11:59:36.635 INFO  [robot_code/utilities/logging/src/logging.rs:134] ================================================================================
11:59:36.635 INFO  [robot_code/utilities/logging/src/logging.rs:135] Starting new Rust log session at 2025-08-29 11:59:36.635734444 +02:00
11:59:36.635 INFO  [robot_code/utilities/logging/src/logging.rs:136] ================================================================================
11:59:36.635 DEBUG [robot_code/utilities/logging/src/logging.rs:137] 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_settings": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": 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_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_live_stitching": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_usbl_driver": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Trace, 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/task_data/2025-08-29_simulated_scout/2025-08-29_simulated_scout_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/task_data/2025-08-29_simulated_scout/2025-08-29_simulated_scout_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_simulated_scout_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/task_data/2025-08-29_simulated_scout/2025-08-29_simulated_scout_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_simulated_scout_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/task_data/2025-08-29_simulated_scout/2025-08-29_simulated_scout_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) }
11:59:36.635 INFO  [robot_code/utilities/logging/src/logging.rs:140] Logging to "/home/joris/Desktop/data_root"
11:59:36.635 INFO  [robot_code/utilities/logging/src/logger_manager.rs:100] Creating logger manager with database path: Some("/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_11-59-36_simulated_scout.lobsterlog")
11:59:36.641 DEBUG [robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: logs
11:59:36.775 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066]})
11:59:36.775 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
11:59:36.776 INFO  [robot_code/utilities/simulator/src/simulator.rs:101] Initializing simulator with timestep: 20ms and simulator settings: SimulatorSettings { bottom: Flat, enable_user_debug_parameters: false, gui: false, multi_beam: MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 15.0, tilt: 20.0, visualize_beams: false }, origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, scout_model: Scout3, sea_floor_depth: 10.0, 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] }
11:59:36.817 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066]})
11:59:36.817 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
11:59:37.236 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066]})
11:59:37.236 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
11:59:37.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: code_launch
11:59:37.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: imu
11:59:37.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_bottom_track
11:59:37.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_water_track
11:59:37.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_current_profile
11:59:37.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: dvl_depth
11:59:37.237 WARN  [robot_code/robot_core/launch/src/lib.rs:498] IMU not enabled
11:59:37.237 WARN  [robot_code/robot_core/launch/src/lib.rs:516] Magnetometer not enabled
11:59:37.237 WARN  [robot_code/robot_core/launch/src/lib.rs:175] Magnetometer not enabled, state estimation will not be able to use it
11:59:37.237 WARN  [robot_code/robot_core/launch/src/lib.rs:572] Nortek DVL not enabled
11:59:37.237 WARN  [robot_code/robot_core/launch/src/lib.rs:551] GPS not enabled
11:59:37.237 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066]})
11:59:37.237 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
11:59:37.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: kinematic_state
11:59:37.237 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: environment_state
11:59:37.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: se_debug_stats
11:59:37.238 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_estimator
11:59:37.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true }
11:59:37.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'state_estimator' successfully started
11:59:37.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread state_estimator with pid: 27731
11:59:37.238 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: thruster_manager
11:59:37.239 DEBUG [robot_code/peripherals/actuation/src/lib.rs:207] Started simulated thruster module
11:59:37.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/internal_states
11:59:37.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/cascaded_control
11:59:37.239 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position_settings
11:59:37.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_position
11:59:37.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position_settings
11:59:37.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_position
11:59:37.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position_settings
11:59:37.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_position
11:59:37.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude_settings
11:59:37.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_attitude
11:59:37.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude_settings
11:59:37.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_attitude
11:59:37.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude_settings
11:59:37.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_attitude
11:59:37.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity_settings
11:59:37.242 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_velocity
11:59:37.243 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity_settings
11:59:37.243 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_velocity
11:59:37.243 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity_settings
11:59:37.243 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_velocity
11:59:37.243 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity_settings
11:59:37.243 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/x_angular_velocity
11:59:37.244 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity_settings
11:59:37.244 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/y_angular_velocity
11:59:37.244 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity_settings
11:59:37.244 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: control/pid/z_angular_velocity
11:59:37.244 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: virtual_normalized_integral_sensor
11:59:37.245 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:53] Adding module 0, scout_3 to robot model with POI: Some({"sonar_location": [1.81926, 0.0, 0.00717], "front_right_upwards_thruster_location": [1.574, 0.053, 0.0], "usbl_modem_location": [1.3235, 0.0, -0.09595], "rear_right_upwards_thruster_location": [0.273, 0.053, 0.0], "camera_rear_location": [0.9707, 0.0, 0.0066], "gps_location": [0.93573, 0.00255, -0.17048], "front_left_upwards_thruster_location": [1.574, -0.053, 0.0], "magnetometer_location": [1.06914, 0.00188, -0.20086], "gps_2_location": [1.05957, -0.00255, -0.20834], "main_forwards_thruster_location": [0.0, 0.0, 0.0], "ps_location": [1.28577, 0.0, 0.06725], "rear_left_upwards_thruster_location": [0.273, -0.053, 0.0], "rear_sidewards_thruster_location": [0.189, 0.0, 0.0], "front_sidewards_thruster_location": [1.658, 0.0, -0.00825], "imu_location": [1.22915, -0.07144, -0.03025], "dvl_location": [1.3305, 0.0, 0.0176], "camera_front_location": [1.1187, 0.0, 0.0066]})
11:59:37.245 DEBUG [robot_code/utilities/common/src/modeling/robot_model.rs:109] RobotModel calculated. Info: - total mass: 52.444 kg, total length: 1.912 m, dvl location: Some(Vec3 { x: 0.32814878999999997, y: -0.00123998, z: 0.01605702 }) volume: 0.053
11:59:37.245 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for control
11:59:37.245 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true }
11:59:37.245 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'control' successfully started
11:59:37.245 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread control with pid: 27760
11:59:37.245 INFO  [robot_code/robot_core/control/src/control_safety.rs:103] Control starting...
11:59:37.245 INFO  [robot_code/robot_core/control/src/control_safety.rs:105] Starting at 0.02
11:59:37.245 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for simulator
11:59:37.245 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true }
11:59:37.245 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'simulator' successfully started
11:59:37.245 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread simulator with pid: 27761
11:59:37.275 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: path_planning/meta_info
11:59:37.359 INFO  [robot_code/robot_core/launch/src/simulator_runner.rs:79] Starting simulator runner loop
11:59:37.359 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for path_planner
11:59:37.359 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true }
11:59:37.359 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'path_planner' successfully started
11:59:37.359 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for position_camera
11:59:37.359 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread path_planner with pid: 27764
11:59:37.359 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/meta_info
11:59:37.359 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_scheduler
11:59:37.359 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true }
11:59:37.360 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'task_scheduler' successfully started
11:59:37.360 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread task_scheduler with pid: 27766
11:59:37.360 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: task_scheduler/executor_actions
11:59:37.361 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_module
11:59:37.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_module' with StopRunningFlag { name: "lora_module", id: 0, stop_running: false, do_auto_stop: true }
11:59:37.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_module' successfully started
11:59:37.361 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_services
11:59:37.361 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for grpc_server
11:59:37.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_module with pid: 27804
11:59:37.361 INFO  [robot_code/peripherals/communication/src/lib.rs:97] grpc listening on 0.0.0.0:10820
11:59:37.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/incoming_messages
11:59:37.361 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for outgoing_message
11:59:37.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/manual_inputs
11:59:37.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: lora/outgoing_messages
11:59:37.361 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_handler
11:59:37.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_handler' with StopRunningFlag { name: "lora_handler", id: 0, stop_running: false, do_auto_stop: true }
11:59:37.361 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_handler' successfully started
11:59:37.362 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_state_publisher
11:59:37.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_state_publisher' with StopRunningFlag { name: "lora_state_publisher", id: 0, stop_running: false, do_auto_stop: true }
11:59:37.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_state_publisher' successfully started
11:59:37.362 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for lora_task_handler
11:59:37.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_handler with pid: 27809
11:59:37.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'lora_task_handler' with StopRunningFlag { name: "lora_task_handler", id: 0, stop_running: false, do_auto_stop: true }
11:59:37.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_state_publisher with pid: 27810
11:59:37.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'lora_task_handler' successfully started
11:59:37.362 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread lora_task_handler with pid: 27811
11:59:37.379 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
11:59:37.379 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for orchestration
11:59:37.381 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for state_observer
11:59:37.381 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for task_handler
11:59:37.382 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for discovery_node
11:59:37.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:23] Starting thread 'discovery_node' with StopRunningFlag { name: "discovery_node", id: 0, stop_running: false, do_auto_stop: true }
11:59:37.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:41] Thread 'discovery_node' successfully started
11:59:37.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:27] Started thread discovery_node with pid: 27813
11:59:37.382 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for abort
11:59:37.382 INFO  [robot_code/robot_core/launch/src/lib.rs:471] Waiting until code stops running so threads can be joined
11:59:37.382 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'state_estimator'
11:59:37.390 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:126] Started watching interfaces
11:59:37.390 INFO  [robot_code/peripherals/communication/src/discovery_node.rs:75] Sending heartbeats to: ["192.168.30.255:10899", "255.255.255.255:10899"]
11:59:37.486 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
11:59:37.500 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
11:59:37.500 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
11:59:41.416 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
11:59:41.422 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
11:59:41.422 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
12:00:09.910 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/logger.rs:114] Creating logger to table: coverage
12:00:09.910 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: AddTask(SurveyArea: 'surveyArea')
12:00:38.596 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: Engage
12:00:38.596 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("Evaluating") }
12:00:38.616 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a Upright task 'Upright task'
12:00:38.656 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
12:00:38.656 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Received new goals: [DirectControl(ControlGoalWithMeta { id: d5c6274f-3985-4ceb-9666-538bfd09dd40, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
12:00:38.656 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:521] Current goal: None. Updated pending goals queue: [DirectControl(ControlGoalWithMeta { id: d5c6274f-3985-4ceb-9666-538bfd09dd40, start_time: None, goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })]
12:00:38.666 TRACE [robot_code/robot_core/path_planning/src/lib.rs:507] Setting new goal in path planner manager: DirectControl(ControlGoalWithMeta { id: d5c6274f-3985-4ceb-9666-538bfd09dd40, start_time: Some(60.98 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
12:00:38.666 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: d5c6274f-3985-4ceb-9666-538bfd09dd40, start_time: Some(60.98 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Started)
12:00:38.666 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
12:00:38.666 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Upright, name: 'Upright task', id: 675b2712-ea06-4da7-b50d-f3df4c0e4257)"), mode: None }
12:00:38.666 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-00-38_Upright task/2025-08-29_12-00-38_Upright task_rust.log"
12:00:38.666 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-29_12-00-38_Upright task
12:00:38.686 TRACE [robot_code/robot_core/path_planning/src/control_goal_forwarding.rs:72] Checking if attitude is reached: true, goal: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), current: Quaternion(x: 0.0, y: -0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, -0.0)), tolerance: 6.0
12:00:38.686 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849564010718867, Enable control depth: 0.2, Depth control enabled: true
12:00:38.686 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(DirectControl(ControlGoalWithMeta { id: d5c6274f-3985-4ceb-9666-538bfd09dd40, start_time: Some(60.98 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) }), Finished)
12:00:38.686 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
12:00:38.686 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
12:00:38.686 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.0 m^1, east: 0.0 m^1, down: 0.09849564010718867 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084122328437099, lon: 0.07626919534277776 }), update_count: 0 } }
12:00:38.696 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: DirectControl(ControlGoalWithMeta { id: d5c6274f-3985-4ceb-9666-538bfd09dd40, start_time: Some(60.98 s^1), goal: Angular(Attitude { attitude: Quaternion(x: 0.0, y: 0.0, z: -0.0, w: 1.0, euler (degrees): (0.0, 0.0, 0.0)), roll_velocity: None, pitch_velocity: None, yaw_velocity: None }) })
12:00:38.706 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
12:00:38.707 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
12:00:38.737 TRACE [robot_code/robot_core/path_planning/src/lib.rs:507] Setting new goal in path planner manager: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 }))
12:00:38.737 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Received new goals: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 }))]
12:00:38.737 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:521] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 }))]
12:00:38.737 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 })), Started)
12:00:38.737 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
12:00:38.737 INFO  [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:281] Updated geodetic origin to: PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }
12:00:38.737 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: MoveTo, name: 'move to start of 'surveyArea'', id: 6edfae72-740e-42dd-820f-316ec812a411)"), mode: None }
12:00:38.737 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-29_12-00-38_Upright task")
12:00:38.737 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-00-38_move to start of \'surveyArea\'/2025-08-29_12-00-38_move to start of \'surveyArea\'_rust.log"
12:00:38.737 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-29_12-00-38_move to start of 'surveyArea'
12:00:38.737 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:561] Starting task 'move to start of 'surveyArea'', to prepare for SurveyArea task 'surveyArea'
12:00:38.767 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.09849564264073439, Enable control depth: 0.2, Depth control enabled: true
12:00:38.767 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }), hold_duration: None } }]
12:00:38.767 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
12:00:38.767 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 })), Preparing)
12:00:38.767 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 })
12:00:38.767 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
12:00:38.767 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: -1.0357314981108683 m^1, east: 0.343301031554896 m^1, down: 0.09849564264073439 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }
12:00:38.776 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 }))
12:00:39.580 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:401] Details: Current depth goal: 0.20468579753861427, Enable control depth: 0.2, Depth control enabled: false
12:00:39.581 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:144] Enabling depth control and reset z-velocity PID controller
12:00:41.128 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:178] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers
12:01:03.368 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:402] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 0.0 m^1, east: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
12:01:03.368 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:405] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 })
12:01:03.368 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:03.388 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 }))
12:01:05.399 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:05.419 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 }))
12:01:07.431 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:07.451 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 }))
12:01:07.551 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 })), Finished)
12:01:07.552 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:517] Completed goal: Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 })
12:01:07.572 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Specific2D(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), max_velocity: 1.0 m^1 s^-1 }))
12:01:07.572 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:547] Starting a SurveyArea task 'surveyArea'
12:01:07.592 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
12:01:07.592 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
12:01:07.612 TRACE [robot_code/robot_core/path_planning/src/lib.rs:507] Setting new goal in path planner manager: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:07.612 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
12:01:07.612 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Received new goals: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
12:01:07.612 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:521] Current goal: None. Updated pending goals queue: [Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))]
12:01:07.612 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Started)
12:01:07.612 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
12:01:07.612 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-29_12-00-38_move to start of 'surveyArea'")
12:01:07.612 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: SurveyArea, name: 'surveyArea', id: 6e44ee21-1207-4b42-bb5b-c1f86a978c58)"), mode: None }
12:01:07.613 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-01-07_surveyArea/2025-08-29_12-01-07_surveyArea_rust.log"
12:01:07.613 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-29_12-01-07_surveyArea
12:01:07.643 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
12:01:07.643 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.022506645336950373 m^1, east: -0.0074444150154785865 m^1, down: 5.197625420665242 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }
12:01:07.643 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(5.197625420665242 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: Some(PositionNE { north: 1.0195307645043408 m^1, east: -0.16199399072769916 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }), hold_duration: None } }, PositionPathPlanner { goal: PositionPlannerGoal { location: Specific2D(PositionNE { north: 1.0195307645043408 m^1, east: -0.16199399072769916 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }), target_velocity: 0.4000000059604645 m^1 s^-1, altitude: Some(1.0 m^1), orientation_point: None, hold_duration: None } }]
12:01:07.643 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Preparing)
12:01:07.643 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
12:01:07.652 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:27.700 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:402] Constructed navigation planners: [LinePathPlanner { goal: LineGoal { start: PositionNE { north: 1.0195307645043408 m^1, east: -0.16199399072769916 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }, end: PositionNE { north: -1.0195305620292152 m^1, east: -0.16199399072769916 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }, LinePathPlanner { goal: LineGoal { start: PositionNE { north: -1.0195305620292152 m^1, east: 0.6981417038260225 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }, end: PositionNE { north: 1.0195307645043408 m^1, east: 0.6981417038260225 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }, altitude: 1.0 m^1, velocity: 0.4000000059604645 m^1 s^-1, forced_heading: Some(0.0) } }]
12:01:27.700 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
12:01:27.700 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:405] Finished preparing, starting navigation for goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
12:01:27.720 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:27.800 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-01-07_surveyArea/photos/mocked_image_0.raw"
12:01:28.302 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
12:01:29.729 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
12:01:29.748 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:30.311 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-01-07_surveyArea/photos/mocked_image_1.raw"
12:01:31.757 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
12:01:31.777 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:32.922 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-01-07_surveyArea/photos/mocked_image_3.raw"
12:01:33.805 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
12:01:33.825 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:33.906 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
12:01:35.834 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
12:01:35.854 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:35.934 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-01-07_surveyArea/photos/mocked_image_4.raw"
12:01:37.863 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
12:01:37.883 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:38.043 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-01-07_surveyArea/photos/mocked_image_5.raw"
12:01:38.485 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:92] Robot is on track, resuming line traversal
12:01:39.892 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
12:01:39.912 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:40.354 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-01-07_surveyArea/photos/mocked_image_6.raw"
12:01:41.940 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
12:01:41.960 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:42.764 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:29] Triggering mocked camera: "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-01-07_surveyArea/photos/mocked_image_8.raw"
12:01:43.970 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Executing)
12:01:43.990 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:44.050 INFO  [robot_code/robot_core/path_planning/src/path_planner_strategies/line_path_planner.rs:164] Line navigation complete
12:01:44.070 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })), Finished)
12:01:44.070 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:517] Completed goal: Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true })
12:01:44.090 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Polygon(PolygonGoal { polygon: POLYGON((0.9084122385206468 0.07626885306852924,0.9084125520918354 0.07626885306852924,0.9084125520918354 0.07626936294171113,0.9084122385206468 0.07626936294171113,0.9084122385206468 0.07626885306852924)), payload: PayloadInfo { payload_type: PositionCamera, fov: 1.4206980111233845, overlap: 0.5, sensor_range: 1.2 m^1, desired_altitude: 1.0 m^1 }, velocity: 0.4000000059604645 m^1 s^-1, lane_direction: None, fixed_heading: true }))
12:01:44.090 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
12:01:44.090 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
12:01:44.090 WARN  [robot_code/peripherals/payload/src/lib.rs:104] Payload session was dropped without being stopped, stopping it now
12:01:44.110 INFO  [robot_code/peripherals/camera/src/mocked_camera.rs:39] Camera trigger responder stopped: RecvError
12:01:44.110 TRACE [robot_code/robot_core/path_planning/src/lib.rs:507] Setting new goal in path planner manager: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:01:44.110 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:361] Tried to disable safety mode while not in safety mode, ignoring
12:01:44.110 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Started)
12:01:44.110 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:519] Received new goals: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
12:01:44.110 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:401] Discarded 0 path planner updates before receiving the expected update
12:01:44.110 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:521] Current goal: None. Updated pending goals queue: [Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))]
12:01:44.110 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: StartTask, task: Some("Task(type: Hold, name: 'waiting, hold position', id: 2b4612b5-0a24-4c7e-a621-aefd04d6cc6a)"), mode: None }
12:01:44.110 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-29_12-01-07_surveyArea")
12:01:44.111 INFO  [robot_code/utilities/logging/src/logging.rs:101] Starting mission log in "/home/joris/Desktop/data_root/task_data/2025-08-29_simulated_scout/2025-08-29_12-01-44_waiting, hold position/2025-08-29_12-01-44_waiting, hold position_rust.log"
12:01:44.111 INFO  [robot_code/utilities/logging/src/logger_manager.rs:219] Started logging to database 2025-08-29_12-01-44_waiting, hold position
12:01:44.111 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:260] Waiting for active task with spawned in Hold task 'waiting, hold position'
12:01:44.161 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:70] Engaging thrusters
12:01:44.161 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:319] Control Manager has started with goal position: PositionNED { north: 0.9471858104300315 m^1, east: 0.7442657936671633 m^1, down: 9.018152141675476 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }
12:01:44.161 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Current, target_velocity: 0.5 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
12:01:44.161 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })
12:01:44.161 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Preparing)
12:01:44.170 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:01:44.191 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:402] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Depth(0.0 m^1), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
12:01:44.191 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:44.191 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:405] Finished preparing, starting navigation for goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })
12:01:44.211 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:01:46.221 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:46.241 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:01:48.273 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:48.293 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:01:50.305 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:50.325 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:01:52.337 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:52.357 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:01:54.368 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:54.388 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:01:56.420 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:56.420 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:01:58.452 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:01:58.472 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:00.483 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:00.502 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:02.513 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:02.533 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:04.565 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:04.586 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:06.596 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:06.616 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:08.625 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:08.645 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:10.656 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:10.676 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:12.706 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:12.727 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:14.736 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:14.756 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:16.767 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:16.787 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:18.797 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:18.818 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:20.847 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:20.867 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:22.877 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:22.897 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:24.906 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:24.926 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:26.937 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Executing)
12:02:26.957 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:28.828 DEBUG [robot_code/robot_core/control/src/cascaded_control.rs:393] Details: Current depth goal: 0.1967118981963285, Enable control depth: 0.2, Depth control enabled: true
12:02:28.828 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:139] Disabling depth control.
12:02:28.949 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })), Finished)
12:02:28.949 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:517] Completed goal: Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 })
12:02:28.969 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Position(PositionGoal { location: Depth(0.0 m^1), max_velocity: 1.0 m^1 s^-1 }))
12:02:28.989 TRACE [robot_code/robot_core/path_planning/src/lib.rs:507] Setting new goal in path planner manager: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:28.989 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Started)
12:02:28.990 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Started for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:29.010 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:246] Constructed preparation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.9518179403888177 m^1, east: 0.7447781094547168 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: None } }]
12:02:29.010 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:253] Start preparing goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
12:02:29.010 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Preparing)
12:02:29.030 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Preparing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:29.613 DEBUG [robot_code/robot_core/path_planning/src/path_planner_manager.rs:402] Constructed navigation planners: [PositionPathPlanner { goal: PositionPlannerGoal { location: Specific3D(PositionNED { north: 0.9518179403888177 m^1, east: 0.7447781094547168 m^1, down: 0.0 m^1, origin: GeodeticOrigin { position: Some(PositionGeodetic { lat: 0.9084123953062413, lon: 0.07626910800512018 }), update_count: 1 } }), target_velocity: 1.0 m^1 s^-1, altitude: None, orientation_point: None, hold_duration: Some(300.0 s^1) } }]
12:02:29.613 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:29.613 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:29.614 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:405] Finished preparing, starting navigation for goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
12:02:31.644 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:31.664 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:33.676 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:33.696 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:35.728 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:35.748 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:37.761 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:37.781 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:39.838 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:39.851 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:41.948 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:41.968 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:43.999 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:44.019 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:46.031 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:46.051 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:48.061 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:48.062 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:50.094 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:50.114 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:52.144 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:52.145 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:54.177 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:54.197 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:56.210 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:56.229 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:02:58.240 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:02:58.260 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:00.291 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:00.291 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:02.323 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:02.343 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:04.354 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:04.374 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:06.386 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:06.406 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:08.438 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:08.458 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:10.470 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:10.490 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:12.502 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:12.522 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:14.534 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:14.554 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:16.586 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:16.606 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:18.616 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:18.636 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:20.649 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:20.669 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:22.681 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:22.701 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:24.734 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:24.754 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:26.766 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:26.786 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:28.798 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:28.818 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:30.829 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:30.849 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:32.881 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:32.901 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:34.913 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:34.933 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:36.945 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:36.965 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:38.977 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:38.997 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:41.030 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:41.050 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:43.062 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:43.082 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:45.094 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:45.114 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:47.126 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:47.146 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:49.177 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:49.198 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:51.208 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:51.228 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:53.240 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:53.261 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:55.272 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:55.292 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:57.325 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:57.345 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:03:59.358 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:03:59.378 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:01.390 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:01.410 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:03.422 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:03.442 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:05.474 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:05.494 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:07.506 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:07.526 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:09.538 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:09.558 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:11.570 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:11.590 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:13.623 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:13.643 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:15.655 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:15.675 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:17.687 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:17.687 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:19.719 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:19.739 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:21.771 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:21.792 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:23.803 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:23.823 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:25.835 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:25.855 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:27.868 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:27.888 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:29.919 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:29.939 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:31.952 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:31.972 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:33.984 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:34.004 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:36.017 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:36.037 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:38.068 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:38.068 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:40.100 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:40.120 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:42.132 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:42.152 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:44.163 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:44.183 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:46.216 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:46.236 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:48.248 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:48.268 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:50.279 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:50.299 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:52.311 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:52.331 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:54.363 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:54.383 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:56.395 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:56.415 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:04:58.426 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:04:58.446 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:00.458 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:00.478 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:02.510 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:02.530 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:04.542 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:04.562 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:06.573 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:06.594 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:08.605 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:08.625 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:10.657 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:10.657 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:12.689 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:12.709 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:14.721 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:14.741 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:16.751 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:16.771 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:18.803 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:18.824 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:20.837 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:20.856 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:22.868 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:22.888 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:24.900 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:24.920 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:26.953 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:26.973 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:28.984 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:29.004 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:31.017 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:31.036 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:33.048 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:33.068 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:35.100 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:35.120 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:37.133 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:37.152 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:39.163 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:39.183 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:41.196 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:41.216 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:43.248 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:43.268 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:45.280 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:45.300 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:47.312 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:47.332 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:49.343 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:49.363 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:51.395 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:51.415 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:53.427 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:53.447 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:55.459 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:55.479 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:57.491 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:57.511 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:05:59.543 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:05:59.543 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:01.575 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:01.595 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:03.604 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:03.624 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:05.637 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:05.657 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:07.688 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:07.708 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:09.720 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:09.720 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:11.751 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:11.771 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:13.783 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:13.783 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:15.835 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:15.855 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:17.865 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:17.885 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:19.897 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:19.917 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:21.928 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:21.948 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:23.980 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:24.000 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:26.012 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:26.032 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:28.044 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:28.064 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:30.076 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:30.096 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:32.127 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:32.147 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:34.160 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:34.180 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:36.192 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:36.213 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:38.225 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:38.245 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:40.277 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:40.277 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:42.308 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:42.328 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:44.339 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:44.339 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:46.371 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:46.391 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:48.422 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:48.442 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:50.455 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:50.475 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:52.486 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:52.506 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:54.518 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:54.538 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:56.569 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:56.589 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:06:58.600 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:06:58.620 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:00.633 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:00.653 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:02.664 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:02.684 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:04.715 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:04.735 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:06.747 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:06.767 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:08.779 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:08.800 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:10.811 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:10.831 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:12.863 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:12.883 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:14.894 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:14.914 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:16.926 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:16.945 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:18.956 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:18.976 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:21.009 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:21.029 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:23.040 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:23.060 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:25.072 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:25.093 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:27.103 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:27.123 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:29.155 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:29.175 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:31.187 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Executing)
12:07:31.207 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Executing for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:31.529 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:297] Sending path planner update: GoalUpdate(Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })), Finished)
12:07:31.529 INFO  [robot_code/robot_core/path_planning/src/path_planner_manager.rs:517] Completed goal: Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) })
12:07:31.549 DEBUG [robot_code/robot_core/task_scheduler/src/tasks/mod.rs:473] Processing goal update: Finished for goal: Plannable(Hold(HoldGoal { time: 300.0 s^1, location: Depth(0.0 m^1) }))
12:07:31.549 INFO  [robot_code/robot_core/task_scheduler/src/executor/active.rs:370] Waiting hold task finished before new task was started, disengaging now
12:07:31.550 DEBUG [robot_code/robot_core/task_scheduler/src/executor/active.rs:154] Disengaging TaskExecutor
12:07:31.550 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("ErrorMode(error:'Path planner is still active')") }
12:07:31.550 INFO  [robot_code/utilities/logging/src/logger_manager.rs:242] Stopped logging to database Some("2025-08-29_12-01-44_waiting, hold position")
12:07:31.570 WARN  [robot_code/robot_core/task_scheduler/src/executor/error.rs:72] Executor in ErrorMode with error 'Path planner is still active'
12:07:31.570 INFO  [robot_code/robot_core/control/src/cascaded_control.rs:339] Control Manager has stopped
12:07:31.570 INFO  [robot_code/peripherals/actuation/src/simulated_thruster_module.rs:76] Disengaging thrusters
12:07:31.590 DEBUG [robot_code/robot_core/path_planning/src/lib.rs:530] Cancelling goals: []
12:07:31.590 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:42] Path planner stopped successfully
12:07:31.590 DEBUG [robot_code/robot_core/task_scheduler/src/executor/error.rs:76] Executor in ErrorMode, but deactivated successfully
12:07:31.590 INFO  [robot_code/robot_core/task_scheduler/src/executor/mod.rs:149] TaskExecutor performed: ActionDescription { action: ChangedModeTo, task: None, mode: Some("IdleMode") }
13:04:36.087 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
13:04:36.103 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:04:36.103 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:09:52.505 DEBUG [robot_code/robot_core/task_scheduler/src/lib.rs:215] Received request while idle: GetTaskQueue
13:09:52.505 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for get_task_queue
13:09:52.505 DEBUG [robot_code/utilities/common/src/utils/stop_running_flag.rs:60] StopRunningFlag 0 cloned for stream_state
14:52:39.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'control' stopped
14:52:39.527 INFO  [robot_code/utilities/simulator/src/simulator.rs:334] Simulator dropped: Simulator()
14:52:39.558 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'simulator' stopped
14:52:39.602 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'discovery_node' stopped
14:52:40.246 INFO  [robot_code/peripherals/communication/src/lib.rs:188] Shutting down gRPC server
14:52:40.385 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'lora_handler' stopped
14:52:41.507 ERROR [robot_code/robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping...
14:52:41.509 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/utils/launch_trait.rs:37] Thread 'state_estimator' stopped
14:52:41.509 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'state_estimator'
14:52:41.509 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'control'
14:52:41.510 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'control'
14:52:41.510 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'simulator'
14:52:41.510 INFO  [robot_code/robot_core/launch/src/lib.rs:485] Joined thread 'simulator'
14:52:41.510 INFO  [robot_code/robot_core/launch/src/lib.rs:481] Trying to join thread 'path_planner'
14:52:50.381 WARN  [robot_code/robot_core/launch/src/lib.rs:466] Not stopped after 10 seconds, aborting program