Hi @sietse -
Our deepest apologies for letting this investigation fall off of our radar. We’ve reviewed the logs, and have some feedback:
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It seems the YAW SRC parameter is set to 1 (Compass) , when it should be 2 (GPS) for sole use of external GPS heading source
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You were potentially running an older version of the DVL/GPS lua script - it may have been updated since then?
Let us know how it goes- I’ve had pretty good success with a BlueROV2 heavy and Cerulean Sonar dvl and rovl performing auto missions in surge!