.346 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:31.254 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:31.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:31.264 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:32.216 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4251.54Hz
09:58:32.218 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:32.226 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:32.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:33.166 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:33.173 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:33.180 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:34.136 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5793.57Hz
09:58:34.140 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:34.149 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:34.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:35.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:35.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:35.092 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:36.420 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4547.31Hz
09:58:36.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:36.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:36.451 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:37.693 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:37.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:37.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:38.642 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7362.52Hz
09:58:38.647 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:38.653 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:38.660 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:39.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:39.644 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:39.650 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:40.577 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5705.39Hz
09:58:40.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:40.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:40.599 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:41.546 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:41.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:41.564 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:42.516 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4143.17Hz
09:58:42.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:42.532 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:42.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:43.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:43.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:43.478 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:44.407 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5424.55Hz
09:58:44.412 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:44.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:44.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:45.346 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:45.355 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:45.363 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:46.248 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6938.18Hz
09:58:46.254 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:46.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:46.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:47.165 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:47.171 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:47.178 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:48.127 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5334.10Hz
09:58:48.133 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:48.139 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:48.146 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:49.098 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:49.106 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:49.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:50.058 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4162.33Hz
09:58:50.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:50.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:50.076 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:51.015 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:51.021 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:51.030 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:51.937 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5433.07Hz
09:58:51.942 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:51.950 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:51.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:52.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:52.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:52.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:53.830 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5268.84Hz
09:58:53.838 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:53.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:53.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:54.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:54.795 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:54.804 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:55.758 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5569.85Hz
09:58:55.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:55.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:55.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:56.765 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:56.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:56.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:57.761 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5265.54Hz
09:58:57.767 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:57.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:58:57.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:58.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:58:58.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:58:58.798 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:59:00.356 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2771.79Hz
09:59:00.363 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:59:00.376 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:59:00.388 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:59:01.529 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:59:01.535 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:59:01.545 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:59:01.870 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: AddTask(3: '')
09:59:02.474 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5601.86Hz
09:59:02.477 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:59:02.484 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:59:02.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:59:03.691 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
09:59:03.700 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
09:59:03.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
09:59:04.273 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: Engage
09:59:04.273 INFO  [robot_core/task_scheduler/src/executor/active.rs:98] Starting a SurveyPolygon task ''
09:59:04.274 DEBUG [robot_core/path_planning/src/lib.rs:224] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 28.26904984336133, y: 14.913532777389205 }, Coord { x: 28.269150092289365, y: 34.95524727513574 }, Coord { x: 8.278352255055847, y: 34.95538745625998 }, Coord { x: 8.27825200551433, y: 14.913592585193001 }, Coord { x: 28.26904984336133, y: 14.913532777389205 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
09:59:04.274 DEBUG [robot_core/path_planning/src/lib.rs:226] Current goal: None. Updated pending goals queue: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 28.26904984336133, y: 14.913532777389205 }, Coord { x: 28.269150092289365, y: 34.95524727513574 }, Coord { x: 8.278352255055847, y: 34.95538745625998 }, Coord { x: 8.27825200551433, y: 14.913592585193001 }, Coord { x: 28.26904984336133, y: 14.913532777389205 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (8.278252025654268 m^1, 15.913532777389205 m^1), end: (28.269059797337007 m^1, 15.913532777389205 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (28.26906480412717 m^1, 16.913532777389204 m^1), end: (8.278256972839785 m^1, 16.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (8.278261979629946 m^1, 17.913532777389204 m^1), end: (28.26906981091733 m^1, 17.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (28.26907481770749 m^1, 18.913532777389204 m^1), end: (8.278266986420107 m^1, 18.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (8.278271993210268 m^1, 19.913532777389204 m^1), end: (28.269079824497652 m^1, 19.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (28.269084831287813 m^1, 20.913532777389204 m^1), end: (8.278277000000429 m^1, 20.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (8.27828200679059 m^1, 21.913532777389204 m^1), end: (28.269089838077974 m^1, 21.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (28.269094844868135 m^1, 22.913532777389204 m^1), end: (8.278287013580751 m^1, 22.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (8.278292020370912 m^1, 23.913532777389204 m^1), end: (28.269099851658297 m^1, 23.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (28.269104858448458 m^1, 24.913532777389204 m^1), end: (8.278297027161074 m^1, 24.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (8.278302033951235 m^1, 25.913532777389204 m^1), end: (28.26910986523862 m^1, 25.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (28.26911487202878 m^1, 26.913532777389204 m^1), end: (8.278307040741396 m^1, 26.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (8.278312047531557 m^1, 27.913532777389204 m^1), end: (28.269119819214296 m^1, 27.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (28.269124826004457 m^1, 28.913532777389204 m^1), end: (8.278317054321718 m^1, 28.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (8.278322001507235 m^1, 29.913532777389204 m^1), end: (28.26912983279462 m^1, 29.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (28.26913483958478 m^1, 30.913532777389204 m^1), end: (8.278327008297396 m^1, 30.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (8.278332015087557 m^1, 31.913532777389204 m^1), end: (28.26913984637494 m^1, 31.913532777389204 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (28.269144853165102 m^1, 32.9135327773892 m^1), end: (8.278337021877718 m^1, 32.9135327773892 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (8.278342028667879 m^1, 33.9135327773892 m^1), end: (28.269149859955263 m^1, 33.9135327773892 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (28.269150098373842 m^1, 34.9135327773892 m^1), end: (8.27834703545804 m^1, 34.9135327773892 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (8.278352042248201 m^1, 35.9135327773892 m^1), end: (28.269150098373842 m^1, 35.9135327773892 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
09:59:04.276 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 28.26904984336133, y: 14.913532777389205 }, Coord { x: 28.269150092289365, y: 34.95524727513574 }, Coord { x: 8.278352255055847, y: 34.95538745625998 }, Coord { x: 8.27825200551433, y: 14.913592585193001 }, Coord { x: 28.26904984336133, y: 14.913532777389205 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), Started)
09:59:04.277 WARN  [robot_core/task_scheduler/src/executor/active.rs:74] Could not add task logger since the logger is not active
09:59:04.277 INFO  [utilities/logging/src/logger_manager.rs:154] Started logging to database 2025-03-11T09:59:04.276952899+01:00_task_executor
09:59:04.277 INFO  [robot_core/task_scheduler/src/executor/mod.rs:99] TaskExecutor performed: NewMode(OnTask(with:Task(type: SurveyPolygon, id: 0, name: ''))
09:59:04.277 DEBUG [utilities/logging/src/time_series_logger.rs:198] Transaction commited: logs
09:59:04.277 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread '<unnamed>' panicked at 'called `Result::unwrap()` on an `Err` value: Custom { kind: NotFound, error: Error { kind: CreateFile, source: Os { code: 2, kind: NotFound, message: "No such file or directory" }, path: "~/.lobster/mocked_data/mocked_image_0.raw" } }': peripherals/camera/src/mocked_camera.rs:25
09:59:04.277 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:00:19.719 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
10:00:19.719 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-03-11 10:00:19.719372675 +01:00
10:00:19.719 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
10:00:19.719 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
10:00:19.719 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
10:00:19.719 INFO  [utilities/logging/src/logger_manager.rs:91] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/mission_data/2025-03-11/2025-03-11_10-00-19.lobsterlog")
10:00:19.721 DEBUG [utilities/logging/src/time_series_logger.rs:103] Creating logger to table: logs
10:00:19.722 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0]})
10:00:19.722 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:00:19.726 INFO  [utilities/simulator/src/simulator.rs:74] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
10:00:19.826 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0]})
10:00:19.826 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:00:20.037 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0]})
10:00:20.037 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:00:20.460 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: imu
10:00:20.460 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_waterlinked
10:00:20.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_bottom_track
10:00:20.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_water_track
10:00:20.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_current_profile
10:00:20.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_depth
10:00:20.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: magnetometer
10:00:20.462 WARN  [robot_core/launch/src/lib.rs:328] Magnetometer not enabled
10:00:20.462 WARN  [robot_core/launch/src/lib.rs:308] IMU not enabled
10:00:20.462 WARN  [robot_core/launch/src/lib.rs:345] Can Magnetometer not enabled
10:00:20.462 WARN  [robot_core/launch/src/lib.rs:363] Waterlinked DVL not enabled
10:00:20.462 WARN  [robot_core/launch/src/lib.rs:388] Nortek DVL not enabled
10:00:20.462 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0]})
10:00:20.462 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:00:20.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: kinematic_state
10:00:20.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: environment_state
10:00:20.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: se_debug_stats
10:00:20.463 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
10:00:20.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
10:00:20.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
10:00:20.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: thruster_manager
10:00:20.464 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
10:00:20.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/cascaded_control
10:00:20.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position_settings
10:00:20.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position
10:00:20.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:00:20.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position_settings
10:00:20.466 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position
10:00:20.467 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:00:20.467 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position_settings
10:00:20.467 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position
10:00:20.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude_settings
10:00:20.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
10:00:20.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude
10:00:20.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude_settings
10:00:20.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
10:00:20.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude
10:00:20.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude_settings
10:00:20.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
10:00:20.470 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude
10:00:20.470 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
10:00:20.470 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity_settings
10:00:20.470 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity
10:00:20.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity_settings
10:00:20.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
10:00:20.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity
10:00:20.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity_settings
10:00:20.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
10:00:20.472 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity
10:00:20.472 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
10:00:20.472 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity_settings
10:00:20.472 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity
10:00:20.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity_settings
10:00:20.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
10:00:20.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity
10:00:20.474 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity_settings
10:00:20.474 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
10:00:20.474 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity
10:00:20.474 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0]})
10:00:20.474 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
10:00:20.474 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:00:20.474 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
10:00:20.474 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
10:00:20.474 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
10:00:20.475 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
10:00:20.475 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 5184.878698021
10:00:20.539 INFO  [robot_core/path_planning/src/lib.rs:113] Loading Python Path Planner from '/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python'
10:00:20.894 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
10:00:20.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
10:00:20.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
10:00:20.894 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
10:00:20.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
10:00:20.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
10:00:20.894 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for gps
10:00:20.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'gps' with StopRunningFlag { name: "gps", id: 0, stop_running: false, do_auto_stop: true }
10:00:20.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'gps' successfully started
10:00:20.894 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
10:00:20.894 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
10:00:20.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: task_executor_actions
10:00:20.894 INFO  [peripherals/communication/src/lib.rs:68] grpc listening on 0.0.0.0:10820
10:00:20.894 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
10:00:20.894 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
10:00:20.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
10:00:20.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'discovery_node' successfully started
10:00:20.895 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
10:00:20.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
10:00:20.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
10:00:20.895 INFO  [peripherals/communication/src/discovery_node.rs:63] Sending heartbeats to: ["255.255.255.255:10899", "192.168.191.255:10899"]
10:00:20.998 INFO  [robot_core/launch/src/lib.rs:283] Waiting until code stops running so threads can be joined
10:00:20.998 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'state_estimator'
10:00:21.090 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
10:00:21.091 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 956.09Hz
10:00:21.137 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:00:21.158 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:00:21.205 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:00:21.205 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:00:21.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
10:00:22.359 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:22.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:22.379 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:23.760 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4614.99Hz
10:00:23.767 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:23.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:23.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:24.165 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: AddTask(3: '')
10:00:24.777 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:24.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:24.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:25.722 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5187.64Hz
10:00:25.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:25.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:25.740 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:25.779 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: Engage
10:00:25.779 DEBUG [robot_core/path_planning/src/lib.rs:224] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 38.10856292229143, y: 28.664004480916553 }, Coord { x: 38.10871845575681, y: 48.7057190787858 }, Coord { x: 18.117920316799566, y: 48.70591440408548 }, Coord { x: 18.117764783104324, y: 28.66411943264109 }, Coord { x: 38.10856292229143, y: 28.664004480916553 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
10:00:25.779 INFO  [robot_core/task_scheduler/src/executor/active.rs:98] Starting a SurveyPolygon task ''
10:00:25.779 DEBUG [robot_core/path_planning/src/lib.rs:226] Current goal: None. Updated pending goals queue: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 38.10856292229143, y: 28.664004480916553 }, Coord { x: 38.10871845575681, y: 48.7057190787858 }, Coord { x: 18.117920316799566, y: 48.70591440408548 }, Coord { x: 18.117764783104324, y: 28.66411943264109 }, Coord { x: 38.10856292229143, y: 28.664004480916553 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (18.117764806561155 m^1, 29.664004480916553 m^1), end: (38.10857841949908 m^1, 29.664004480916553 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.1085861681029 m^1, 30.664004480916553 m^1), end: (18.117772555164976 m^1, 30.664004480916553 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (18.117780303768797 m^1, 31.664004480916553 m^1), end: (38.108593916706724 m^1, 31.664004480916553 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.108601665310545 m^1, 32.66400448091655 m^1), end: (18.117788052372617 m^1, 32.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (18.117795800976438 m^1, 33.66400448091655 m^1), end: (38.10860947351901 m^1, 33.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.10861722212283 m^1, 34.66400448091655 m^1), end: (18.11780354958026 m^1, 34.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (18.117811357788725 m^1, 35.66400448091655 m^1), end: (38.10862497072665 m^1, 35.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.10863271933047 m^1, 36.66400448091655 m^1), end: (18.117819106392545 m^1, 36.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (18.117826854996366 m^1, 37.66400448091655 m^1), end: (38.10864046793429 m^1, 37.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.108648216538114 m^1, 38.66400448091655 m^1), end: (18.117834603600187 m^1, 38.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (18.117842352204008 m^1, 39.66400448091655 m^1), end: (38.10865602474658 m^1, 39.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.1086637733504 m^1, 40.66400448091655 m^1), end: (18.11785010080783 m^1, 40.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (18.117857909016294 m^1, 41.66400448091655 m^1), end: (38.10867152195422 m^1, 41.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.10867927055804 m^1, 42.66400448091655 m^1), end: (18.117865657620115 m^1, 42.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (18.117873406223936 m^1, 43.66400448091655 m^1), end: (38.10868701916186 m^1, 43.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.10869482737033 m^1, 44.66400448091655 m^1), end: (18.117881154827757 m^1, 44.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (18.117888903431577 m^1, 45.66400448091655 m^1), end: (38.10870257597415 m^1, 45.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.10871032457797 m^1, 46.66400448091655 m^1), end: (18.117896711640043 m^1, 46.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (18.117904460243864 m^1, 47.66400448091655 m^1), end: (38.10871807318179 m^1, 47.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.10871843080966 m^1, 48.66400448091655 m^1), end: (18.117912208847684 m^1, 48.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (18.117919957451505 m^1, 49.66400448091655 m^1), end: (38.10871843080966 m^1, 49.66400448091655 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
10:00:25.780 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 38.10856292229143, y: 28.664004480916553 }, Coord { x: 38.10871845575681, y: 48.7057190787858 }, Coord { x: 18.117920316799566, y: 48.70591440408548 }, Coord { x: 18.117764783104324, y: 28.66411943264109 }, Coord { x: 38.10856292229143, y: 28.664004480916553 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), Started)
10:00:25.780 WARN  [robot_core/task_scheduler/src/executor/active.rs:74] Could not add task logger since the logger is not active
10:00:25.780 INFO  [utilities/logging/src/logger_manager.rs:154] Started logging to database 2025-03-11T10:00:25.780661834+01:00_task_executor
10:00:25.780 INFO  [robot_core/task_scheduler/src/executor/mod.rs:99] TaskExecutor performed: NewMode(OnTask(with:Task(type: SurveyPolygon, id: 0, name: ''))
10:00:25.781 DEBUG [utilities/logging/src/time_series_logger.rs:198] Transaction commited: logs
10:00:25.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:00:25.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:00:25.781 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.09383226541692392, Enable control depth: 0.2, Depth control enabled: true
10:00:25.781 INFO  [robot_core/control/src/cascaded_control.rs:354] Disabling depth control.
10:00:25.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
10:00:25.781 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
10:00:25.781 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.09383226541692392 }
10:00:25.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
10:00:25.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
10:00:25.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
10:00:25.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
10:00:25.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
10:00:25.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
10:00:25.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
10:00:25.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
10:00:25.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
10:00:25.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:00:25.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:00:25.849 DEBUG [robot_core/control/src/cascaded_control.rs:359] Details: Current depth: 0.20550008984460594, Enable control depth: 0.2, Depth control enabled: false
10:00:25.849 DEBUG [robot_core/control/src/cascaded_control.rs:156] Depth control enabled: reset vertical velocity controller
10:00:25.849 INFO  [robot_core/control/src/cascaded_control.rs:358] Enabling depth control. 
10:00:25.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
10:00:25.887 DEBUG [robot_core/control/src/cascaded_control.rs:192] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
10:00:25.887 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
10:00:25.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
10:00:26.183 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:26.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:26.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:26.218 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:26.228 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:26.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:26.248 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:26.257 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:26.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:26.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:26.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:26.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:26.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:26.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:26.331 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:26.342 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:26.356 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:26.688 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:26.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:26.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:26.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:26.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:26.735 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:26.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:26.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:26.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:26.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:26.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:26.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:26.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:26.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:26.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:26.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:26.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:26.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
10:00:27.179 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:27.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:27.201 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:27.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:27.217 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:27.226 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:27.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:27.246 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:27.254 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:27.262 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:27.270 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:27.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:27.289 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:27.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:27.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:27.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:27.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:27.681 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:27.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:27.719 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:27.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:27.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:27.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:27.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:27.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:27.796 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:27.806 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:27.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:27.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:27.846 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:27.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:27.871 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:27.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:27.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:28.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:28.317 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:28.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:28.341 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:28.348 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:28.356 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:28.365 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:28.373 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:28.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:28.390 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:28.397 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:28.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:28.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:28.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:28.429 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:28.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:28.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:29.028 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:29.044 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:29.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:29.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:29.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:29.103 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:29.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:29.123 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:29.132 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:29.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:29.149 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:29.156 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:29.165 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:29.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:29.183 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:29.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:29.203 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:29.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:29.564 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:29.573 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:29.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:29.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:29.596 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:29.601 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:29.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:29.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:29.626 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:29.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:29.641 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:29.647 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:29.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:29.662 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:29.669 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:29.678 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:30.022 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:30.031 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:30.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:30.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:30.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:30.070 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:30.077 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:30.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:30.090 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:30.097 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:30.105 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:30.113 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:30.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:30.130 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:30.138 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:30.148 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:30.158 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:30.644 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:30.655 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:30.667 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:30.683 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:30.690 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:30.699 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:30.706 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:30.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:30.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:30.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:30.743 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:30.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:30.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:30.771 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:30.782 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:30.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:30.804 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:31.159 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1510.66Hz
10:00:31.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:31.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:31.363 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:31.376 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:31.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:31.392 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:31.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:31.406 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:31.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:31.424 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:31.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:31.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:31.452 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:31.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:31.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:31.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:31.496 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:31.992 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:32.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:32.016 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:32.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:32.044 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:32.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:32.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:32.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:32.078 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:32.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:32.096 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:32.104 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:32.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:32.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:32.138 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:32.153 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:32.162 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:32.542 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:32.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:32.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:32.568 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:32.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:32.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:32.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:32.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:32.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:32.599 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:32.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:32.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:32.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:32.624 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:32.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:32.638 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:32.649 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:32.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:32.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:32.984 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:32.992 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:32.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:33.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:33.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:33.015 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:33.021 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:33.027 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:33.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:33.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:33.044 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:33.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:33.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:33.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:33.072 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:33.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:33.377 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:33.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:33.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:33.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:33.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:33.409 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:33.416 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:33.425 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:33.431 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:33.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:33.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:33.450 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:33.456 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:33.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:33.470 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:33.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:33.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:33.811 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:33.821 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:33.830 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:33.835 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:33.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:33.849 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:33.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:33.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:33.872 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:33.879 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:33.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:33.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:33.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:33.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:33.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:33.921 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:34.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:00:34.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:00:34.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:00:34.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:00:34.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:00:34.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:00:34.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:00:34.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:00:34.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:00:34.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:00:34.332 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:00:34.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:00:34.341 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:00:34.347 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:00:34.355 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:00:34.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:00:34.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:00:34.559 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
10:00:34.560 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
10:00:34.560 WARN  [peripherals/payload/src/lib.rs:59] Payload session was dropped without being stopped, stopping it now
10:00:34.560 INFO  [utilities/simulator/src/simulator.rs:179] Simulator dropped: Simulator()
10:00:34.560 INFO  [utilities/logging/src/logger_manager.rs:169] Stopped logging
10:00:34.560 ERROR [/home/joris/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/log-panics-2.1.0/src/lib.rs:130] thread 'task_scheduler' panicked at 'Simulator has been dropped': utilities/simulator/src/time.rs:4
10:01:47.103 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
10:01:47.103 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-03-11 10:01:47.103873032 +01:00
10:01:47.103 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
10:01:47.104 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
10:01:47.104 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
10:01:47.104 INFO  [utilities/logging/src/logger_manager.rs:91] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/mission_data/2025-03-11/2025-03-11_10-01-47.lobsterlog")
10:01:47.105 DEBUG [utilities/logging/src/time_series_logger.rs:103] Creating logger to table: logs
10:01:47.106 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]})
10:01:47.106 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:01:47.108 INFO  [utilities/simulator/src/simulator.rs:74] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
10:01:47.157 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]})
10:01:47.157 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:01:47.283 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]})
10:01:47.284 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:01:47.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: imu
10:01:47.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_waterlinked
10:01:47.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_bottom_track
10:01:47.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_water_track
10:01:47.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_current_profile
10:01:47.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_depth
10:01:47.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: magnetometer
10:01:47.579 WARN  [robot_core/launch/src/lib.rs:328] Magnetometer not enabled
10:01:47.579 WARN  [robot_core/launch/src/lib.rs:308] IMU not enabled
10:01:47.579 WARN  [robot_core/launch/src/lib.rs:345] Can Magnetometer not enabled
10:01:47.579 WARN  [robot_core/launch/src/lib.rs:363] Waterlinked DVL not enabled
10:01:47.579 WARN  [robot_core/launch/src/lib.rs:388] Nortek DVL not enabled
10:01:47.579 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]})
10:01:47.579 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:01:47.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: kinematic_state
10:01:47.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: environment_state
10:01:47.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: se_debug_stats
10:01:47.580 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
10:01:47.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
10:01:47.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
10:01:47.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: thruster_manager
10:01:47.581 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
10:01:47.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/cascaded_control
10:01:47.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position_settings
10:01:47.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position
10:01:47.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:01:47.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position_settings
10:01:47.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position
10:01:47.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:01:47.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position_settings
10:01:47.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position
10:01:47.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude_settings
10:01:47.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
10:01:47.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude
10:01:47.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
10:01:47.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude_settings
10:01:47.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude
10:01:47.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude_settings
10:01:47.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
10:01:47.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude
10:01:47.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity_settings
10:01:47.583 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
10:01:47.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity
10:01:47.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
10:01:47.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity_settings
10:01:47.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity
10:01:47.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity_settings
10:01:47.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
10:01:47.584 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity
10:01:47.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
10:01:47.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity_settings
10:01:47.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity
10:01:47.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
10:01:47.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity_settings
10:01:47.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity
10:01:47.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
10:01:47.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity_settings
10:01:47.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity
10:01:47.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
10:01:47.587 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]})
10:01:47.587 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:01:47.587 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
10:01:47.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
10:01:47.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
10:01:47.587 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
10:01:47.587 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 5271.991177062
10:01:47.643 INFO  [robot_core/path_planning/src/lib.rs:113] Loading Python Path Planner from '/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python'
10:01:47.825 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
10:01:47.825 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
10:01:47.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
10:01:47.826 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
10:01:47.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
10:01:47.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
10:01:47.826 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for gps
10:01:47.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'gps' with StopRunningFlag { name: "gps", id: 0, stop_running: false, do_auto_stop: true }
10:01:47.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'gps' successfully started
10:01:47.826 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
10:01:47.826 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
10:01:47.827 INFO  [peripherals/communication/src/lib.rs:68] grpc listening on 0.0.0.0:10820
10:01:47.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: task_executor_actions
10:01:47.827 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
10:01:47.827 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
10:01:47.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
10:01:47.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'discovery_node' successfully started
10:01:47.827 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
10:01:47.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
10:01:47.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
10:01:47.828 INFO  [peripherals/communication/src/discovery_node.rs:63] Sending heartbeats to: ["255.255.255.255:10899", "192.168.191.255:10899"]
10:01:47.892 INFO  [robot_core/launch/src/lib.rs:283] Waiting until code stops running so threads can be joined
10:01:47.892 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'state_estimator'
10:01:47.922 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
10:01:47.923 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1120.52Hz
10:01:47.952 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:01:47.970 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:01:47.970 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:01:48.255 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:01:48.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
10:01:48.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:48.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:48.909 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:49.881 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2651.01Hz
10:01:49.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:49.891 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:49.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:50.230 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: Engage
10:01:50.230 DEBUG [robot_core/path_planning/src/lib.rs:224] Received new goals: [Hold(3153600000.0 s^1)]
10:01:50.231 DEBUG [robot_core/path_planning/src/lib.rs:226] Current goal: None. Updated pending goals queue: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }]
10:01:50.234 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Hold(3153600000.0 s^1), Started)
10:01:50.234 INFO  [robot_core/task_scheduler/src/executor/active.rs:130] Waiting for active task with spawned in Hold task 'InfiniteHold'
10:01:50.234 INFO  [robot_core/task_scheduler/src/executor/mod.rs:99] TaskExecutor performed: NewMode(Waiting(with:Task(type: Hold, id: 0, name: 'InfiniteHold'))
10:01:50.234 INFO  [utilities/logging/src/logger_manager.rs:154] Started logging to database 2025-03-11T10:01:50.234370324+01:00_task_executor
10:01:50.235 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.09383226242053537, Enable control depth: 0.2, Depth control enabled: true
10:01:50.235 INFO  [robot_core/control/src/cascaded_control.rs:354] Disabling depth control.
10:01:50.235 DEBUG [utilities/logging/src/time_series_logger.rs:198] Transaction commited: logs
10:01:50.236 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.09383226242053537 }
10:01:50.236 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
10:01:50.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
10:01:50.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:01:50.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:01:50.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
10:01:50.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
10:01:50.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
10:01:50.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
10:01:50.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
10:01:50.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
10:01:50.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
10:01:50.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
10:01:50.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
10:01:50.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:01:50.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:01:50.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:50.460 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:50.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:50.564 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:50.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:50.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:50.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:50.588 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:50.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:50.601 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:50.609 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:50.617 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:50.621 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:50.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:50.636 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:50.642 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:50.652 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:50.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:50.760 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:50.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:50.858 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:50.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:50.871 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:50.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:50.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:50.886 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:50.893 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:50.898 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:50.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:50.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:50.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:50.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:50.931 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:50.941 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:51.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:51.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:51.074 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:51.152 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:51.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:51.162 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:51.168 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:51.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:51.178 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:51.183 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:51.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:51.193 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:51.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:51.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:51.213 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:51.219 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:51.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:51.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
10:01:51.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:51.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:51.348 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:51.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:51.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:51.462 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:51.469 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:51.477 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:51.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:51.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:51.498 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:51.509 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:51.518 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:51.527 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:51.535 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:51.545 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:51.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:51.696 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:51.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:51.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:51.861 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:51.868 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:51.879 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:51.889 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:51.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:51.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:51.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:51.922 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:51.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:51.939 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:51.949 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:51.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:51.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:51.984 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:52.132 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:52.142 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:52.153 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:52.249 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:52.253 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:52.261 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:52.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:52.271 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:52.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:52.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:52.289 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:52.297 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:52.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:52.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:52.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:52.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:52.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:52.432 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:52.440 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:52.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:52.509 DEBUG [robot_core/task_scheduler/src/lib.rs:112] Received request while active: AddTask(3: '')
10:01:52.509 DEBUG [robot_core/path_planning/src/lib.rs:234] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }]
10:01:52.509 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Hold(3153600000.0 s^1), Cancelled)
10:01:52.510 INFO  [robot_core/task_scheduler/src/executor/active.rs:98] Starting a SurveyPolygon task ''
10:01:52.510 DEBUG [robot_core/path_planning/src/lib.rs:224] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 37.214282106621916, y: 54.3715117683785 }, Coord { x: 37.21454099741092, y: 74.41322635527636 }, Coord { x: 17.22374288784727, y: 74.41352477576334 }, Coord { x: 17.223483996096164, y: 54.371729815219354 }, Coord { x: 37.214282106621916, y: 54.3715117683785 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
10:01:52.510 DEBUG [robot_core/path_planning/src/lib.rs:226] Current goal: None. Updated pending goals queue: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 37.214282106621916, y: 54.3715117683785 }, Coord { x: 37.21454099741092, y: 74.41322635527636 }, Coord { x: 17.22374288784727, y: 74.41352477576334 }, Coord { x: 17.223483996096164, y: 54.371729815219354 }, Coord { x: 37.214282106621916, y: 54.3715117683785 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (17.22348399089163 m^1, 55.3715117683785 m^1), end: (37.2143079154331 m^1, 55.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.21432084964102 m^1, 56.3715117683785 m^1), end: (17.2234968654949 m^1, 56.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.223509799702818 m^1, 57.3715117683785 m^1), end: (37.21433372424429 m^1, 57.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.21434665845221 m^1, 58.3715117683785 m^1), end: (17.223522733910734 m^1, 58.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.223535608514005 m^1, 59.3715117683785 m^1), end: (37.214359592660124 m^1, 59.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.214372467263395 m^1, 60.3715117683785 m^1), end: (17.22354854272192 m^1, 60.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.223561476929838 m^1, 61.3715117683785 m^1), end: (37.21438540147131 m^1, 61.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.21439833567923 m^1, 62.3715117683785 m^1), end: (17.223574411137754 m^1, 62.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.223587285741026 m^1, 63.3715117683785 m^1), end: (37.2144112102825 m^1, 63.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.214424144490415 m^1, 64.3715117683785 m^1), end: (17.223600219948942 m^1, 64.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.22361315415686 m^1, 65.3715117683785 m^1), end: (37.21443707869833 m^1, 65.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.21445001290625 m^1, 66.3715117683785 m^1), end: (17.223626088364774 m^1, 66.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.223638962968046 m^1, 67.3715117683785 m^1), end: (37.21446288750952 m^1, 67.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.214475821717436 m^1, 68.3715117683785 m^1), end: (17.223651897175962 m^1, 68.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.22366483138388 m^1, 69.3715117683785 m^1), end: (37.21448875592535 m^1, 69.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.21450163052862 m^1, 70.3715117683785 m^1), end: (17.223677765591795 m^1, 70.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.223690640195066 m^1, 71.3715117683785 m^1), end: (37.21451456473654 m^1, 71.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.214527498944456 m^1, 72.3715117683785 m^1), end: (17.223703574402982 m^1, 72.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.2237165086109 m^1, 73.3715117683785 m^1), end: (37.21454037354773 m^1, 73.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.214540969594175 m^1, 74.3715117683785 m^1), end: (17.223729442818815 m^1, 74.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (17.223742317422087 m^1, 75.3715117683785 m^1), end: (37.214540969594175 m^1, 75.3715117683785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
10:01:52.511 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 37.214282106621916, y: 54.3715117683785 }, Coord { x: 37.21454099741092, y: 74.41322635527636 }, Coord { x: 17.22374288784727, y: 74.41352477576334 }, Coord { x: 17.223483996096164, y: 54.371729815219354 }, Coord { x: 37.214282106621916, y: 54.3715117683785 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), Started)
10:01:52.513 INFO  [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-03-11T10:01:52.512484399+01:00_/_rust.log"
10:01:52.513 INFO  [robot_core/control/src/cascaded_control.rs:326] Control Manager has stopped
10:01:52.513 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters
10:01:52.514 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
10:01:52.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:01:52.514 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: -2.8163141464141037e-6, y: -3.189967264888373e-17, z: 0.09023851759786539 }
10:01:52.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:01:52.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
10:01:52.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
10:01:52.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
10:01:52.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
10:01:52.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
10:01:52.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
10:01:52.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
10:01:52.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
10:01:52.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
10:01:52.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
10:01:52.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:01:52.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:01:52.522 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:52.528 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:52.534 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:52.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:52.546 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:52.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:52.559 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:52.566 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:52.573 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:52.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:52.585 DEBUG [robot_core/control/src/cascaded_control.rs:156] Depth control enabled: reset vertical velocity controller
10:01:52.585 DEBUG [robot_core/control/src/cascaded_control.rs:359] Details: Current depth: 0.20428451447575452, Enable control depth: 0.2, Depth control enabled: false
10:01:52.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:52.585 INFO  [robot_core/control/src/cascaded_control.rs:358] Enabling depth control. 
10:01:52.590 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:52.599 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:52.606 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:52.606 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
10:01:52.624 DEBUG [robot_core/control/src/cascaded_control.rs:192] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
10:01:52.624 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
10:01:52.624 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
10:01:52.760 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:52.770 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:52.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:52.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:52.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:52.890 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:52.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:52.904 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:52.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:52.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:52.925 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:52.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:52.941 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:52.948 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:52.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:52.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:52.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:52.980 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3489.76Hz
10:01:53.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:53.092 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:53.102 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:53.202 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:53.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:53.216 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:53.222 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:53.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:53.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:53.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:53.245 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:53.252 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:53.261 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:53.269 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:53.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:53.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:53.293 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:53.426 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:53.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:53.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:53.540 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:53.546 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:53.553 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:53.559 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:53.566 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:53.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:53.579 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:53.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:53.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:53.606 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:53.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:53.621 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:53.628 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:53.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:53.778 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:53.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:53.901 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:53.907 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:53.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:53.920 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:53.927 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:53.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:53.939 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:53.947 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:53.953 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:53.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:53.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:53.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:53.984 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:53.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:54.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:54.125 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:54.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:54.243 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:54.251 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:54.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:54.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:54.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:54.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:54.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:54.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:54.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:54.315 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:54.323 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:54.333 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:54.344 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:54.359 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:54.548 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:54.562 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:54.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:54.718 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:54.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:54.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:54.752 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:54.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:54.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:54.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:54.795 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:54.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:54.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:54.824 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:54.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:54.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:54.862 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:55.054 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:55.069 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:55.083 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:55.243 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:55.252 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:55.262 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:55.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:55.280 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:55.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:55.300 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:55.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:55.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:55.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:55.342 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:55.352 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:55.363 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:55.376 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:55.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:55.560 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:55.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:55.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:55.746 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:55.753 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:55.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:55.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:55.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:55.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:55.797 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:55.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:55.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:55.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:55.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:55.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:55.862 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:56.144 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:56.156 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:56.168 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:56.355 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:56.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:56.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:56.378 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:56.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:56.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:56.401 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:56.408 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:56.415 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:56.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:56.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:56.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:56.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:56.449 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:56.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:56.736 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:56.746 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:56.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:56.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:56.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:56.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:56.919 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:56.926 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:56.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:56.940 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:56.949 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:56.955 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:56.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:56.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:56.979 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:56.985 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:57.213 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:57.220 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:57.227 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:57.384 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:57.390 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:57.395 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:57.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:57.407 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:57.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:57.422 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:57.431 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:57.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:57.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:57.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:57.461 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:57.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:57.482 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:57.605 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1365.83Hz
10:01:57.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:57.820 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:57.832 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:57.997 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:58.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:58.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:58.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:58.017 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:58.022 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:58.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:58.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:58.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:58.045 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:58.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:58.060 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:58.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:58.072 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:58.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:58.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:58.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:58.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:58.468 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:58.477 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:58.488 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:58.497 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:58.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:58.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:58.525 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:58.535 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:58.548 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:58.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:58.571 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:58.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:58.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:59.032 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:59.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:59.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:59.289 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:59.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:01:59.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:59.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:01:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:01:59.342 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:59.350 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:59.359 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:59.368 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:59.378 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:01:59.385 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:01:59.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:01:59.407 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:01:59.418 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:59.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:01:59.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:01:59.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:01:59.946 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:01:59.953 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:01:59.959 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:01:59.965 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:01:59.974 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:01:59.982 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:01:59.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:01:59.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:00.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:00.017 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:00.025 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:00.033 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:00.048 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:00.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:00.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:00.413 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:00.425 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:00.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:00.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:00.589 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:00.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:00.600 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:00.606 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:00.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:00.618 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:00.625 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:00.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:00.639 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:00.643 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:00.649 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:00.660 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:00.898 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:00.906 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:00.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:01.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:01.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:01.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:01.071 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:01.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:01.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:01.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:01.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:01.099 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:01.106 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:01.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:01.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:01.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:01.133 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:01.346 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:01.355 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:01.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:01.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:01.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:01.498 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:01.504 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:01.512 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:01.518 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:01.524 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:01.531 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:01.538 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:01.546 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:01.552 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:01.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:01.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:01.575 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:01.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:01.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:01.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:01.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:01.957 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:01.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:01.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:01.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:01.982 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:01.989 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:01.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:02.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:02.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:02.014 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:02.021 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:02.034 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:02.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:02.249 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:02.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:02.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:02.404 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:02.410 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:02.416 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:02.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:02.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:02.435 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:02.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:02.450 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:02.457 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:02.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:02.470 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:02.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:02.486 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:02.495 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:02.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:02.736 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:02.744 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:02.888 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:02.894 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:02.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:02.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:02.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:02.923 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:02.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:02.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:02.943 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:02.949 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:02.956 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:02.967 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:02.975 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:02.980 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:03.034 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2265.00Hz
10:02:03.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:03.201 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:03.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:03.345 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:03.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:03.355 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:03.360 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:03.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:03.374 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:03.380 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:03.387 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:03.393 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:03.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:03.405 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:03.413 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:03.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:03.430 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:03.661 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:03.667 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:03.676 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:03.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:03.821 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:03.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:03.832 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:03.838 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:03.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:03.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:03.856 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:03.863 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:03.869 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:03.879 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:03.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:03.889 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:03.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:04.128 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:04.135 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:04.143 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:04.279 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:04.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:04.289 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:04.295 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:04.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:04.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:04.318 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:04.324 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:04.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:04.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:04.342 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:04.346 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:04.352 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:04.364 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:04.596 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:04.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:04.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:04.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:04.766 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:04.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:04.778 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:04.784 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:04.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:04.796 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:04.803 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:04.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:04.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:04.821 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:04.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:04.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:04.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:05.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:05.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:05.086 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:05.262 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:05.276 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:05.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:05.292 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:05.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:05.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:05.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:05.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:05.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:05.334 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:05.347 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:05.355 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:05.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:05.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:05.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:05.619 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:05.627 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:05.764 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:05.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:05.774 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:05.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:05.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:05.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:05.797 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:05.803 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:05.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:05.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:05.822 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:05.834 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:05.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:05.848 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:06.079 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:06.089 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:06.102 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:06.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:06.247 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:06.254 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:06.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:06.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:06.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:06.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:06.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:06.290 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:06.298 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:06.303 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:06.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:06.321 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:06.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:06.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:06.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:06.566 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:06.702 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:06.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:06.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:06.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:06.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:06.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:06.733 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:06.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:06.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:06.751 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:06.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:06.766 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:06.773 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:06.783 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:07.016 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:07.024 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:07.031 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:07.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:07.205 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:07.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:07.219 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:07.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:07.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:07.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:07.243 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:07.247 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:07.254 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:07.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:07.268 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:07.279 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:07.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:07.531 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:07.539 WARN  [peripherals/payload/src/lib.rs:59] Payload session was dropped without being stopped, stopping it now
10:02:07.539 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
10:02:07.539 INFO  [utilities/logging/src/logger_manager.rs:169] Stopped logging
10:02:07.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:07.539 INFO  [robot_core/task_scheduler/src/executor/mod.rs:133] Stopping logging to database '2025-03-11T10:01:50.234370324+01:00_task_executor'
10:02:07.540 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
10:02:07.540 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'task_scheduler' stopped
10:02:07.540 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
10:02:07.540 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
10:02:07.540 INFO  [utilities/simulator/src/simulator.rs:179] Simulator dropped: Simulator()
10:02:07.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:07.550 DEBUG [utilities/logging/src/time_series_logger.rs:198] Transaction commited: logs
10:02:07.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'simulator' stopped
10:02:07.554 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:02:07.555 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:02:07.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:02:07.560 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:02:07.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:02:07.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'state_estimator' stopped
10:02:07.561 INFO  [robot_core/launch/src/lib.rs:297] Joined thread 'state_estimator'
10:02:07.561 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'control'
10:02:07.564 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:02:07.567 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:02:07.576 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:02:07.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:02:07.587 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:02:07.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:02:07.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:02:07.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:02:07.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:02:07.611 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:02:07.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:02:07.624 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:02:07.625 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'control' stopped
10:02:07.625 ERROR [robot_core/path_planning/src/lib.rs:259] Cannot reach control, stopping path planner...
10:02:07.626 INFO  [robot_core/launch/src/lib.rs:297] Joined thread 'control'
10:02:07.626 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
10:02:07.626 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'path_planner'
10:02:07.626 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'path_planner' stopped
10:02:07.626 INFO  [robot_core/launch/src/lib.rs:297] Joined thread 'path_planner'
10:02:07.626 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'task_scheduler'
10:02:07.626 INFO  [robot_core/launch/src/lib.rs:297] Joined thread 'task_scheduler'
10:02:07.626 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'gps'
10:02:07.830 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "gps", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
10:02:07.830 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'gps' stopped
10:02:07.830 INFO  [robot_core/launch/src/lib.rs:297] Joined thread 'gps'
10:02:07.830 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'grpc_server'
10:02:07.845 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "discovery_node", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
10:02:07.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Thread 'discovery_node' stopped
10:02:07.915 INFO  [peripherals/communication/src/lib.rs:89] Shutting down gRPC server
10:02:07.915 DEBUG [utilities/common/src/utils/stop_running_flag.rs:104] StopRunningFlag StopRunningFlag { name: "grpc_server", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads...
10:02:08.540 INFO  [peripherals/payload/src/position_camera.rs:117] Stopping PositionCamera recording, because receiver stopped
10:03:04.780 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
10:03:04.780 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-03-11 10:03:04.780097475 +01:00
10:03:04.780 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
10:03:04.780 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
10:03:04.780 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
10:03:04.780 INFO  [utilities/logging/src/logger_manager.rs:91] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/mission_data/2025-03-11/2025-03-11_10-03-04.lobsterlog")
10:03:04.782 DEBUG [utilities/logging/src/time_series_logger.rs:103] Creating logger to table: logs
10:03:04.783 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]})
10:03:04.783 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:03:04.786 INFO  [utilities/simulator/src/simulator.rs:74] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
10:03:04.852 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]})
10:03:04.853 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:03:05.053 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]})
10:03:05.053 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:03:05.304 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: imu
10:03:05.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_waterlinked
10:03:05.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_bottom_track
10:03:05.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_water_track
10:03:05.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_current_profile
10:03:05.305 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_depth
10:03:05.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: magnetometer
10:03:05.306 WARN  [robot_core/launch/src/lib.rs:328] Magnetometer not enabled
10:03:05.306 WARN  [robot_core/launch/src/lib.rs:308] IMU not enabled
10:03:05.306 WARN  [robot_core/launch/src/lib.rs:345] Can Magnetometer not enabled
10:03:05.306 WARN  [robot_core/launch/src/lib.rs:363] Waterlinked DVL not enabled
10:03:05.306 WARN  [robot_core/launch/src/lib.rs:388] Nortek DVL not enabled
10:03:05.306 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]})
10:03:05.306 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:03:05.306 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: kinematic_state
10:03:05.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: environment_state
10:03:05.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: se_debug_stats
10:03:05.308 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
10:03:05.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
10:03:05.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
10:03:05.308 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: thruster_manager
10:03:05.309 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
10:03:05.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/cascaded_control
10:03:05.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position_settings
10:03:05.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position
10:03:05.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:03:05.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position_settings
10:03:05.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position
10:03:05.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:03:05.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position_settings
10:03:05.310 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position
10:03:05.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
10:03:05.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude_settings
10:03:05.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude
10:03:05.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
10:03:05.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude_settings
10:03:05.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude
10:03:05.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude_settings
10:03:05.311 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
10:03:05.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude
10:03:05.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
10:03:05.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity_settings
10:03:05.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity
10:03:05.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
10:03:05.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity_settings
10:03:05.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity
10:03:05.312 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity_settings
10:03:05.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
10:03:05.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity
10:03:05.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
10:03:05.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity_settings
10:03:05.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity
10:03:05.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity_settings
10:03:05.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
10:03:05.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity
10:03:05.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
10:03:05.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity_settings
10:03:05.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity
10:03:05.314 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]})
10:03:05.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
10:03:05.314 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
10:03:05.314 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
10:03:05.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
10:03:05.314 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
10:03:05.315 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
10:03:05.315 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 5349.718665861
10:03:05.376 INFO  [robot_core/path_planning/src/lib.rs:113] Loading Python Path Planner from '/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python'
10:03:05.560 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
10:03:05.560 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
10:03:05.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
10:03:05.561 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
10:03:05.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
10:03:05.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
10:03:05.561 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for gps
10:03:05.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'gps' with StopRunningFlag { name: "gps", id: 0, stop_running: false, do_auto_stop: true }
10:03:05.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'gps' successfully started
10:03:05.561 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
10:03:05.561 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
10:03:05.561 INFO  [peripherals/communication/src/lib.rs:68] grpc listening on 0.0.0.0:10820
10:03:05.561 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: task_executor_actions
10:03:05.561 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
10:03:05.561 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
10:03:05.562 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
10:03:05.562 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'discovery_node' successfully started
10:03:05.562 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
10:03:05.562 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
10:03:05.562 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
10:03:05.562 INFO  [peripherals/communication/src/discovery_node.rs:63] Sending heartbeats to: ["255.255.255.255:10899", "192.168.191.255:10899"]
10:03:05.613 INFO  [robot_core/launch/src/lib.rs:283] Waiting until code stops running so threads can be joined
10:03:05.613 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'state_estimator'
10:03:05.646 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
10:03:05.646 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1776.83Hz
10:03:05.955 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:03:05.993 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:03:06.182 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:03:06.182 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
10:03:06.563 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
10:03:06.669 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:06.677 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:06.686 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:07.845 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3939.58Hz
10:03:07.851 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:07.863 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:07.871 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:08.731 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: Engage
10:03:08.732 DEBUG [robot_core/path_planning/src/lib.rs:224] Received new goals: [Hold(3153600000.0 s^1)]
10:03:08.732 DEBUG [robot_core/path_planning/src/lib.rs:226] Current goal: None. Updated pending goals queue: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }]
10:03:08.733 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Hold(3153600000.0 s^1), Started)
10:03:08.734 INFO  [robot_core/task_scheduler/src/executor/active.rs:130] Waiting for active task with spawned in Hold task 'InfiniteHold'
10:03:08.734 INFO  [robot_core/task_scheduler/src/executor/mod.rs:99] TaskExecutor performed: NewMode(Waiting(with:Task(type: Hold, id: 0, name: 'InfiniteHold'))
10:03:08.734 INFO  [utilities/logging/src/logger_manager.rs:154] Started logging to database 2025-03-11T10:03:08.733937610+01:00_task_executor
10:03:08.734 DEBUG [utilities/logging/src/time_series_logger.rs:198] Transaction commited: logs
10:03:08.736 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.09383226543926974, Enable control depth: 0.2, Depth control enabled: true
10:03:08.736 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:03:08.736 INFO  [robot_core/control/src/cascaded_control.rs:354] Disabling depth control.
10:03:08.736 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
10:03:08.736 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.09383226543926974 }
10:03:08.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:03:08.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
10:03:08.737 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
10:03:08.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
10:03:08.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
10:03:08.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
10:03:08.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
10:03:08.739 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
10:03:08.739 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
10:03:08.739 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
10:03:08.739 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
10:03:08.740 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:03:08.740 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:03:08.939 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:08.950 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:08.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:09.169 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:03:09.177 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:03:09.182 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:03:09.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:03:09.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:03:09.204 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:03:09.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:03:09.219 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:03:09.226 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:03:09.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:03:09.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:03:09.247 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:03:09.256 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:03:09.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:03:09.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:09.296 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:09.302 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:09.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:03:09.470 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:03:09.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:03:09.481 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:03:09.487 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:03:09.493 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:03:09.499 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:03:09.504 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:03:09.509 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:03:09.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:03:09.521 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:03:09.527 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:03:09.533 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:03:09.540 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:03:09.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:09.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:09.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:09.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:03:09.739 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:03:09.745 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:03:09.750 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:03:09.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:03:09.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:03:09.769 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:03:09.775 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:03:09.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:03:09.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:03:09.792 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:03:09.801 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:03:09.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:03:09.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:03:09.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
10:03:09.843 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:09.850 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:09.858 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:09.994 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:03:10.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:03:10.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:03:10.010 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:03:10.016 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:03:10.023 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:03:10.029 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:03:10.036 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:03:10.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:03:10.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:03:10.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:03:10.058 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:03:10.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:03:10.072 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:03:10.108 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:10.115 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:10.125 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:10.260 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:03:10.265 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:03:10.271 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:03:10.276 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:03:10.281 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:03:10.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:03:10.293 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:03:10.299 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:03:10.307 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:03:10.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:03:10.319 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:03:10.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:03:10.335 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:03:10.341 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:03:10.370 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:10.378 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:10.385 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:10.533 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:03:10.538 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:03:10.545 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:03:10.551 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:03:10.556 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:03:10.563 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:03:10.569 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:03:10.575 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:03:10.581 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:03:10.586 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:03:10.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:03:10.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:03:10.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:03:10.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:03:10.640 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:10.650 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:10.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:10.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:03:10.798 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:03:10.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:03:10.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:03:10.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:03:10.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:03:10.824 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:03:10.824 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6207.75Hz
10:03:10.831 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:03:10.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:03:10.843 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:03:10.849 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:03:10.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:03:10.861 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:03:10.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:03:10.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:10.908 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:10.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:11.059 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:03:11.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:03:11.070 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:03:11.076 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:03:11.081 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:03:11.087 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:03:11.092 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:03:11.099 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:03:11.105 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:03:11.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:03:11.117 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:03:11.124 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:03:11.131 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:03:11.136 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:03:11.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:11.183 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:11.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:11.321 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:03:11.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:03:11.335 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:03:11.342 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:03:11.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:03:11.355 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:03:11.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:03:11.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:03:11.376 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:03:11.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:03:11.387 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:03:11.391 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:03:11.397 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:03:11.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:03:11.435 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:11.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:11.452 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:11.591 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position
10:03:11.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude
10:03:11.603 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity
10:03:11.609 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position
10:03:11.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity
10:03:11.621 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity
10:03:11.626 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude
10:03:11.631 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity
10:03:11.638 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity
10:03:11.644 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity
10:03:11.654 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/cascaded_control
10:03:11.661 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position
10:03:11.668 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude
10:03:11.673 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: thruster_manager
10:03:11.697 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
10:03:11.706 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
10:03:11.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
10:03:11.781 DEBUG [robot_core/task_scheduler/src/lib.rs:112] Received request while active: AddTask(3: '')
10:03:11.782 DEBUG [robot_core/path_planning/src/lib.rs:234] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }]
10:03:11.782 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Hold(3153600000.0 s^1), Cancelled)
10:03:11.782 INFO  [robot_core/task_scheduler/src/executor/active.rs:98] Starting a SurveyPolygon task ''
10:03:11.782 DEBUG [robot_core/path_planning/src/lib.rs:224] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 12.764454396289132, y: 24.18031296208195 }, Coord { x: 12.764591901490219, y: 44.22202730066975 }, Coord { x: -7.226205460292977, y: 44.22220464353507 }, Coord { x: -7.226342966128522, y: 24.180409931975056 }, Coord { x: 12.764454396289132, y: 24.18031296208195 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
10:03:11.782 DEBUG [robot_core/path_planning/src/lib.rs:226] Current goal: None. Updated pending goals queue: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 12.764454396289132, y: 24.18031296208195 }, Coord { x: 12.764591901490219, y: 44.22202730066975 }, Coord { x: -7.226205460292977, y: 44.22220464353507 }, Coord { x: -7.226342966128522, y: 24.180409931975056 }, Coord { x: 12.764454396289132, y: 24.18031296208195 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (-7.226342944580772 m^1, 25.18031296208195 m^1), end: (12.76446810535743 m^1, 25.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.76447495989158 m^1, 26.18031296208195 m^1), end: (-7.2263360900466225 m^1, 26.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.226329235512473 m^1, 27.18031296208195 m^1), end: (12.764481814425729 m^1, 27.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.764488668959878 m^1, 28.18031296208195 m^1), end: (-7.226322380978324 m^1, 28.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.226315526444175 m^1, 29.18031296208195 m^1), end: (12.764495523494027 m^1, 29.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.764502378028176 m^1, 30.18031296208195 m^1), end: (-7.226308671910026 m^1, 30.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.226301817375877 m^1, 31.18031296208195 m^1), end: (12.764509232562325 m^1, 31.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.764516087096474 m^1, 32.18031296208195 m^1), end: (-7.2262949628417275 m^1, 32.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.226288108307578 m^1, 33.18031296208195 m^1), end: (12.764523001235268 m^1, 33.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.764529855769418 m^1, 34.18031296208195 m^1), end: (-7.226281253773429 m^1, 34.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.226274339634635 m^1, 35.18031296208195 m^1), end: (12.764536710303567 m^1, 35.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.764543564837716 m^1, 36.18031296208195 m^1), end: (-7.226267485100486 m^1, 36.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.226260630566337 m^1, 37.18031296208195 m^1), end: (12.764550419371865 m^1, 37.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.764557273906014 m^1, 38.18031296208195 m^1), end: (-7.226253776032188 m^1, 38.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.2262469214980385 m^1, 39.18031296208195 m^1), end: (12.764564128440163 m^1, 39.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.764570982974313 m^1, 40.18031296208195 m^1), end: (-7.226240066963889 m^1, 40.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.22623321242974 m^1, 41.18031296208195 m^1), end: (12.764577837508462 m^1, 41.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.764584751647256 m^1, 42.18031296208195 m^1), end: (-7.226226357895591 m^1, 42.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.226219503361442 m^1, 43.18031296208195 m^1), end: (12.764591606181405 m^1, 43.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (12.764591904204629 m^1, 44.18031296208195 m^1), end: (-7.226212589222648 m^1, 44.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-7.226205734688499 m^1, 45.18031296208195 m^1), end: (12.764591904204629 m^1, 45.18031296208195 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
10:03:11.783 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 12.764454396289132, y: 24.18031296208195 }, Coord { x: 12.764591901490219, y: 44.22202730066975 }, Coord { x: -7.226205460292977, y: 44.22220464353507 }, Coord { x: -7.226342966128522, y: 24.180409931975056 }, Coord { x: 12.764454396289132, y: 24.18031296208195 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), Started)
10:03:11.783 INFO  [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-03-11T10:03:11.783142560+01:00_/_rust.log"
10:03:11.785 INFO  [robot_core/control/src/cascaded_control.rs:326] Control Manager has stopped
10:03:11.785 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters
10:03:11.785 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:03:11.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:03:11.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
10:03:11.786 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
10:03:11.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
10:03:11.786 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: -3.6535625234426287e-5, y: -8.055303412480828e-17, z: 0.09023861140266305 }
10:03:11.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
10:03:11.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
10:03:11.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
10:03:11.786 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
10:03:11.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
10:03:11.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
10:03:11.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
10:03:11.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
10:03:11.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
10:03:11.788 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
17:02:08.358 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
17:02:08.358 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-03-11 17:02:08.358501991 +01:00
17:02:08.358 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
17:02:08.358 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
17:02:08.358 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
17:02:08.358 INFO  [utilities/logging/src/logger_manager.rs:91] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/mission_data/2025-03-11/2025-03-11_17-02-08.lobsterlog")
17:02:08.359 DEBUG [utilities/logging/src/time_series_logger.rs:103] Creating logger to table: logs
17:02:08.359 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
17:02:08.359 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
17:02:08.361 INFO  [utilities/simulator/src/simulator.rs:74] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
17:02:08.421 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
17:02:08.421 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
17:02:08.568 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
17:02:08.568 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
17:02:08.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: imu
17:02:08.789 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_waterlinked
17:02:08.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_bottom_track
17:02:08.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_water_track
17:02:08.790 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_current_profile
17:02:08.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_depth
17:02:08.791 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: magnetometer
17:02:08.791 WARN  [robot_core/launch/src/lib.rs:328] Magnetometer not enabled
17:02:08.792 WARN  [robot_core/launch/src/lib.rs:308] IMU not enabled
17:02:08.792 WARN  [robot_core/launch/src/lib.rs:345] Can Magnetometer not enabled
17:02:08.792 WARN  [robot_core/launch/src/lib.rs:363] Waterlinked DVL not enabled
17:02:08.792 WARN  [robot_core/launch/src/lib.rs:388] Nortek DVL not enabled
17:02:08.793 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
17:02:08.793 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
17:02:08.793 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: kinematic_state
17:02:08.795 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: environment_state
17:02:08.795 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: se_debug_stats
17:02:08.797 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
17:02:08.797 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
17:02:08.797 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
17:02:08.803 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: thruster_manager
17:02:08.804 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
17:02:08.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/cascaded_control
17:02:08.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position_settings
17:02:08.808 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position
17:02:08.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
17:02:08.809 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position_settings
17:02:08.810 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position
17:02:08.811 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position_settings
17:02:08.811 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
17:02:08.812 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position
17:02:08.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
17:02:08.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude_settings
17:02:08.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude
17:02:08.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
17:02:08.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude_settings
17:02:08.816 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude
17:02:08.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
17:02:08.817 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude_settings
17:02:08.818 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude
17:02:08.818 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
17:02:08.818 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity_settings
17:02:08.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity
17:02:08.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
17:02:08.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity_settings
17:02:08.820 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity
17:02:08.821 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
17:02:08.821 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity_settings
17:02:08.821 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity
17:02:08.821 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
17:02:08.821 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity_settings
17:02:08.822 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity
17:02:08.822 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity_settings
17:02:08.822 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
17:02:08.822 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity
17:02:08.822 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity_settings
17:02:08.822 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
17:02:08.823 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity
17:02:08.823 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
17:02:08.823 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
17:02:08.823 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
17:02:08.823 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
17:02:08.823 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
17:02:08.823 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
17:02:08.823 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
17:02:08.823 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 26661.796355948
17:02:08.913 INFO  [robot_core/path_planning/src/lib.rs:113] Loading Python Path Planner from '/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python'
17:02:09.073 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
17:02:09.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
17:02:09.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
17:02:09.074 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
17:02:09.074 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
17:02:09.074 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
17:02:09.074 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for gps
17:02:09.074 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'gps' with StopRunningFlag { name: "gps", id: 0, stop_running: false, do_auto_stop: true }
17:02:09.074 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'gps' successfully started
17:02:09.074 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
17:02:09.074 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
17:02:09.074 INFO  [peripherals/communication/src/lib.rs:68] grpc listening on 0.0.0.0:10820
17:02:09.074 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: task_executor_actions
17:02:09.075 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
17:02:09.076 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
17:02:09.076 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
17:02:09.076 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'discovery_node' successfully started
17:02:09.076 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
17:02:09.076 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
17:02:09.076 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
17:02:09.077 INFO  [peripherals/communication/src/discovery_node.rs:63] Sending heartbeats to: ["255.255.255.255:10899", "192.168.191.255:10899"]
17:02:09.104 INFO  [robot_core/launch/src/lib.rs:283] Waiting until code stops running so threads can be joined
17:02:09.104 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'state_estimator'
17:02:09.122 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
17:02:09.122 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3039.74Hz
17:02:09.862 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:09.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:09.872 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:10.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
17:02:10.459 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 11656.64Hz
17:02:10.465 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:10.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:10.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:11.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:11.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:11.134 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:11.898 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7922.17Hz
17:02:11.902 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:11.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:11.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:12.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:12.564 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:12.568 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:13.363 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5194.70Hz
17:02:13.366 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:13.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:13.376 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:14.177 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:14.184 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:14.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:15.031 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3951.09Hz
17:02:15.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:15.045 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:15.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:15.898 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:15.905 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:15.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:16.808 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7679.43Hz
17:02:16.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:16.818 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:16.826 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:17.689 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:17.694 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:17.701 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:18.568 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7263.27Hz
17:02:18.572 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:18.578 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:18.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:19.322 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:19.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:19.333 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:20.031 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 11160.84Hz
17:02:20.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:20.041 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:20.048 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:20.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:20.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:20.738 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:21.487 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8852.61Hz
17:02:21.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:21.496 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:21.499 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:22.417 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:22.422 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:22.427 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:23.339 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5301.50Hz
17:02:23.341 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:23.347 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:23.353 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:24.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:24.057 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:24.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:24.723 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9806.61Hz
17:02:24.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:24.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:24.740 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:25.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:25.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:25.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:26.123 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9869.43Hz
17:02:26.127 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:26.133 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:26.141 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:26.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:26.862 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:26.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:27.600 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7401.10Hz
17:02:27.604 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:27.609 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:27.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:28.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:28.458 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:28.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:29.167 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5740.30Hz
17:02:29.170 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:29.178 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:29.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:30.055 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:30.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:30.071 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:31.002 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4815.98Hz
17:02:31.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:31.013 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:31.020 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:31.852 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:31.860 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:31.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:32.664 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7603.41Hz
17:02:32.671 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:32.676 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:32.684 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:33.532 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:33.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:33.546 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:34.486 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6466.63Hz
17:02:34.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:34.493 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:34.497 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:35.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:35.280 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:35.285 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:36.038 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6571.68Hz
17:02:36.044 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:36.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:36.054 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:36.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:36.787 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:36.794 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:37.568 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 9055.02Hz
17:02:37.574 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:37.577 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:37.582 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:38.580 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:38.585 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:38.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:39.418 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7451.29Hz
17:02:39.423 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:39.431 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:39.441 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:40.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:40.390 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:40.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:41.154 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5371.78Hz
17:02:41.157 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:41.164 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:41.167 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:42.094 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:42.102 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:42.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:43.004 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4215.48Hz
17:02:43.010 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:43.018 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:43.026 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:43.277 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
17:02:43.964 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:43.973 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:43.982 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:44.984 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7157.99Hz
17:02:44.989 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:44.998 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:45.006 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:46.065 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:46.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:46.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:47.060 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4800.38Hz
17:02:47.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:47.075 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:47.084 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:48.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:48.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:48.128 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:49.117 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3314.89Hz
17:02:49.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:49.130 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:49.138 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:50.154 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:50.162 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:50.170 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:51.214 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3858.78Hz
17:02:51.219 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:51.225 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:51.231 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:52.234 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:52.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:52.251 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:53.244 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3828.09Hz
17:02:53.249 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:53.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:53.267 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:54.274 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:54.282 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:54.289 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:55.266 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4562.25Hz
17:02:55.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:55.280 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:55.289 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:56.301 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:56.309 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:56.316 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:57.379 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7527.51Hz
17:02:57.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:57.391 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:57.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:58.459 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:58.470 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:58.480 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:02:59.546 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5395.49Hz
17:02:59.552 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:02:59.560 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:02:59.568 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:00.602 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:00.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:00.616 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:01.692 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5011.25Hz
17:03:01.698 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:01.708 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:01.717 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:02.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:02.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:02.772 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:03.822 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3986.62Hz
17:03:03.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:03.836 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:03.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:04.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:04.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:04.944 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:06.039 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4369.31Hz
17:03:06.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:06.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:06.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:07.094 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:07.101 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:07.111 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:08.161 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4090.83Hz
17:03:08.166 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:08.174 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:08.181 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:09.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:09.285 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:09.294 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:10.493 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3859.38Hz
17:03:10.499 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:10.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:10.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:11.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:11.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:11.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:12.877 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5123.24Hz
17:03:12.885 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:12.892 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:12.900 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:14.056 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:14.064 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:14.072 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:15.126 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7093.15Hz
17:03:15.130 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:15.137 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:15.145 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:16.169 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:16.176 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:16.182 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:17.240 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 8039.36Hz
17:03:17.243 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:17.250 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:17.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:18.313 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:18.320 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:18.327 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:18.445 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: AddTask(3: '')
17:03:19.363 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6052.02Hz
17:03:19.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:19.376 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:19.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:20.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:03:20.426 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:03:20.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:03:20.898 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: Engage
17:03:20.898 DEBUG [robot_core/path_planning/src/lib.rs:224] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 43.17078237624474, y: 38.48969787033219 }, Coord { x: 43.17097741367315, y: 58.53141251939732 }, Coord { x: 23.180179120321966, y: 58.53164724921181 }, Coord { x: 23.179984081568822, y: 38.48985222640704 }, Coord { x: 43.17078237624474, y: 38.48969787033219 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
17:03:20.898 INFO  [robot_core/task_scheduler/src/executor/active.rs:98] Starting a SurveyPolygon task ''
17:03:20.899 DEBUG [robot_core/path_planning/src/lib.rs:226] Current goal: None. Updated pending goals queue: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 43.17078237624474, y: 38.48969787033219 }, Coord { x: 43.17097741367315, y: 58.53141251939732 }, Coord { x: 23.180179120321966, y: 58.53164724921181 }, Coord { x: 23.179984081568822, y: 38.48985222640704 }, Coord { x: 43.17078237624474, y: 38.48969787033219 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (23.179984081700518 m^1, 39.48969787033219 m^1), end: (43.170801807358934 m^1, 39.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (43.17081152291603 m^1, 40.48969787033219 m^1), end: (23.179993797257616 m^1, 40.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (23.180003512814714 m^1, 41.48969787033219 m^1), end: (43.170821298077776 m^1, 41.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (43.170831013634874 m^1, 42.48969787033219 m^1), end: (23.180013228371813 m^1, 42.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (23.180023003533556 m^1, 43.48969787033219 m^1), end: (43.17084072919197 m^1, 43.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (43.17085044474907 m^1, 44.48969787033219 m^1), end: (23.180032719090654 m^1, 44.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (23.180042434647753 m^1, 45.48969787033219 m^1), end: (43.170860219910814 m^1, 45.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (43.17086993546791 m^1, 46.48969787033219 m^1), end: (23.18005215020485 m^1, 46.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (23.180061925366594 m^1, 47.48969787033219 m^1), end: (43.17087965102501 m^1, 47.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (43.17088936658211 m^1, 48.48969787033219 m^1), end: (23.180071640923693 m^1, 48.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (23.18008135648079 m^1, 49.48969787033219 m^1), end: (43.17089914174385 m^1, 49.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (43.17090885730095 m^1, 50.48969787033219 m^1), end: (23.18009107203789 m^1, 50.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (23.180100847199633 m^1, 51.48969787033219 m^1), end: (43.17091857285805 m^1, 51.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (43.17092828841515 m^1, 52.48969787033219 m^1), end: (23.18011056275673 m^1, 52.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (23.18012027831383 m^1, 53.48969787033219 m^1), end: (43.17093806357689 m^1, 53.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (43.17094777913399 m^1, 54.48969787033219 m^1), end: (23.180129993870928 m^1, 54.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (23.18013976903267 m^1, 55.48969787033219 m^1), end: (43.17095749469109 m^1, 55.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (43.170967210248186 m^1, 56.48969787033219 m^1), end: (23.18014948458977 m^1, 56.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (23.180159200146868 m^1, 57.48969787033219 m^1), end: (43.17097698540993 m^1, 57.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (43.17097740264244 m^1, 58.48969787033219 m^1), end: (23.180168915703966 m^1, 58.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (23.18017869086571 m^1, 59.48969787033219 m^1), end: (43.17097740264244 m^1, 59.48969787033219 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
17:03:20.900 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 43.17078237624474, y: 38.48969787033219 }, Coord { x: 43.17097741367315, y: 58.53141251939732 }, Coord { x: 23.180179120321966, y: 58.53164724921181 }, Coord { x: 23.179984081568822, y: 38.48985222640704 }, Coord { x: 43.17078237624474, y: 38.48969787033219 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), Started)
17:03:20.901 WARN  [robot_core/task_scheduler/src/executor/active.rs:74] Could not add task logger since the logger is not active
17:03:20.901 INFO  [robot_core/task_scheduler/src/executor/mod.rs:99] TaskExecutor performed: NewMode(OnTask(with:Task(type: SurveyPolygon, id: 0, name: ''))
17:03:20.901 INFO  [utilities/logging/src/logger_manager.rs:154] Started logging to database 2025-03-11T17:03:20.900587622+01:00_task_executor
17:03:20.902 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.09383226281023511, Enable control depth: 0.2, Depth control enabled: true
17:03:20.902 DEBUG [utilities/logging/src/time_series_logger.rs:198] Transaction commited: logs
17:03:20.903 INFO  [robot_core/control/src/cascaded_control.rs:354] Disabling depth control.
17:03:20.903 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
17:17:44.492 INFO  [utilities/logging/src/logging.rs:121] ================================================================================
17:17:44.492 INFO  [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-03-11 17:17:44.492187083 +01:00
17:17:44.492 INFO  [utilities/logging/src/logging.rs:123] ================================================================================
17:17:44.492 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-03-11/2025-03-11_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
17:17:44.492 INFO  [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root"
17:17:44.492 INFO  [utilities/logging/src/logger_manager.rs:91] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/mission_data/2025-03-11/2025-03-11_17-17-44.lobsterlog")
17:17:44.492 DEBUG [utilities/logging/src/time_series_logger.rs:103] Creating logger to table: logs
17:17:44.492 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
17:17:44.492 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
17:17:44.493 INFO  [utilities/simulator/src/simulator.rs:74] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] }
17:17:44.519 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
17:17:44.519 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
17:17:44.580 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
17:17:44.580 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
17:17:44.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: imu
17:17:44.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_waterlinked
17:17:44.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_bottom_track
17:17:44.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_water_track
17:17:44.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_current_profile
17:17:44.721 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: dvl_depth
17:17:44.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: magnetometer
17:17:44.722 WARN  [robot_core/launch/src/lib.rs:328] Magnetometer not enabled
17:17:44.722 WARN  [robot_core/launch/src/lib.rs:308] IMU not enabled
17:17:44.722 WARN  [robot_core/launch/src/lib.rs:345] Can Magnetometer not enabled
17:17:44.722 WARN  [robot_core/launch/src/lib.rs:363] Waterlinked DVL not enabled
17:17:44.722 WARN  [robot_core/launch/src/lib.rs:388] Nortek DVL not enabled
17:17:44.722 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
17:17:44.722 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
17:17:44.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: kinematic_state
17:17:44.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: environment_state
17:17:44.722 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: se_debug_stats
17:17:44.723 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
17:17:44.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
17:17:44.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'state_estimator' successfully started
17:17:44.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: thruster_manager
17:17:44.723 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module
17:17:44.723 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/cascaded_control
17:17:44.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position_settings
17:17:44.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_position
17:17:44.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
17:17:44.724 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position_settings
17:17:44.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_position
17:17:44.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
17:17:44.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position_settings
17:17:44.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_position
17:17:44.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude_settings
17:17:44.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
17:17:44.725 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_attitude
17:17:44.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude_settings
17:17:44.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
17:17:44.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_attitude
17:17:44.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude_settings
17:17:44.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_attitude_settings
17:17:44.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_attitude
17:17:44.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_attitude_settings
17:17:44.726 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity_settings
17:17:44.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_velocity
17:17:44.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
17:17:44.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity_settings
17:17:44.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_velocity
17:17:44.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
17:17:44.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity_settings
17:17:44.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_velocity
17:17:44.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity_settings
17:17:44.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_velocity_settings
17:17:44.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/x_angular_velocity
17:17:44.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings
17:17:44.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity_settings
17:17:44.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/y_angular_velocity
17:17:44.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity_settings
17:17:44.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_angular_velocity_settings
17:17:44.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: control/pid/z_angular_velocity
17:17:44.729 DEBUG [utilities/common/src/modeling/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073]})
17:17:44.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_angular_velocity_settings
17:17:44.729 DEBUG [utilities/common/src/modeling/robot_model.rs:118] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.75325, y: 0.0, z: 0.10174 })
17:17:44.729 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
17:17:44.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
17:17:44.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'control' successfully started
17:17:44.729 INFO  [robot_core/control/src/control_safety.rs:46] Control starting...
17:17:44.729 INFO  [robot_core/control/src/control_safety.rs:48] Starting at 27597.701752921
17:17:44.759 INFO  [robot_core/path_planning/src/lib.rs:113] Loading Python Path Planner from '/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python'
17:17:44.863 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
17:17:44.863 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
17:17:44.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'path_planner' successfully started
17:17:44.864 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
17:17:44.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
17:17:44.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'task_scheduler' successfully started
17:17:44.864 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for gps
17:17:44.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'gps' with StopRunningFlag { name: "gps", id: 0, stop_running: false, do_auto_stop: true }
17:17:44.864 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'gps' successfully started
17:17:44.864 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
17:17:44.864 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
17:17:44.864 INFO  [peripherals/communication/src/lib.rs:68] grpc listening on 0.0.0.0:10820
17:17:44.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:103] Creating logger to table: task_executor_actions
17:17:44.865 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
17:17:44.865 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
17:17:44.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
17:17:44.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'discovery_node' successfully started
17:17:44.865 DEBUG [utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
17:17:44.865 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
17:17:44.866 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:31] Thread 'simulator' successfully started
17:17:44.866 INFO  [peripherals/communication/src/discovery_node.rs:63] Sending heartbeats to: ["255.255.255.255:10899", "192.168.191.255:10899"]
17:17:44.912 INFO  [robot_core/launch/src/lib.rs:283] Waiting until code stops running so threads can be joined
17:17:44.912 INFO  [robot_core/launch/src/lib.rs:293] Trying to join thread 'state_estimator'
17:17:44.942 INFO  [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop
17:17:44.942 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3269.56Hz
17:17:45.082 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: GetTaskQueue
17:17:45.867 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: task_executor_actions
17:17:46.035 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:17:46.045 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:17:46.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:17:47.155 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6953.47Hz
17:17:47.161 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:17:47.169 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:17:47.178 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:17:48.328 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:17:48.335 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:17:48.346 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:17:49.523 INFO  [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4531.04Hz
17:17:49.530 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:17:49.539 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:17:49.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:17:50.235 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: AddTask(3: '')
17:17:50.641 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: environment_state
17:17:50.649 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: se_debug_stats
17:17:50.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: kinematic_state
17:17:51.751 DEBUG [robot_core/task_scheduler/src/lib.rs:150] Received request while idle: Engage
17:17:51.751 DEBUG [robot_core/path_planning/src/lib.rs:224] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 58.03977500136986, y: 56.449396180722786 }, Coord { x: 58.04004224723724, y: 76.49111098070678 }, Coord { x: 38.04924349874419, y: 76.49141773613628 }, Coord { x: 38.04897625193918, y: 56.44962256209989 }, Coord { x: 58.03977500136986, y: 56.449396180722786 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })]
17:17:51.751 INFO  [robot_core/task_scheduler/src/executor/active.rs:98] Starting a SurveyPolygon task ''
17:17:51.752 DEBUG [robot_core/path_planning/src/lib.rs:226] Current goal: None. Updated pending goals queue: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 58.03977500136986, y: 56.449396180722786 }, Coord { x: 58.04004224723724, y: 76.49111098070678 }, Coord { x: 38.04924349874419, y: 76.49141773613628 }, Coord { x: 38.04897625193918, y: 56.44962256209989 }, Coord { x: 58.03977500136986, y: 56.449396180722786 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (38.04897622998848 m^1, 57.449396180722786 m^1), end: (58.039801644646076 m^1, 57.449396180722786 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (58.039814996086506 m^1, 58.449396180722786 m^1), end: (38.04898952182427 m^1, 58.449396180722786 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.0490028732647 m^1, 59.449396180722786 m^1), end: (58.03982828792229 m^1, 59.449396180722786 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (58.03984163936272 m^1, 60.449396180722786 m^1), end: (38.04901622470513 m^1, 60.449396180722786 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.04902951654091 m^1, 61.449396180722786 m^1), end: (58.03985499080315 m^1, 61.449396180722786 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (58.03986834224358 m^1, 62.449396180722786 m^1), end: (38.04904286798134 m^1, 62.449396180722786 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.04905621942177 m^1, 63.449396180722786 m^1), end: (58.039881634079364 m^1, 63.449396180722786 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (58.039894985519794 m^1, 64.44939618072279 m^1), end: (38.0490695708622 m^1, 64.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.049082862697986 m^1, 65.44939618072279 m^1), end: (58.039908336960224 m^1, 65.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (58.03992168840065 m^1, 66.44939618072279 m^1), end: (38.049096214138416 m^1, 66.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.049109565578846 m^1, 67.44939618072279 m^1), end: (58.03993498023644 m^1, 67.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (58.03994833167687 m^1, 68.44939618072279 m^1), end: (38.049122917019275 m^1, 68.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.04913620885506 m^1, 69.44939618072279 m^1), end: (58.0399616831173 m^1, 69.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (58.03997503455773 m^1, 70.44939618072279 m^1), end: (38.04914956029549 m^1, 70.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.04916291173592 m^1, 71.44939618072279 m^1), end: (58.03998832639351 m^1, 71.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (58.04000167783394 m^1, 72.44939618072279 m^1), end: (38.049176203571704 m^1, 72.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.049189555012134 m^1, 73.44939618072279 m^1), end: (58.04001502927437 m^1, 73.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (58.04002832111016 m^1, 74.44939618072279 m^1), end: (38.049202906452564 m^1, 74.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.049216257892994 m^1, 75.44939618072279 m^1), end: (58.040041672550586 m^1, 75.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (58.040042268597034 m^1, 76.44939618072279 m^1), end: (38.04922954972878 m^1, 76.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (38.04924290116921 m^1, 77.44939618072279 m^1), end: (58.040042268597034 m^1, 77.44939618072279 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }]
17:17:51.756 DEBUG [robot_core/path_planning/src/lib.rs:139] Sending path planner update: GoalUpdate(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 58.03977500136986, y: 56.449396180722786 }, Coord { x: 58.04004224723724, y: 76.49111098070678 }, Coord { x: 38.04924349874419, y: 76.49141773613628 }, Coord { x: 38.04897625193918, y: 56.44962256209989 }, Coord { x: 58.03977500136986, y: 56.449396180722786 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), Started)
17:17:51.758 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.09383226632250281, Enable control depth: 0.2, Depth control enabled: true
17:17:51.758 INFO  [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters
17:17:51.758 INFO  [robot_core/control/src/cascaded_control.rs:317] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.09383226632250281 }
17:17:51.758 WARN  [robot_core/task_scheduler/src/executor/active.rs:74] Could not add task logger since the logger is not active
17:17:51.758 INFO  [robot_core/control/src/cascaded_control.rs:354] Disabling depth control.
17:17:51.758 INFO  [utilities/logging/src/logger_manager.rs:154] Started logging to database 2025-03-11T17:17:51.757428402+01:00_task_executor
17:17:51.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_position_settings
17:17:51.758 INFO  [robot_core/task_scheduler/src/executor/mod.rs:99] TaskExecutor performed: NewMode(OnTask(with:Task(type: SurveyPolygon, id: 0, name: ''))
17:17:51.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_position_settings
17:17:51.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/z_position_settings
17:17:51.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_attitude_settings
17:17:51.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_velocity_settings
17:17:51.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/y_velocity_settings
17:17:51.760 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/time_series_logger.rs:198] Transaction commited: control/pid/x_angular_velocity_settings