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new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_08_20:31:08.txt
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+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_08_20:31:18.txt b/cflib_groundstation/logs/cflie1_2023_12_08_20:31:18.txt
new file mode 100644
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+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_08_20:32:25.txt b/cflib_groundstation/logs/cflie1_2023_12_08_20:32:25.txt
new file mode 100644
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--- /dev/null
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+#Crazyflie
#Controller:Unknown
\ No newline at end of file
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new file mode 100644
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--- /dev/null
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+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_08_20:37:53.txt b/cflib_groundstation/logs/cflie1_2023_12_08_20:37:53.txt
new file mode 100644
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--- /dev/null
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+#Crazyflie
#Controller:Unknown
\ No newline at end of file
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new file mode 100644
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--- /dev/null
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+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_08_20:40:58.txt b/cflib_groundstation/logs/cflie1_2023_12_08_20:40:58.txt
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_08_20:41:12.txt b/cflib_groundstation/logs/cflie1_2023_12_08_20:41:12.txt
new file mode 100644
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--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_08_20:41:12.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_08_20:42:34.txt b/cflib_groundstation/logs/cflie1_2023_12_08_20:42:34.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_08_20:42:34.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_08_20:52:54.txt b/cflib_groundstation/logs/cflie1_2023_12_08_20:52:54.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_08_20:52:54.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_08_20:53:29.txt b/cflib_groundstation/logs/cflie1_2023_12_08_20:53:29.txt
new file mode 100644
index 0000000000000000000000000000000000000000..42578b1c21c7588043cd18836084ca504069405e
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_08_20:53:29.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
29.890873193740845	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
29.978543281555176	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
30.05517864227295	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
31.07581877708435	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
31.1127872467041	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
31.15913224220276	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.057679653167725	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.08446955680847	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.121018171310425	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.16144347190857	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.200435400009155	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
33.23966312408447	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
34.11915349960327	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
34.1763699054718	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
34.21375298500061	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
34.28129458427429	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
36.07047414779663	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
36.11276054382324	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
36.153990268707275	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
38.14358830451965	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
38.183030128479004	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
38.21284246444702	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
38.25897002220154	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
39.0910701751709	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
39.12356185913086	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
39.161725759506226	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
39.1984806060791	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
40.048646450042725	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
40.083433866500854	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
40.11975646018982	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
40.15488886833191	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
42.11771821975708	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
42.14875602722168	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
42.19054961204529	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
42.221439838409424	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
43.05199432373047	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
43.08388638496399	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
43.11919903755188	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
45.085610151290894	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
45.134865522384644	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
45.17540693283081	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
45.20238709449768	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
46.09716749191284	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
47.06523394584656	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
47.102662563323975	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
47.14206600189209	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
47.177711486816406	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
48.10584354400635	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
48.142348289489746	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
48.174097299575806	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
48.20611929893494	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
50.0618040561676	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
50.11640000343323	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
50.1602349281311	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
50.198179483413696	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
51.07665729522705	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
51.11071181297302	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
51.1471893787384	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.14172291755676	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.21004796028137	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.243523836135864	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.28147053718567	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	nan	nan	nan		
52.314895153045654	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.346768379211426	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.462241411209106	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.816893577575684	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.859673261642456	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.89327311515808	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.93011426925659	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
52.96289110183716	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
53.10000133514404	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
53.21460795402527	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
53.2582004070282	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
53.300530672073364	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
54.41925621032715	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
54.45752263069153	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
54.48905086517334	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
54.52703547477722	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000		
55.05374217033386	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
55.153159379959106	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
55.19776678085327	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
55.23758316040039	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
55.793745040893555	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
55.82694959640503	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
55.863131284713745	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
55.90402698516846	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.109989404678345	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.14433264732361	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.18178725242615	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.38803267478943	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.426411867141724	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.463502168655396	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.51916861534119	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.769346475601196	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.80949640274048	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.85103464126587	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.888792276382446	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
56.95750045776367	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
57.010377645492554	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
57.043662309646606	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
57.07342004776001	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
58.95603799819946	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.00349044799805	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.04358911514282	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.0765266418457	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.11682391166687	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.15322709083557	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.193506956100464	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.23324227333069	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.266759634017944	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	nan	nan	nan		
59.30553364753723	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.345794439315796	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.38615655899048	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.422547340393066	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.46486949920654	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.501692056655884	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.540005922317505	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.57643008232117	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.61770224571228	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.659011125564575	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.697784423828125	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.737099170684814	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.77263331413269	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.81132674217224	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.85062909126282	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.89287853240967	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.93660807609558	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
59.9744873046875	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.009870290756226	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.05121874809265	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.09151744842529	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.14052438735962	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.17709922790527	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.210893630981445	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.24628019332886	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.28410863876343	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.32245397567749	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.35986018180847	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.398640871047974	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.43793749809265	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.477296590805054	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.51566672325134	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.55542969703674	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.59374237060547	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.63407874107361	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.67348313331604	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.72603678703308	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.76388597488403	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.801002740859985	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.855992555618286	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
60.96056580543518	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
61.02696514129639	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
61.06435513496399	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
61.10370874404907	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
61.95917296409607	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.002665996551514	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.04384231567383	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.09035778045654	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.27686524391174	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.31711435317993	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.3555223941803	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.54365539550781	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.5782687664032	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.61759567260742	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.654447078704834	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.81556725502014	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.897929668426514	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
62.9371075630188	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
63.03745126724243	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
63.157646894454956	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
63.20926880836487	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
63.247986793518066	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
63.28443479537964	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
63.493088722229004	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
63.79747009277344	0.0000	0.0000	0.0000	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	0.0000		
������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_08_20:57:33.txt b/cflib_groundstation/logs/cflie1_2023_12_08_20:57:33.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_08_20:57:33.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_08_20:57:54.txt b/cflib_groundstation/logs/cflie1_2023_12_08_20:57:54.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_08_20:57:54.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_12_08_20:53:41.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_08_20:53:41.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f7bea63c0635523acfef0275f56a338abece558
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_08_20:53:41.txt
@@ -0,0 +1,506 @@
+Log ID	Type	Group	Identifier Name	
+0	1	gyro	xRaw
+1	1	gyro	yRaw
+2	1	gyro	zRaw
+3	6	gyro	xVariance
+4	6	gyro	yVariance
+5	6	gyro	zVariance
+108	6	gyro	x
+109	6	gyro	y
+110	6	gyro	z
+6	10	pwm	m1_pwm
+7	10	pwm	m2_pwm
+8	10	pwm	m3_pwm
+9	10	pwm	m4_pwm
+10	9	crtp	rxRate
+11	9	crtp	txRate
+12	6	pm	vbat
+13	9	pm	vbatMV
+14	6	pm	extVbat
+15	9	pm	extVbatMV
+16	6	pm	extCurr
+17	6	pm	chargeCurrent
+18	0	pm	state
+19	8	pm	batteryLevel
+20	8	radio	rssi
+21	8	radio	isConnected
+22	0	sys	armed
+38	8	sys	canfly
+39	8	sys	isFlying
+40	8	sys	isTumbled
+23	9	extrx	ch0
+24	9	extrx	ch1
+25	9	extrx	ch2
+26	9	extrx	ch3
+27	9	extrx	thrust
+28	6	extrx	roll
+29	6	extrx	pitch
+30	6	extrx	yaw
+31	10	memTst	errCntW
+32	9	range	front
+33	9	range	back
+34	9	range	up
+35	9	range	left
+36	9	range	right
+37	9	range	zrange
+41	6	ext_pos	X
+42	6	ext_pos	Y
+43	6	ext_pos	Z
+44	6	locSrv	x
+45	6	locSrv	y
+46	6	locSrv	z
+47	6	locSrv	qx
+48	6	locSrv	qy
+49	6	locSrv	qz
+50	6	locSrv	qw
+51	9	locSrvZ	tick
+52	6	pid_attitude	roll_outP
+53	6	pid_attitude	roll_outI
+54	6	pid_attitude	roll_outD
+55	6	pid_attitude	pitch_outP
+56	6	pid_attitude	pitch_outI
+57	6	pid_attitude	pitch_outD
+58	6	pid_attitude	yaw_outP
+59	6	pid_attitude	yaw_outI
+60	6	pid_attitude	yaw_outD
+61	6	pid_rate	roll_outP
+62	6	pid_rate	roll_outI
+63	6	pid_rate	roll_outD
+64	6	pid_rate	pitch_outP
+65	6	pid_rate	pitch_outI
+66	6	pid_rate	pitch_outD
+67	6	pid_rate	yaw_outP
+68	6	pid_rate	yaw_outI
+69	6	pid_rate	yaw_outD
+70	6	sensfusion6	qw
+71	6	sensfusion6	qx
+72	6	sensfusion6	qy
+73	6	sensfusion6	qz
+74	6	sensfusion6	gravityX
+75	6	sensfusion6	gravityY
+76	6	sensfusion6	gravityZ
+77	6	sensfusion6	accZbase
+78	8	sensfusion6	isInit
+79	8	sensfusion6	isCalibrated
+80	6	acc	x
+81	6	acc	y
+82	6	acc	z
+83	6	baro	asl
+84	6	baro	temp
+85	6	baro	pressure
+86	1	controller	ctr_yaw
+213	6	controller	cmd_thrust
+214	6	controller	cmd_roll
+215	6	controller	cmd_pitch
+216	6	controller	cmd_yaw
+217	6	controller	r_roll
+218	6	controller	r_pitch
+219	6	controller	r_yaw
+220	6	controller	accelz
+221	6	controller	actuatorThrust
+222	6	controller	roll
+223	6	controller	pitch
+224	6	controller	yaw
+225	6	controller	rollRate
+226	6	controller	pitchRate
+227	6	controller	yawRate
+87	6	ctrltarget	x
+88	6	ctrltarget	y
+89	6	ctrltarget	z
+90	6	ctrltarget	vx
+91	6	ctrltarget	vy
+92	6	ctrltarget	vz
+93	6	ctrltarget	ax
+94	6	ctrltarget	ay
+95	6	ctrltarget	az
+96	6	ctrltarget	roll
+97	6	ctrltarget	pitch
+98	6	ctrltarget	yaw
+99	1	ctrltargetZ	x
+100	1	ctrltargetZ	y
+101	1	ctrltargetZ	z
+102	1	ctrltargetZ	vx
+103	1	ctrltargetZ	vy
+104	1	ctrltargetZ	vz
+105	1	ctrltargetZ	ax
+106	1	ctrltargetZ	ay
+107	1	ctrltargetZ	az
+111	6	mag	x
+112	6	mag	y
+113	6	mag	z
+114	6	stabilizer	roll
+115	6	stabilizer	pitch
+116	6	stabilizer	yaw
+117	6	stabilizer	thrust
+118	6	stabilizer	rtStab
+119	10	stabilizer	intToOut
+120	6	stateEstimate	x
+121	6	stateEstimate	y
+122	6	stateEstimate	z
+123	6	stateEstimate	vx
+124	6	stateEstimate	vy
+125	6	stateEstimate	vz
+126	6	stateEstimate	ax
+127	6	stateEstimate	ay
+128	6	stateEstimate	az
+129	6	stateEstimate	roll
+130	6	stateEstimate	pitch
+131	6	stateEstimate	yaw
+132	6	stateEstimate	qx
+133	6	stateEstimate	qy
+134	6	stateEstimate	qz
+135	6	stateEstimate	qw
+136	1	stateEstimateZ	x
+137	1	stateEstimateZ	y
+138	1	stateEstimateZ	z
+139	1	stateEstimateZ	vx
+140	1	stateEstimateZ	vy
+141	1	stateEstimateZ	vz
+142	1	stateEstimateZ	ax
+143	1	stateEstimateZ	ay
+144	1	stateEstimateZ	az
+145	10	stateEstimateZ	quat
+146	1	stateEstimateZ	rateRoll
+147	1	stateEstimateZ	ratePitch
+148	1	stateEstimateZ	rateYaw
+149	6	posEstAlt	estimatedZ
+150	6	posEstAlt	estVZ
+151	6	posEstAlt	velocityZ
+152	6	posCtl	targetVX
+153	6	posCtl	targetVY
+154	6	posCtl	targetVZ
+155	6	posCtl	targetX
+156	6	posCtl	targetY
+157	6	posCtl	targetZ
+158	6	posCtl	Xp
+159	6	posCtl	Xi
+160	6	posCtl	Xd
+161	6	posCtl	Yp
+162	6	posCtl	Yi
+163	6	posCtl	Yd
+164	6	posCtl	Zp
+165	6	posCtl	Zi
+166	6	posCtl	Zd
+167	6	posCtl	VXp
+168	6	posCtl	VXi
+169	6	posCtl	VXd
+170	6	posCtl	VZp
+171	6	posCtl	VZi
+172	6	posCtl	VZd
+173	6	posCtrlIndi	posRef_x
+174	6	posCtrlIndi	posRef_y
+175	6	posCtrlIndi	posRef_z
+176	6	posCtrlIndi	velS_x
+177	6	posCtrlIndi	velS_y
+178	6	posCtrlIndi	velS_z
+179	6	posCtrlIndi	velRef_x
+180	6	posCtrlIndi	velRef_y
+181	6	posCtrlIndi	velRef_z
+182	6	posCtrlIndi	angS_roll
+183	6	posCtrlIndi	angS_pitch
+184	6	posCtrlIndi	angS_yaw
+185	6	posCtrlIndi	angF_roll
+186	6	posCtrlIndi	angF_pitch
+187	6	posCtrlIndi	angF_yaw
+188	6	posCtrlIndi	accRef_x
+189	6	posCtrlIndi	accRef_y
+190	6	posCtrlIndi	accRef_z
+191	6	posCtrlIndi	accS_x
+192	6	posCtrlIndi	accS_y
+193	6	posCtrlIndi	accS_z
+194	6	posCtrlIndi	accF_x
+195	6	posCtrlIndi	accF_y
+196	6	posCtrlIndi	accF_z
+197	6	posCtrlIndi	accFT_x
+198	6	posCtrlIndi	accFT_y
+199	6	posCtrlIndi	accFT_z
+200	6	posCtrlIndi	accErr_x
+201	6	posCtrlIndi	accErr_y
+202	6	posCtrlIndi	accErr_z
+203	6	posCtrlIndi	phi_tilde
+204	6	posCtrlIndi	theta_tilde
+205	6	posCtrlIndi	T_tilde
+206	6	posCtrlIndi	T_inner
+207	6	posCtrlIndi	T_inner_f
+208	6	posCtrlIndi	T_incremented
+209	6	posCtrlIndi	cmd_phi
+210	6	posCtrlIndi	cmd_theta
+211	6	estimator	rtApnd
+212	6	estimator	rtRej
+228	6	ctrlMel	cmd_thrust
+229	6	ctrlMel	cmd_roll
+230	6	ctrlMel	cmd_pitch
+231	6	ctrlMel	cmd_yaw
+232	6	ctrlMel	r_roll
+233	6	ctrlMel	r_pitch
+234	6	ctrlMel	r_yaw
+235	6	ctrlMel	accelz
+236	6	ctrlMel	zdx
+237	6	ctrlMel	zdy
+238	6	ctrlMel	zdz
+239	6	ctrlMel	i_err_x
+240	6	ctrlMel	i_err_y
+241	6	ctrlMel	i_err_z
+242	6	ctrlINDI	cmd_thrust
+243	6	ctrlINDI	cmd_roll
+244	6	ctrlINDI	cmd_pitch
+245	6	ctrlINDI	cmd_yaw
+246	6	ctrlINDI	r_roll
+247	6	ctrlINDI	r_pitch
+248	6	ctrlINDI	r_yaw
+249	6	ctrlINDI	u_act_dyn_p
+250	6	ctrlINDI	u_act_dyn_q
+251	6	ctrlINDI	u_act_dyn_r
+252	6	ctrlINDI	du_p
+253	6	ctrlINDI	du_q
+254	6	ctrlINDI	du_r
+255	6	ctrlINDI	ang_accel_ref_p
+256	6	ctrlINDI	ang_accel_ref_q
+257	6	ctrlINDI	ang_accel_ref_r
+258	6	ctrlINDI	rate_d[0]
+259	6	ctrlINDI	rate_d[1]
+260	6	ctrlINDI	rate_d[2]
+261	6	ctrlINDI	uf_p
+262	6	ctrlINDI	uf_q
+263	6	ctrlINDI	uf_r
+264	6	ctrlINDI	Omega_f_p
+265	6	ctrlINDI	Omega_f_q
+266	6	ctrlINDI	Omega_f_r
+267	6	ctrlINDI	n_p
+268	6	ctrlINDI	n_q
+269	6	ctrlINDI	n_r
+270	6	s_pid_attitude	roll_outP
+271	6	s_pid_attitude	roll_outI
+272	6	s_pid_attitude	roll_outD
+273	6	s_pid_attitude	pitch_outP
+274	6	s_pid_attitude	pitch_outI
+275	6	s_pid_attitude	pitch_outD
+276	6	s_pid_attitude	yaw_outP
+277	6	s_pid_attitude	yaw_outI
+278	6	s_pid_attitude	yaw_outD
+279	6	s_pid_rate	roll_outP
+280	6	s_pid_rate	roll_outI
+281	6	s_pid_rate	roll_outD
+282	6	s_pid_rate	pitch_outP
+283	6	s_pid_rate	pitch_outI
+284	6	s_pid_rate	pitch_outD
+285	6	s_pid_rate	yaw_outP
+286	6	s_pid_rate	yaw_outI
+287	6	s_pid_rate	yaw_outD
+288	6	ctrlStdnt	cmd_thrust
+289	6	ctrlStdnt	cmd_roll
+290	6	ctrlStdnt	cmd_pitch
+291	6	ctrlStdnt	cmd_yaw
+292	6	ctrlStdnt	r_roll
+293	6	ctrlStdnt	r_pitch
+294	6	ctrlStdnt	r_yaw
+295	6	ctrlStdnt	accelz
+296	6	ctrlStdnt	thrustDesired
+297	6	ctrlStdnt	roll
+298	6	ctrlStdnt	pitch
+299	6	ctrlStdnt	yaw
+300	6	ctrlStdnt	rollRate
+301	6	ctrlStdnt	pitchRate
+302	6	ctrlStdnt	yawRate
+303	10	motor	m1
+304	10	motor	m2
+305	10	motor	m3
+306	10	motor	m4
+307	10	colAv	latency
+308	6	health	motorVarXM1
+309	6	health	motorVarYM1
+310	6	health	motorVarXM2
+311	6	health	motorVarYM2
+312	6	health	motorVarXM3
+313	6	health	motorVarYM3
+314	6	health	motorVarXM4
+315	6	health	motorVarYM4
+316	8	health	motorPass
+317	6	health	batterySag
+318	8	health	batteryPass
+319	9	health	motorTestCount
+320	8	kalman	inFlight
+321	6	kalman	stateX
+322	6	kalman	stateY
+323	6	kalman	stateZ
+324	6	kalman	statePX
+325	6	kalman	statePY
+326	6	kalman	statePZ
+327	6	kalman	stateD0
+328	6	kalman	stateD1
+329	6	kalman	stateD2
+330	6	kalman	varX
+331	6	kalman	varY
+332	6	kalman	varZ
+333	6	kalman	varPX
+334	6	kalman	varPY
+335	6	kalman	varPZ
+336	6	kalman	varD0
+337	6	kalman	varD1
+338	6	kalman	varD2
+339	6	kalman	q0
+340	6	kalman	q1
+341	6	kalman	q2
+342	6	kalman	q3
+343	6	kalman	rtUpdate
+344	6	kalman	rtPred
+345	6	kalman	rtFinal
+346	2	outlierf	lhWin
+427	2	outlierf	bucket0
+428	2	outlierf	bucket1
+429	2	outlierf	bucket2
+430	2	outlierf	bucket3
+431	2	outlierf	bucket4
+432	6	outlierf	accLev
+433	6	outlierf	errD
+347	6	kalman_pred	predNX
+348	6	kalman_pred	predNY
+349	6	kalman_pred	measNX
+350	6	kalman_pred	measNY
+351	6	ring	fadeTime
+352	2	gps	lat
+353	2	gps	lon
+354	6	gps	hMSL
+355	6	gps	hAcc
+356	2	gps	nsat
+357	2	gps	fix
+358	6	usd	spiWrBps
+359	6	usd	spiReBps
+360	6	usd	fatWrBps
+361	8	loco	mode
+362	6	loco	spiWr
+363	6	loco	spiRe
+364	9	ranging	state
+365	6	ranging	distance0
+366	6	ranging	distance1
+367	6	ranging	distance2
+368	6	ranging	distance3
+369	6	ranging	distance4
+370	6	ranging	distance5
+371	6	ranging	distance6
+372	6	ranging	distance7
+373	6	ranging	pressure0
+374	6	ranging	pressure1
+375	6	ranging	pressure2
+376	6	ranging	pressure3
+377	6	ranging	pressure4
+378	6	ranging	pressure5
+379	6	ranging	pressure6
+380	6	ranging	pressure7
+381	8	twr	rangingSuccessRate0
+382	8	twr	rangingPerSec0
+383	8	twr	rangingSuccessRate1
+384	8	twr	rangingPerSec1
+385	8	twr	rangingSuccessRate2
+386	8	twr	rangingPerSec2
+387	8	twr	rangingSuccessRate3
+388	8	twr	rangingPerSec3
+389	8	twr	rangingSuccessRate4
+390	8	twr	rangingPerSec4
+391	8	twr	rangingSuccessRate5
+392	8	twr	rangingPerSec5
+393	6	tdoa2	d7-0
+394	6	tdoa2	d0-1
+395	6	tdoa2	d1-2
+396	6	tdoa2	d2-3
+397	6	tdoa2	d3-4
+398	6	tdoa2	d4-5
+399	6	tdoa2	d5-6
+400	6	tdoa2	d6-7
+401	6	tdoa2	cc0
+402	6	tdoa2	cc1
+403	6	tdoa2	cc2
+404	6	tdoa2	cc3
+405	6	tdoa2	cc4
+406	6	tdoa2	cc5
+407	6	tdoa2	cc6
+408	6	tdoa2	cc7
+409	9	tdoa2	dist7-0
+410	9	tdoa2	dist0-1
+411	9	tdoa2	dist1-2
+412	9	tdoa2	dist2-3
+413	9	tdoa2	dist3-4
+414	9	tdoa2	dist4-5
+415	9	tdoa2	dist5-6
+416	9	tdoa2	dist6-7
+417	6	tdoaEngine	stRx
+418	6	tdoaEngine	stEst
+419	6	tdoaEngine	stTime
+420	6	tdoaEngine	stFound
+421	6	tdoaEngine	stCc
+422	6	tdoaEngine	stHit
+423	6	tdoaEngine	stMiss
+424	6	tdoaEngine	cc
+425	9	tdoaEngine	tof
+426	6	tdoaEngine	tdoa
+434	8	motion	motion
+435	1	motion	deltaX
+436	1	motion	deltaY
+437	9	motion	shutter
+438	8	motion	maxRaw
+439	8	motion	minRaw
+440	8	motion	Rawsum
+441	8	motion	outlierCount
+442	8	motion	squal
+443	6	motion	std
+444	9	oa	front
+445	9	oa	back
+446	9	oa	up
+447	9	oa	left
+448	9	oa	right
+449	8	activeMarker	btSns
+450	8	activeMarker	i2cOk
+451	8	aideck	receivebyte
+452	8	lighthouse	validAngles
+453	6	lighthouse	rawAngle0x
+454	6	lighthouse	rawAngle0y
+455	6	lighthouse	rawAngle1x
+456	6	lighthouse	rawAngle1y
+457	6	lighthouse	angle0x
+458	6	lighthouse	angle0y
+459	6	lighthouse	angle1x
+460	6	lighthouse	angle1y
+461	6	lighthouse	angle0x_1
+462	6	lighthouse	angle0y_1
+463	6	lighthouse	angle1x_1
+464	6	lighthouse	angle1y_1
+465	6	lighthouse	angle0x_2
+466	6	lighthouse	angle0y_2
+467	6	lighthouse	angle1x_2
+468	6	lighthouse	angle1y_2
+469	6	lighthouse	angle0x_3
+470	6	lighthouse	angle0y_3
+471	6	lighthouse	angle1x_3
+472	6	lighthouse	angle1y_3
+473	6	lighthouse	rawAngle0xlh2
+474	6	lighthouse	rawAngle0ylh2
+475	6	lighthouse	rawAngle1xlh2
+476	6	lighthouse	rawAngle1ylh2
+477	6	lighthouse	angle0x_0lh2
+478	6	lighthouse	angle0y_0lh2
+479	6	lighthouse	angle1x_0lh2
+480	6	lighthouse	angle1y_0lh2
+481	6	lighthouse	serRt
+482	6	lighthouse	frmRt
+483	6	lighthouse	cycleRt
+484	6	lighthouse	bs0Rt
+485	6	lighthouse	bs1Rt
+486	9	lighthouse	width0
+487	9	lighthouse	width1
+488	9	lighthouse	width2
+489	9	lighthouse	width3
+490	8	lighthouse	comSync
+491	9	lighthouse	bsReceive
+492	9	lighthouse	bsActive
+493	9	lighthouse	bsCalUd
+494	9	lighthouse	bsCalCon
+495	8	lighthouse	status
+496	6	lighthouse	posRt
+497	6	lighthouse	estBs0Rt
+498	6	lighthouse	estBs1Rt
+499	6	lighthouse	x
+500	6	lighthouse	y
+501	6	lighthouse	z
+502	6	lighthouse	delta
+503	9	lighthouse	bsGeoVal
+504	9	lighthouse	bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_12_08_20:58:07.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_08_20:58:07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f7bea63c0635523acfef0275f56a338abece558
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_08_20:58:07.txt
@@ -0,0 +1,506 @@
+Log ID	Type	Group	Identifier Name	
+0	1	gyro	xRaw
+1	1	gyro	yRaw
+2	1	gyro	zRaw
+3	6	gyro	xVariance
+4	6	gyro	yVariance
+5	6	gyro	zVariance
+108	6	gyro	x
+109	6	gyro	y
+110	6	gyro	z
+6	10	pwm	m1_pwm
+7	10	pwm	m2_pwm
+8	10	pwm	m3_pwm
+9	10	pwm	m4_pwm
+10	9	crtp	rxRate
+11	9	crtp	txRate
+12	6	pm	vbat
+13	9	pm	vbatMV
+14	6	pm	extVbat
+15	9	pm	extVbatMV
+16	6	pm	extCurr
+17	6	pm	chargeCurrent
+18	0	pm	state
+19	8	pm	batteryLevel
+20	8	radio	rssi
+21	8	radio	isConnected
+22	0	sys	armed
+38	8	sys	canfly
+39	8	sys	isFlying
+40	8	sys	isTumbled
+23	9	extrx	ch0
+24	9	extrx	ch1
+25	9	extrx	ch2
+26	9	extrx	ch3
+27	9	extrx	thrust
+28	6	extrx	roll
+29	6	extrx	pitch
+30	6	extrx	yaw
+31	10	memTst	errCntW
+32	9	range	front
+33	9	range	back
+34	9	range	up
+35	9	range	left
+36	9	range	right
+37	9	range	zrange
+41	6	ext_pos	X
+42	6	ext_pos	Y
+43	6	ext_pos	Z
+44	6	locSrv	x
+45	6	locSrv	y
+46	6	locSrv	z
+47	6	locSrv	qx
+48	6	locSrv	qy
+49	6	locSrv	qz
+50	6	locSrv	qw
+51	9	locSrvZ	tick
+52	6	pid_attitude	roll_outP
+53	6	pid_attitude	roll_outI
+54	6	pid_attitude	roll_outD
+55	6	pid_attitude	pitch_outP
+56	6	pid_attitude	pitch_outI
+57	6	pid_attitude	pitch_outD
+58	6	pid_attitude	yaw_outP
+59	6	pid_attitude	yaw_outI
+60	6	pid_attitude	yaw_outD
+61	6	pid_rate	roll_outP
+62	6	pid_rate	roll_outI
+63	6	pid_rate	roll_outD
+64	6	pid_rate	pitch_outP
+65	6	pid_rate	pitch_outI
+66	6	pid_rate	pitch_outD
+67	6	pid_rate	yaw_outP
+68	6	pid_rate	yaw_outI
+69	6	pid_rate	yaw_outD
+70	6	sensfusion6	qw
+71	6	sensfusion6	qx
+72	6	sensfusion6	qy
+73	6	sensfusion6	qz
+74	6	sensfusion6	gravityX
+75	6	sensfusion6	gravityY
+76	6	sensfusion6	gravityZ
+77	6	sensfusion6	accZbase
+78	8	sensfusion6	isInit
+79	8	sensfusion6	isCalibrated
+80	6	acc	x
+81	6	acc	y
+82	6	acc	z
+83	6	baro	asl
+84	6	baro	temp
+85	6	baro	pressure
+86	1	controller	ctr_yaw
+213	6	controller	cmd_thrust
+214	6	controller	cmd_roll
+215	6	controller	cmd_pitch
+216	6	controller	cmd_yaw
+217	6	controller	r_roll
+218	6	controller	r_pitch
+219	6	controller	r_yaw
+220	6	controller	accelz
+221	6	controller	actuatorThrust
+222	6	controller	roll
+223	6	controller	pitch
+224	6	controller	yaw
+225	6	controller	rollRate
+226	6	controller	pitchRate
+227	6	controller	yawRate
+87	6	ctrltarget	x
+88	6	ctrltarget	y
+89	6	ctrltarget	z
+90	6	ctrltarget	vx
+91	6	ctrltarget	vy
+92	6	ctrltarget	vz
+93	6	ctrltarget	ax
+94	6	ctrltarget	ay
+95	6	ctrltarget	az
+96	6	ctrltarget	roll
+97	6	ctrltarget	pitch
+98	6	ctrltarget	yaw
+99	1	ctrltargetZ	x
+100	1	ctrltargetZ	y
+101	1	ctrltargetZ	z
+102	1	ctrltargetZ	vx
+103	1	ctrltargetZ	vy
+104	1	ctrltargetZ	vz
+105	1	ctrltargetZ	ax
+106	1	ctrltargetZ	ay
+107	1	ctrltargetZ	az
+111	6	mag	x
+112	6	mag	y
+113	6	mag	z
+114	6	stabilizer	roll
+115	6	stabilizer	pitch
+116	6	stabilizer	yaw
+117	6	stabilizer	thrust
+118	6	stabilizer	rtStab
+119	10	stabilizer	intToOut
+120	6	stateEstimate	x
+121	6	stateEstimate	y
+122	6	stateEstimate	z
+123	6	stateEstimate	vx
+124	6	stateEstimate	vy
+125	6	stateEstimate	vz
+126	6	stateEstimate	ax
+127	6	stateEstimate	ay
+128	6	stateEstimate	az
+129	6	stateEstimate	roll
+130	6	stateEstimate	pitch
+131	6	stateEstimate	yaw
+132	6	stateEstimate	qx
+133	6	stateEstimate	qy
+134	6	stateEstimate	qz
+135	6	stateEstimate	qw
+136	1	stateEstimateZ	x
+137	1	stateEstimateZ	y
+138	1	stateEstimateZ	z
+139	1	stateEstimateZ	vx
+140	1	stateEstimateZ	vy
+141	1	stateEstimateZ	vz
+142	1	stateEstimateZ	ax
+143	1	stateEstimateZ	ay
+144	1	stateEstimateZ	az
+145	10	stateEstimateZ	quat
+146	1	stateEstimateZ	rateRoll
+147	1	stateEstimateZ	ratePitch
+148	1	stateEstimateZ	rateYaw
+149	6	posEstAlt	estimatedZ
+150	6	posEstAlt	estVZ
+151	6	posEstAlt	velocityZ
+152	6	posCtl	targetVX
+153	6	posCtl	targetVY
+154	6	posCtl	targetVZ
+155	6	posCtl	targetX
+156	6	posCtl	targetY
+157	6	posCtl	targetZ
+158	6	posCtl	Xp
+159	6	posCtl	Xi
+160	6	posCtl	Xd
+161	6	posCtl	Yp
+162	6	posCtl	Yi
+163	6	posCtl	Yd
+164	6	posCtl	Zp
+165	6	posCtl	Zi
+166	6	posCtl	Zd
+167	6	posCtl	VXp
+168	6	posCtl	VXi
+169	6	posCtl	VXd
+170	6	posCtl	VZp
+171	6	posCtl	VZi
+172	6	posCtl	VZd
+173	6	posCtrlIndi	posRef_x
+174	6	posCtrlIndi	posRef_y
+175	6	posCtrlIndi	posRef_z
+176	6	posCtrlIndi	velS_x
+177	6	posCtrlIndi	velS_y
+178	6	posCtrlIndi	velS_z
+179	6	posCtrlIndi	velRef_x
+180	6	posCtrlIndi	velRef_y
+181	6	posCtrlIndi	velRef_z
+182	6	posCtrlIndi	angS_roll
+183	6	posCtrlIndi	angS_pitch
+184	6	posCtrlIndi	angS_yaw
+185	6	posCtrlIndi	angF_roll
+186	6	posCtrlIndi	angF_pitch
+187	6	posCtrlIndi	angF_yaw
+188	6	posCtrlIndi	accRef_x
+189	6	posCtrlIndi	accRef_y
+190	6	posCtrlIndi	accRef_z
+191	6	posCtrlIndi	accS_x
+192	6	posCtrlIndi	accS_y
+193	6	posCtrlIndi	accS_z
+194	6	posCtrlIndi	accF_x
+195	6	posCtrlIndi	accF_y
+196	6	posCtrlIndi	accF_z
+197	6	posCtrlIndi	accFT_x
+198	6	posCtrlIndi	accFT_y
+199	6	posCtrlIndi	accFT_z
+200	6	posCtrlIndi	accErr_x
+201	6	posCtrlIndi	accErr_y
+202	6	posCtrlIndi	accErr_z
+203	6	posCtrlIndi	phi_tilde
+204	6	posCtrlIndi	theta_tilde
+205	6	posCtrlIndi	T_tilde
+206	6	posCtrlIndi	T_inner
+207	6	posCtrlIndi	T_inner_f
+208	6	posCtrlIndi	T_incremented
+209	6	posCtrlIndi	cmd_phi
+210	6	posCtrlIndi	cmd_theta
+211	6	estimator	rtApnd
+212	6	estimator	rtRej
+228	6	ctrlMel	cmd_thrust
+229	6	ctrlMel	cmd_roll
+230	6	ctrlMel	cmd_pitch
+231	6	ctrlMel	cmd_yaw
+232	6	ctrlMel	r_roll
+233	6	ctrlMel	r_pitch
+234	6	ctrlMel	r_yaw
+235	6	ctrlMel	accelz
+236	6	ctrlMel	zdx
+237	6	ctrlMel	zdy
+238	6	ctrlMel	zdz
+239	6	ctrlMel	i_err_x
+240	6	ctrlMel	i_err_y
+241	6	ctrlMel	i_err_z
+242	6	ctrlINDI	cmd_thrust
+243	6	ctrlINDI	cmd_roll
+244	6	ctrlINDI	cmd_pitch
+245	6	ctrlINDI	cmd_yaw
+246	6	ctrlINDI	r_roll
+247	6	ctrlINDI	r_pitch
+248	6	ctrlINDI	r_yaw
+249	6	ctrlINDI	u_act_dyn_p
+250	6	ctrlINDI	u_act_dyn_q
+251	6	ctrlINDI	u_act_dyn_r
+252	6	ctrlINDI	du_p
+253	6	ctrlINDI	du_q
+254	6	ctrlINDI	du_r
+255	6	ctrlINDI	ang_accel_ref_p
+256	6	ctrlINDI	ang_accel_ref_q
+257	6	ctrlINDI	ang_accel_ref_r
+258	6	ctrlINDI	rate_d[0]
+259	6	ctrlINDI	rate_d[1]
+260	6	ctrlINDI	rate_d[2]
+261	6	ctrlINDI	uf_p
+262	6	ctrlINDI	uf_q
+263	6	ctrlINDI	uf_r
+264	6	ctrlINDI	Omega_f_p
+265	6	ctrlINDI	Omega_f_q
+266	6	ctrlINDI	Omega_f_r
+267	6	ctrlINDI	n_p
+268	6	ctrlINDI	n_q
+269	6	ctrlINDI	n_r
+270	6	s_pid_attitude	roll_outP
+271	6	s_pid_attitude	roll_outI
+272	6	s_pid_attitude	roll_outD
+273	6	s_pid_attitude	pitch_outP
+274	6	s_pid_attitude	pitch_outI
+275	6	s_pid_attitude	pitch_outD
+276	6	s_pid_attitude	yaw_outP
+277	6	s_pid_attitude	yaw_outI
+278	6	s_pid_attitude	yaw_outD
+279	6	s_pid_rate	roll_outP
+280	6	s_pid_rate	roll_outI
+281	6	s_pid_rate	roll_outD
+282	6	s_pid_rate	pitch_outP
+283	6	s_pid_rate	pitch_outI
+284	6	s_pid_rate	pitch_outD
+285	6	s_pid_rate	yaw_outP
+286	6	s_pid_rate	yaw_outI
+287	6	s_pid_rate	yaw_outD
+288	6	ctrlStdnt	cmd_thrust
+289	6	ctrlStdnt	cmd_roll
+290	6	ctrlStdnt	cmd_pitch
+291	6	ctrlStdnt	cmd_yaw
+292	6	ctrlStdnt	r_roll
+293	6	ctrlStdnt	r_pitch
+294	6	ctrlStdnt	r_yaw
+295	6	ctrlStdnt	accelz
+296	6	ctrlStdnt	thrustDesired
+297	6	ctrlStdnt	roll
+298	6	ctrlStdnt	pitch
+299	6	ctrlStdnt	yaw
+300	6	ctrlStdnt	rollRate
+301	6	ctrlStdnt	pitchRate
+302	6	ctrlStdnt	yawRate
+303	10	motor	m1
+304	10	motor	m2
+305	10	motor	m3
+306	10	motor	m4
+307	10	colAv	latency
+308	6	health	motorVarXM1
+309	6	health	motorVarYM1
+310	6	health	motorVarXM2
+311	6	health	motorVarYM2
+312	6	health	motorVarXM3
+313	6	health	motorVarYM3
+314	6	health	motorVarXM4
+315	6	health	motorVarYM4
+316	8	health	motorPass
+317	6	health	batterySag
+318	8	health	batteryPass
+319	9	health	motorTestCount
+320	8	kalman	inFlight
+321	6	kalman	stateX
+322	6	kalman	stateY
+323	6	kalman	stateZ
+324	6	kalman	statePX
+325	6	kalman	statePY
+326	6	kalman	statePZ
+327	6	kalman	stateD0
+328	6	kalman	stateD1
+329	6	kalman	stateD2
+330	6	kalman	varX
+331	6	kalman	varY
+332	6	kalman	varZ
+333	6	kalman	varPX
+334	6	kalman	varPY
+335	6	kalman	varPZ
+336	6	kalman	varD0
+337	6	kalman	varD1
+338	6	kalman	varD2
+339	6	kalman	q0
+340	6	kalman	q1
+341	6	kalman	q2
+342	6	kalman	q3
+343	6	kalman	rtUpdate
+344	6	kalman	rtPred
+345	6	kalman	rtFinal
+346	2	outlierf	lhWin
+427	2	outlierf	bucket0
+428	2	outlierf	bucket1
+429	2	outlierf	bucket2
+430	2	outlierf	bucket3
+431	2	outlierf	bucket4
+432	6	outlierf	accLev
+433	6	outlierf	errD
+347	6	kalman_pred	predNX
+348	6	kalman_pred	predNY
+349	6	kalman_pred	measNX
+350	6	kalman_pred	measNY
+351	6	ring	fadeTime
+352	2	gps	lat
+353	2	gps	lon
+354	6	gps	hMSL
+355	6	gps	hAcc
+356	2	gps	nsat
+357	2	gps	fix
+358	6	usd	spiWrBps
+359	6	usd	spiReBps
+360	6	usd	fatWrBps
+361	8	loco	mode
+362	6	loco	spiWr
+363	6	loco	spiRe
+364	9	ranging	state
+365	6	ranging	distance0
+366	6	ranging	distance1
+367	6	ranging	distance2
+368	6	ranging	distance3
+369	6	ranging	distance4
+370	6	ranging	distance5
+371	6	ranging	distance6
+372	6	ranging	distance7
+373	6	ranging	pressure0
+374	6	ranging	pressure1
+375	6	ranging	pressure2
+376	6	ranging	pressure3
+377	6	ranging	pressure4
+378	6	ranging	pressure5
+379	6	ranging	pressure6
+380	6	ranging	pressure7
+381	8	twr	rangingSuccessRate0
+382	8	twr	rangingPerSec0
+383	8	twr	rangingSuccessRate1
+384	8	twr	rangingPerSec1
+385	8	twr	rangingSuccessRate2
+386	8	twr	rangingPerSec2
+387	8	twr	rangingSuccessRate3
+388	8	twr	rangingPerSec3
+389	8	twr	rangingSuccessRate4
+390	8	twr	rangingPerSec4
+391	8	twr	rangingSuccessRate5
+392	8	twr	rangingPerSec5
+393	6	tdoa2	d7-0
+394	6	tdoa2	d0-1
+395	6	tdoa2	d1-2
+396	6	tdoa2	d2-3
+397	6	tdoa2	d3-4
+398	6	tdoa2	d4-5
+399	6	tdoa2	d5-6
+400	6	tdoa2	d6-7
+401	6	tdoa2	cc0
+402	6	tdoa2	cc1
+403	6	tdoa2	cc2
+404	6	tdoa2	cc3
+405	6	tdoa2	cc4
+406	6	tdoa2	cc5
+407	6	tdoa2	cc6
+408	6	tdoa2	cc7
+409	9	tdoa2	dist7-0
+410	9	tdoa2	dist0-1
+411	9	tdoa2	dist1-2
+412	9	tdoa2	dist2-3
+413	9	tdoa2	dist3-4
+414	9	tdoa2	dist4-5
+415	9	tdoa2	dist5-6
+416	9	tdoa2	dist6-7
+417	6	tdoaEngine	stRx
+418	6	tdoaEngine	stEst
+419	6	tdoaEngine	stTime
+420	6	tdoaEngine	stFound
+421	6	tdoaEngine	stCc
+422	6	tdoaEngine	stHit
+423	6	tdoaEngine	stMiss
+424	6	tdoaEngine	cc
+425	9	tdoaEngine	tof
+426	6	tdoaEngine	tdoa
+434	8	motion	motion
+435	1	motion	deltaX
+436	1	motion	deltaY
+437	9	motion	shutter
+438	8	motion	maxRaw
+439	8	motion	minRaw
+440	8	motion	Rawsum
+441	8	motion	outlierCount
+442	8	motion	squal
+443	6	motion	std
+444	9	oa	front
+445	9	oa	back
+446	9	oa	up
+447	9	oa	left
+448	9	oa	right
+449	8	activeMarker	btSns
+450	8	activeMarker	i2cOk
+451	8	aideck	receivebyte
+452	8	lighthouse	validAngles
+453	6	lighthouse	rawAngle0x
+454	6	lighthouse	rawAngle0y
+455	6	lighthouse	rawAngle1x
+456	6	lighthouse	rawAngle1y
+457	6	lighthouse	angle0x
+458	6	lighthouse	angle0y
+459	6	lighthouse	angle1x
+460	6	lighthouse	angle1y
+461	6	lighthouse	angle0x_1
+462	6	lighthouse	angle0y_1
+463	6	lighthouse	angle1x_1
+464	6	lighthouse	angle1y_1
+465	6	lighthouse	angle0x_2
+466	6	lighthouse	angle0y_2
+467	6	lighthouse	angle1x_2
+468	6	lighthouse	angle1y_2
+469	6	lighthouse	angle0x_3
+470	6	lighthouse	angle0y_3
+471	6	lighthouse	angle1x_3
+472	6	lighthouse	angle1y_3
+473	6	lighthouse	rawAngle0xlh2
+474	6	lighthouse	rawAngle0ylh2
+475	6	lighthouse	rawAngle1xlh2
+476	6	lighthouse	rawAngle1ylh2
+477	6	lighthouse	angle0x_0lh2
+478	6	lighthouse	angle0y_0lh2
+479	6	lighthouse	angle1x_0lh2
+480	6	lighthouse	angle1y_0lh2
+481	6	lighthouse	serRt
+482	6	lighthouse	frmRt
+483	6	lighthouse	cycleRt
+484	6	lighthouse	bs0Rt
+485	6	lighthouse	bs1Rt
+486	9	lighthouse	width0
+487	9	lighthouse	width1
+488	9	lighthouse	width2
+489	9	lighthouse	width3
+490	8	lighthouse	comSync
+491	9	lighthouse	bsReceive
+492	9	lighthouse	bsActive
+493	9	lighthouse	bsCalUd
+494	9	lighthouse	bsCalCon
+495	8	lighthouse	status
+496	6	lighthouse	posRt
+497	6	lighthouse	estBs0Rt
+498	6	lighthouse	estBs1Rt
+499	6	lighthouse	x
+500	6	lighthouse	y
+501	6	lighthouse	z
+502	6	lighthouse	delta
+503	9	lighthouse	bsGeoVal
+504	9	lighthouse	bsCalVal
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_12_08_20:53:41.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_08_20:53:41.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12008f581334686325e0320872355fee857b33ce
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_08_20:53:41.txt
@@ -0,0 +1,247 @@
+Param ID	Type	Group	Identifier Name	
+0	8	imu_sensors	AK8963
+1	8	imu_sensors	LPS25H
+5	8	imu_sensors	BMP388
+2	8	imu_tests	MPU6500
+3	8	imu_tests	AK8963
+4	8	imu_tests	LPS25H
+6	9	cpu	flash
+7	10	cpu	id0
+8	10	cpu	id1
+9	10	cpu	id2
+10	0	system	selftestPassed
+11	0	system	forceArm
+16	8	system	taskDump
+208	8	system	highlight
+12	9	crtpsrv	echoDelay
+13	8	sound	effect
+14	10	sound	neffect
+15	9	sound	freq
+17	8	memTst	resetW
+18	0	sys	e_stop
+19	8	commander	enHighLevel
+20	8	flightmode	althold
+21	8	flightmode	poshold
+22	8	flightmode	posSet
+23	8	flightmode	yawMode
+24	8	flightmode	stabModeRoll
+25	8	flightmode	stabModePitch
+26	8	flightmode	stabModeYaw
+27	6	cmdrCPPM	rateRoll
+28	6	cmdrCPPM	ratePitch
+29	6	cmdrCPPM	angPitch
+30	6	cmdrCPPM	angRoll
+31	6	cmdrCPPM	rateYaw
+32	8	locSrv	enRangeStreamFP32
+33	8	locSrv	enLhAngleStream
+34	6	locSrv	extPosStdDev
+35	6	locSrv	extQuatStdDev
+36	6	pid_attitude	roll_kp
+37	6	pid_attitude	roll_ki
+38	6	pid_attitude	roll_kd
+39	6	pid_attitude	pitch_kp
+40	6	pid_attitude	pitch_ki
+41	6	pid_attitude	pitch_kd
+42	6	pid_attitude	yaw_kp
+43	6	pid_attitude	yaw_ki
+44	6	pid_attitude	yaw_kd
+45	6	pid_rate	roll_kp
+46	6	pid_rate	roll_ki
+47	6	pid_rate	roll_kd
+48	6	pid_rate	pitch_kp
+49	6	pid_rate	pitch_ki
+50	6	pid_rate	pitch_kd
+51	6	pid_rate	yaw_kp
+52	6	pid_rate	yaw_ki
+53	6	pid_rate	yaw_kd
+54	6	sensfusion6	kp
+55	6	sensfusion6	ki
+56	6	sensfusion6	baseZacc
+57	8	stabilizer	estimator
+58	8	stabilizer	controller
+59	8	stabilizer	stop
+60	6	posEstAlt	estAlphaAsl
+61	6	posEstAlt	estAlphaZr
+62	6	posEstAlt	velFactor
+63	6	posEstAlt	velZAlpha
+64	6	posEstAlt	vAccDeadband
+65	6	posCtlPid	xKp
+66	6	posCtlPid	xKi
+67	6	posCtlPid	xKd
+68	6	posCtlPid	yKp
+69	6	posCtlPid	yKi
+70	6	posCtlPid	yKd
+71	6	posCtlPid	zKp
+72	6	posCtlPid	zKi
+73	6	posCtlPid	zKd
+74	9	posCtlPid	thrustBase
+75	9	posCtlPid	thrustMin
+76	6	posCtlPid	rpLimit
+77	6	posCtlPid	xyVelMax
+78	6	posCtlPid	zVelMax
+79	6	velCtlPid	vxKp
+80	6	velCtlPid	vxKi
+81	6	velCtlPid	vxKd
+82	6	velCtlPid	vyKp
+83	6	velCtlPid	vyKi
+84	6	velCtlPid	vyKd
+85	6	velCtlPid	vzKp
+86	6	velCtlPid	vzKi
+87	6	velCtlPid	vzKd
+88	6	posCtrlIndi	K_xi_x
+89	6	posCtrlIndi	K_xi_y
+90	6	posCtrlIndi	K_xi_z
+91	6	posCtrlIndi	K_dxi_x
+92	6	posCtrlIndi	K_dxi_y
+93	6	posCtrlIndi	K_dxi_z
+94	6	posCtrlIndi	pq_clamping
+95	8	controller	tiltComp
+96	6	ctrlMel	kp_xy
+97	6	ctrlMel	kd_xy
+98	6	ctrlMel	ki_xy
+99	6	ctrlMel	i_range_xy
+100	6	ctrlMel	kp_z
+101	6	ctrlMel	kd_z
+102	6	ctrlMel	ki_z
+103	6	ctrlMel	i_range_z
+104	6	ctrlMel	mass
+105	6	ctrlMel	massThrust
+106	6	ctrlMel	kR_xy
+107	6	ctrlMel	kR_z
+108	6	ctrlMel	kw_xy
+109	6	ctrlMel	kw_z
+110	6	ctrlMel	ki_m_xy
+111	6	ctrlMel	ki_m_z
+112	6	ctrlMel	kd_omega_rp
+113	6	ctrlMel	i_range_m_xy
+114	6	ctrlMel	i_range_m_z
+115	6	ctrlINDI	thrust_threshold
+116	6	ctrlINDI	bound_ctrl_input
+117	6	ctrlINDI	g1_p
+118	6	ctrlINDI	g1_q
+119	6	ctrlINDI	g1_r
+120	6	ctrlINDI	g2
+121	6	ctrlINDI	ref_err_p
+122	6	ctrlINDI	ref_err_q
+123	6	ctrlINDI	ref_err_r
+124	6	ctrlINDI	ref_rate_p
+125	6	ctrlINDI	ref_rate_q
+126	6	ctrlINDI	ref_rate_r
+127	6	ctrlINDI	act_dyn_p
+128	6	ctrlINDI	act_dyn_q
+129	6	ctrlINDI	act_dyn_r
+130	6	ctrlINDI	filt_cutoff
+131	6	ctrlINDI	filt_cutoff_r
+132	8	ctrlINDI	outerLoopActive
+133	6	s_pid_attitude	roll_kp
+134	6	s_pid_attitude	roll_ki
+135	6	s_pid_attitude	roll_kd
+136	6	s_pid_attitude	pitch_kp
+137	6	s_pid_attitude	pitch_ki
+138	6	s_pid_attitude	pitch_kd
+139	6	s_pid_attitude	yaw_kp
+140	6	s_pid_attitude	yaw_ki
+141	6	s_pid_attitude	yaw_kd
+142	6	s_pid_rate	roll_kp
+143	6	s_pid_rate	roll_ki
+144	6	s_pid_rate	roll_kd
+145	6	s_pid_rate	pitch_kp
+146	6	s_pid_rate	pitch_ki
+147	6	s_pid_rate	pitch_kd
+148	6	s_pid_rate	yaw_kp
+149	6	s_pid_rate	yaw_ki
+150	6	s_pid_rate	yaw_kd
+151	8	ctrlStdnt	tiltComp
+152	8	ctrlStdnt	TEST_PARAM
+153	8	motorPowerSet	enable
+154	9	motorPowerSet	m1
+155	9	motorPowerSet	m2
+156	9	motorPowerSet	m3
+157	9	motorPowerSet	m4
+158	10	powerDist	idleThrust
+159	8	colAv	enable
+160	6	colAv	ellipsoidX
+161	6	colAv	ellipsoidY
+162	6	colAv	ellipsoidZ
+163	6	colAv	bboxMinX
+164	6	colAv	bboxMinY
+165	6	colAv	bboxMinZ
+166	6	colAv	bboxMaxX
+167	6	colAv	bboxMaxY
+168	6	colAv	bboxMaxZ
+169	6	colAv	horizon
+170	6	colAv	maxSpeed
+171	6	colAv	sidestepThrsh
+172	2	colAv	maxPeerLocAge
+173	6	colAv	vorTol
+174	2	colAv	vorIters
+175	8	health	startPropTest
+176	8	health	startBatTest
+177	8	kalman	resetEstimation
+178	8	kalman	quadIsFlying
+179	8	kalman	robustTdoa
+180	8	kalman	robustTwr
+181	6	kalman	pNAcc_xy
+182	6	kalman	pNAcc_z
+183	6	kalman	pNVel
+184	6	kalman	pNPos
+185	6	kalman	pNAtt
+186	6	kalman	mNBaro
+187	6	kalman	mNGyro_rollpitch
+188	6	kalman	mNGyro_yaw
+189	6	kalman	initialX
+190	6	kalman	initialY
+191	6	kalman	initialZ
+192	6	kalman	initialYaw
+193	6	kalman	maxPos
+194	6	kalman	maxVel
+195	6	hlCommander	vtoff
+196	6	hlCommander	vland
+197	8	deck	bcLedRing
+209	8	deck	bcBuzzer
+210	8	deck	bcGTGPS
+211	8	deck	bcCPPM
+212	8	deck	bcUSD
+215	8	deck	bcZRanger
+216	8	deck	bcZRanger2
+217	8	deck	bcDWM1000
+222	8	deck	bcFlow
+223	8	deck	bcFlow2
+227	8	deck	bcOA
+228	8	deck	bcMultiranger
+229	8	deck	bcLighthouse4
+236	8	deck	bcActiveMarker
+237	8	deck	bcAIDeck
+198	8	ring	effect
+199	10	ring	neffect
+200	8	ring	solidRed
+201	8	ring	solidGreen
+202	8	ring	solidBlue
+203	8	ring	headlightEnable
+204	6	ring	emptyCharge
+205	6	ring	fullCharge
+206	10	ring	fadeColor
+207	6	ring	fadeTime
+213	8	usd	canLog
+214	8	usd	logging
+218	8	loco	mode
+219	8	tdoaEngine	logId
+220	8	tdoaEngine	logOthrId
+221	8	tdoaEngine	matchAlgo
+224	8	motion	disable
+225	8	motion	adaptive
+226	6	motion	flowStdFixed
+230	8	activeMarker	front
+231	8	activeMarker	back
+232	8	activeMarker	left
+233	8	activeMarker	right
+234	8	activeMarker	mode
+235	8	activeMarker	poll
+238	10	firmware	revision0
+239	9	firmware	revision1
+240	8	firmware	modified
+241	8	lighthouse	method
+242	8	lighthouse	bsCalibReset
+243	8	lighthouse	systemType
+244	6	lighthouse	sweepStd
+245	6	lighthouse	sweepStd2
diff --git a/cflib_groundstation/logs/cflie1_Param_toc_2023_12_08_20:58:07.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_08_20:58:07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12008f581334686325e0320872355fee857b33ce
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_08_20:58:07.txt
@@ -0,0 +1,247 @@
+Param ID	Type	Group	Identifier Name	
+0	8	imu_sensors	AK8963
+1	8	imu_sensors	LPS25H
+5	8	imu_sensors	BMP388
+2	8	imu_tests	MPU6500
+3	8	imu_tests	AK8963
+4	8	imu_tests	LPS25H
+6	9	cpu	flash
+7	10	cpu	id0
+8	10	cpu	id1
+9	10	cpu	id2
+10	0	system	selftestPassed
+11	0	system	forceArm
+16	8	system	taskDump
+208	8	system	highlight
+12	9	crtpsrv	echoDelay
+13	8	sound	effect
+14	10	sound	neffect
+15	9	sound	freq
+17	8	memTst	resetW
+18	0	sys	e_stop
+19	8	commander	enHighLevel
+20	8	flightmode	althold
+21	8	flightmode	poshold
+22	8	flightmode	posSet
+23	8	flightmode	yawMode
+24	8	flightmode	stabModeRoll
+25	8	flightmode	stabModePitch
+26	8	flightmode	stabModeYaw
+27	6	cmdrCPPM	rateRoll
+28	6	cmdrCPPM	ratePitch
+29	6	cmdrCPPM	angPitch
+30	6	cmdrCPPM	angRoll
+31	6	cmdrCPPM	rateYaw
+32	8	locSrv	enRangeStreamFP32
+33	8	locSrv	enLhAngleStream
+34	6	locSrv	extPosStdDev
+35	6	locSrv	extQuatStdDev
+36	6	pid_attitude	roll_kp
+37	6	pid_attitude	roll_ki
+38	6	pid_attitude	roll_kd
+39	6	pid_attitude	pitch_kp
+40	6	pid_attitude	pitch_ki
+41	6	pid_attitude	pitch_kd
+42	6	pid_attitude	yaw_kp
+43	6	pid_attitude	yaw_ki
+44	6	pid_attitude	yaw_kd
+45	6	pid_rate	roll_kp
+46	6	pid_rate	roll_ki
+47	6	pid_rate	roll_kd
+48	6	pid_rate	pitch_kp
+49	6	pid_rate	pitch_ki
+50	6	pid_rate	pitch_kd
+51	6	pid_rate	yaw_kp
+52	6	pid_rate	yaw_ki
+53	6	pid_rate	yaw_kd
+54	6	sensfusion6	kp
+55	6	sensfusion6	ki
+56	6	sensfusion6	baseZacc
+57	8	stabilizer	estimator
+58	8	stabilizer	controller
+59	8	stabilizer	stop
+60	6	posEstAlt	estAlphaAsl
+61	6	posEstAlt	estAlphaZr
+62	6	posEstAlt	velFactor
+63	6	posEstAlt	velZAlpha
+64	6	posEstAlt	vAccDeadband
+65	6	posCtlPid	xKp
+66	6	posCtlPid	xKi
+67	6	posCtlPid	xKd
+68	6	posCtlPid	yKp
+69	6	posCtlPid	yKi
+70	6	posCtlPid	yKd
+71	6	posCtlPid	zKp
+72	6	posCtlPid	zKi
+73	6	posCtlPid	zKd
+74	9	posCtlPid	thrustBase
+75	9	posCtlPid	thrustMin
+76	6	posCtlPid	rpLimit
+77	6	posCtlPid	xyVelMax
+78	6	posCtlPid	zVelMax
+79	6	velCtlPid	vxKp
+80	6	velCtlPid	vxKi
+81	6	velCtlPid	vxKd
+82	6	velCtlPid	vyKp
+83	6	velCtlPid	vyKi
+84	6	velCtlPid	vyKd
+85	6	velCtlPid	vzKp
+86	6	velCtlPid	vzKi
+87	6	velCtlPid	vzKd
+88	6	posCtrlIndi	K_xi_x
+89	6	posCtrlIndi	K_xi_y
+90	6	posCtrlIndi	K_xi_z
+91	6	posCtrlIndi	K_dxi_x
+92	6	posCtrlIndi	K_dxi_y
+93	6	posCtrlIndi	K_dxi_z
+94	6	posCtrlIndi	pq_clamping
+95	8	controller	tiltComp
+96	6	ctrlMel	kp_xy
+97	6	ctrlMel	kd_xy
+98	6	ctrlMel	ki_xy
+99	6	ctrlMel	i_range_xy
+100	6	ctrlMel	kp_z
+101	6	ctrlMel	kd_z
+102	6	ctrlMel	ki_z
+103	6	ctrlMel	i_range_z
+104	6	ctrlMel	mass
+105	6	ctrlMel	massThrust
+106	6	ctrlMel	kR_xy
+107	6	ctrlMel	kR_z
+108	6	ctrlMel	kw_xy
+109	6	ctrlMel	kw_z
+110	6	ctrlMel	ki_m_xy
+111	6	ctrlMel	ki_m_z
+112	6	ctrlMel	kd_omega_rp
+113	6	ctrlMel	i_range_m_xy
+114	6	ctrlMel	i_range_m_z
+115	6	ctrlINDI	thrust_threshold
+116	6	ctrlINDI	bound_ctrl_input
+117	6	ctrlINDI	g1_p
+118	6	ctrlINDI	g1_q
+119	6	ctrlINDI	g1_r
+120	6	ctrlINDI	g2
+121	6	ctrlINDI	ref_err_p
+122	6	ctrlINDI	ref_err_q
+123	6	ctrlINDI	ref_err_r
+124	6	ctrlINDI	ref_rate_p
+125	6	ctrlINDI	ref_rate_q
+126	6	ctrlINDI	ref_rate_r
+127	6	ctrlINDI	act_dyn_p
+128	6	ctrlINDI	act_dyn_q
+129	6	ctrlINDI	act_dyn_r
+130	6	ctrlINDI	filt_cutoff
+131	6	ctrlINDI	filt_cutoff_r
+132	8	ctrlINDI	outerLoopActive
+133	6	s_pid_attitude	roll_kp
+134	6	s_pid_attitude	roll_ki
+135	6	s_pid_attitude	roll_kd
+136	6	s_pid_attitude	pitch_kp
+137	6	s_pid_attitude	pitch_ki
+138	6	s_pid_attitude	pitch_kd
+139	6	s_pid_attitude	yaw_kp
+140	6	s_pid_attitude	yaw_ki
+141	6	s_pid_attitude	yaw_kd
+142	6	s_pid_rate	roll_kp
+143	6	s_pid_rate	roll_ki
+144	6	s_pid_rate	roll_kd
+145	6	s_pid_rate	pitch_kp
+146	6	s_pid_rate	pitch_ki
+147	6	s_pid_rate	pitch_kd
+148	6	s_pid_rate	yaw_kp
+149	6	s_pid_rate	yaw_ki
+150	6	s_pid_rate	yaw_kd
+151	8	ctrlStdnt	tiltComp
+152	8	ctrlStdnt	TEST_PARAM
+153	8	motorPowerSet	enable
+154	9	motorPowerSet	m1
+155	9	motorPowerSet	m2
+156	9	motorPowerSet	m3
+157	9	motorPowerSet	m4
+158	10	powerDist	idleThrust
+159	8	colAv	enable
+160	6	colAv	ellipsoidX
+161	6	colAv	ellipsoidY
+162	6	colAv	ellipsoidZ
+163	6	colAv	bboxMinX
+164	6	colAv	bboxMinY
+165	6	colAv	bboxMinZ
+166	6	colAv	bboxMaxX
+167	6	colAv	bboxMaxY
+168	6	colAv	bboxMaxZ
+169	6	colAv	horizon
+170	6	colAv	maxSpeed
+171	6	colAv	sidestepThrsh
+172	2	colAv	maxPeerLocAge
+173	6	colAv	vorTol
+174	2	colAv	vorIters
+175	8	health	startPropTest
+176	8	health	startBatTest
+177	8	kalman	resetEstimation
+178	8	kalman	quadIsFlying
+179	8	kalman	robustTdoa
+180	8	kalman	robustTwr
+181	6	kalman	pNAcc_xy
+182	6	kalman	pNAcc_z
+183	6	kalman	pNVel
+184	6	kalman	pNPos
+185	6	kalman	pNAtt
+186	6	kalman	mNBaro
+187	6	kalman	mNGyro_rollpitch
+188	6	kalman	mNGyro_yaw
+189	6	kalman	initialX
+190	6	kalman	initialY
+191	6	kalman	initialZ
+192	6	kalman	initialYaw
+193	6	kalman	maxPos
+194	6	kalman	maxVel
+195	6	hlCommander	vtoff
+196	6	hlCommander	vland
+197	8	deck	bcLedRing
+209	8	deck	bcBuzzer
+210	8	deck	bcGTGPS
+211	8	deck	bcCPPM
+212	8	deck	bcUSD
+215	8	deck	bcZRanger
+216	8	deck	bcZRanger2
+217	8	deck	bcDWM1000
+222	8	deck	bcFlow
+223	8	deck	bcFlow2
+227	8	deck	bcOA
+228	8	deck	bcMultiranger
+229	8	deck	bcLighthouse4
+236	8	deck	bcActiveMarker
+237	8	deck	bcAIDeck
+198	8	ring	effect
+199	10	ring	neffect
+200	8	ring	solidRed
+201	8	ring	solidGreen
+202	8	ring	solidBlue
+203	8	ring	headlightEnable
+204	6	ring	emptyCharge
+205	6	ring	fullCharge
+206	10	ring	fadeColor
+207	6	ring	fadeTime
+213	8	usd	canLog
+214	8	usd	logging
+218	8	loco	mode
+219	8	tdoaEngine	logId
+220	8	tdoaEngine	logOthrId
+221	8	tdoaEngine	matchAlgo
+224	8	motion	disable
+225	8	motion	adaptive
+226	6	motion	flowStdFixed
+230	8	activeMarker	front
+231	8	activeMarker	back
+232	8	activeMarker	left
+233	8	activeMarker	right
+234	8	activeMarker	mode
+235	8	activeMarker	poll
+238	10	firmware	revision0
+239	9	firmware	revision1
+240	8	firmware	modified
+241	8	lighthouse	method
+242	8	lighthouse	bsCalibReset
+243	8	lighthouse	systemType
+244	6	lighthouse	sweepStd
+245	6	lighthouse	sweepStd2
diff --git a/cflib_groundstation/main.py b/cflib_groundstation/main.py
index ecd0910053a01c20a5499f1d951ce584fa282bdd..7b3751a0a6862bc3a1f20fa5de576e515b1bddd8 100644
--- a/cflib_groundstation/main.py
+++ b/cflib_groundstation/main.py
@@ -13,6 +13,7 @@ class main():
         
 
     def start(self, radio_channel):
+        print("starting cflib groundstation")
         gs = GroundstationSocket()
         self.inThread = Thread(target = gs.groundstation_connect, args = (self.inputQueue,))
         self.inThread.start()
@@ -68,6 +69,7 @@ class main():
             
 
 if __name__ == '__main__':
+    print(sys.argv)
     if len(sys.argv) < 2:
         print("No radio channel specified")
     else:
diff --git a/crazyCART.sh b/crazyCART.sh
index 8267fa7593ca6bfffd14a925bff9d7320931a245..8fe9e8001d1af9da498df1c0a890a37b6c38fcf7 100755
--- a/crazyCART.sh
+++ b/crazyCART.sh
@@ -8,32 +8,33 @@ function handler()
     kill -9 $GPID
 }
 
-cd ./crazyflie_groundstation
+cd ./cflib_groundstation
 
 if [ $# -gt 0 ]
 then
     echo "custom radio"
-    ./crazyflieGroundStation $1 &
+    python3 main.py $1 &
 else
     echo "default radio"
-    ./crazyflieGroundStation &
+    python3 main.py &
 fi
 CFPID=$!
 
 echo "Waiting for crazyflie groundstation to be created..."
-cf_gs=crazyflie_groundstation.socket
+cf_gs=cflib_groundstation.socket
 while [ ! -S "$cf_gs"  ]
 do
     sleep 1
 done
 
-cd ../groundStation/adapters/crazyflie
-sleep 1
-./bin/cf_adapter &
-APID=$!
+#cd ../groundStation/adapters/crazyflie
+#sleep 1
+#./bin/cf_adapter &
+#APID=$!
 
-sleep 1
-cd ../..
+sleep 2
+echo "Creating BackEnd"
+cd ../groundStation
 ./BackEnd &
 BPID=$!