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diff --git a/cflib_groundstation/.venv/lib/python3.8/site-packages/zipp/__pycache__/py310compat.cpython-38.pyc b/cflib_groundstation/.venv/lib/python3.8/site-packages/zipp/__pycache__/py310compat.cpython-38.pyc
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diff --git a/cflib_groundstation/LogfileHandler.py b/cflib_groundstation/LogfileHandler.py
index 091a7a9b5f512cdbe8ff94c1a8e2673dde54d74e..88d0dfb76bd9596c78d49383c24c050f5b5f1bfa 100644
--- a/cflib_groundstation/LogfileHandler.py
+++ b/cflib_groundstation/LogfileHandler.py
@@ -28,8 +28,6 @@ class LogfileHandler:
         # be in seconds since startup.
         self.start_time = time.time()
 
-        # self.logging_queue = Queue()
-
         self.scf = None
         self.is_connected = False
         self.param_callback_count = 0
@@ -43,7 +41,9 @@ class LogfileHandler:
         self.create_log_data_file()
 
     
-
+    """
+    Creates a file and writes the toc to it
+    """
     def CopyTocToFile(self, toc :dict, isParams):
         if isParams:
             logType = "Param"
@@ -52,7 +52,6 @@ class LogfileHandler:
 
         filename = os.getcwd()    
         filename += f"/logs/cflie1_{logType}_toc_{time.strftime('%Y_%m_%d_%H:%M:%S', time.localtime())}.txt"
-        # print(f"TOCtoFILE:{filename}")
 
         types = {'uint8_t'  : 0x08,
                  'uint16_t' : 0x09,
@@ -73,7 +72,6 @@ class LogfileHandler:
         for group in list(toc.keys()):
             for name in list(toc[group].keys()):
                 file.write(f"{toc[group][name].ident}\t{types.get(toc[group][name].ctype)}\t{group}\t{name}\n")
-                #print(f" Identity: {toc[group][name].ident} Packet Type:{toc[group][name].pytype} CType:{toc[group][name].ctype} Group:{group} Name:{name}\n")
 
                    
 
diff --git a/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc
index 1740d89362186ebfa3dc996147da281c991c11f9..c286d85030b104ad24cdd96afa13481963783fd8 100644
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diff --git a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
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Binary files a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc and b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc differ
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index 71b6b2fbd5a663dc0f70343f6e1f516d88e94e53..54a3399c5f3e21e0a764431ce0f1f5ad0c1b2a0f 100644
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diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
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diff --git a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
index d56d38ab12333fb8bc20d2a4de77183adf802510..09f9335f562afa30eb2e8a8526f8e07bd100d214 100644
Binary files a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc and b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc differ
diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 6858199a18ace2da95be2fb94137f1d4706281b3..d52f071b4f592cd152b968eebd88e637d025e10b 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -46,10 +46,6 @@ class CrazyflieConnection:
         
         self.timestamp = 0
 
-        # self.timer = QTimer()
-        # self.timer.timeout.connect(self.update_plot)
-        # self.timer.start(50)
-
     def connect(self, uri: str):
         """
         Handles connecting to a crazyflie. Bitcraze has excellent
@@ -63,7 +59,6 @@ class CrazyflieConnection:
         self.scf.wait_for_params()
         self.iC_connected = True
         print("Connect quad")
-        #self.toc = self.get_TOC()
 
         # sets commander
         self.scf.cf.commander = uCartCommander.Commander(self.scf.cf)
@@ -76,26 +71,10 @@ class CrazyflieConnection:
         self.setpoint_handler.setCommander(self.scf.cf.commander)
         self.setpoint_handler.startSetpointThread()
 
-    def disconnect(self):
-        """ Disconnect from crazyflie. """
-        print("Disconnect quad")
-        if self.is_connected:
-            self.scf.close_link()
-            self.scf = None
-            self.is_connected = False
-
-    def Debug():
-        raise Exception
-    def PacketLog():
-        raise Exception
-    def GetPacketLogs():
-        raise Exception
-    def Update():
-        raise Exception
-    def BeginUpdate():
-        raise Exception
     def OverrideOuput(self, command): 
         """Sends all setpoints for a given amount of time"""
+
+        # Gets the data from the command packet
         mode = command['data'][0]
         time = command['data'][1:5] # Currently sent every 20ms by setpoint_handler may change
         thrust =  command['data'][5:9]
@@ -103,7 +82,6 @@ class CrazyflieConnection:
         roll =  command['data'][13:17]
         yaw =  command['data'][17:21]
 
-        # Error Handling
         try:
             time = struct.unpack('f', bytes(time))[0]
             yaw = struct.unpack('f', bytes(yaw))[0]
@@ -130,20 +108,19 @@ class CrazyflieConnection:
                 raise Exception # Not implemented
             else :
                 raise Exception
+
+            #If no time was specified set the setpoint to expire in 0.1 secs
             if time == 0.0:
                 time = 0.1
+
+            # If the setpoint is identical to the last one, only update the time
             if self.setpoint_handler.setpoint.pitch != pitch or self.setpoint_handler.setpoint.yaw != yaw or self.setpoint_handler.setpoint.roll != roll or self.setpoint_handler.setpoint.thrust != thrust:
                 self.setpoint_handler.setSetpoint(yaw, pitch, roll, thrust)
             self.setpoint_handler.setpoint_time = time
             self.setpoint_handler.curr_time = 0
-            #self.setpoint_handler.sendSetpoint()
-
-    def GetNodeIds():
-        raise Exception
 
     def SetParam(self, command):
         """ Set a crazyflie parameter value. """
-        group = int.from_bytes(command['data'][0:2], 'little')
         name = int.from_bytes(command['data'][2:4], 'little')
         value = struct.unpack('f', bytes(command['data'][4:8]))[0]
         try:
@@ -162,7 +139,6 @@ class CrazyflieConnection:
         #Bytes 0 and 1 are node ID, ie group
         #Bytes 2 and 3 are node paramID, ie name
         print("Getting Param...")
-        group = int.from_bytes(command['data'][0:2], 'little')
         name = int.from_bytes(command['data'][2:4], 'little')
 
         try:
@@ -173,8 +149,11 @@ class CrazyflieConnection:
 
         except AttributeError:
             actual = -1.234567
+            #return -1.234567890  # 1234567890 should be pretty obvious that
+            # something has gone wrong.
             pass
-
+        
+        #Create a packet with the parameter to send back.
         data = bytearray()
         data += command['data'][0:2]
         data += command['data'][2:4]
@@ -189,20 +168,7 @@ class CrazyflieConnection:
         }
         outputQueue.put(responsedata)
 
-        #return -1.234567890  # 1234567890 should be pretty obvious that
-        # something has gone wrong.
-    def SetSource():
-        raise Exception
-    def GetSource():
-        raise Exception
-    def RespSource():
-        raise Exception
-    def GetOutput():
-        raise Exception
-    def GetNodes():
-        raise Exception
-    def AddNode():
-        raise Exception
+        
     def get_logging_toc(self):
         """ Retrieve entire logging table of contents. Used in order to
         display list in logging tab. """
@@ -229,94 +195,71 @@ class CrazyflieConnection:
             pass
         return {}
 
+    """
+    The GUI needs a path to a file to read logging and parameter variables. This functions returns the necessary path.
+    """
     def GetLogFile(self, command, outputQueue: Queue): 
         print("Getting LogFile...")
         id = command['data'][0]
         if id == 0: # logdata?
             filename = self.logfile_handler.data_log_name
-            data = bytearray()
-            data += bytes("_" + filename, 'utf-8')
-            responsedata = {
-            "msg_type": (MessageTypeID.RESPLOGFILE_ID),
-            "msg_id": command['msg_id'],
-            "data_len": len(data),
-            "data": data
-            }
-            outputQueue.put(responsedata)
+            
         elif id == 1: # param toc
             params = self.get_param_toc()
             filename = self.logfile_handler.CopyTocToFile(params, True)
             data = bytearray()
             data += bytes("_" + filename, 'utf-8')
-            responsedata = {
-            "msg_type": (MessageTypeID.RESPLOGFILE_ID),
-            "msg_id": command['msg_id'],
-            "data_len": len(data),
-            "data": data
-            }
-            outputQueue.put(responsedata)
+            
         elif id == 2: # logging toc
             logs = self.get_logging_toc()
             filename = self.logfile_handler.CopyTocToFile(logs, False)
             data = bytearray()
             data += bytes("_" + filename, 'utf-8')
-            responsedata = {
-            "msg_type": (MessageTypeID.RESPLOGFILE_ID),
-            "msg_id": command['msg_id'],
-            "data_len": len(data),
-            "data": data
-            }
-            outputQueue.put(responsedata)
-        elif id == 3: 
+
+        elif id == 3: # current data headers 
             header = "_" + str(self.logfile_handler.header_id) + ":,time,"
             for config in self.logging_configs:
                 for variable in config.variables:
                     header += variable.name + ","
             data = bytearray()
             data += bytes(header, 'utf-8')
-            responsedata = {
-            "msg_type": (MessageTypeID.RESPLOGFILE_ID),
-            "msg_id": command['msg_id'],
-            "data_len": len(data),
-            "data": data
-            }
-            outputQueue.put(responsedata)
+
         elif id == 4: # state of test stand connection
             data = bytearray()
             data += bytes("_false", 'utf-8')
-            responsedata = {
+        
+        else:
+            raise Exception
+        responsedata = {
             "msg_type": (MessageTypeID.RESPLOGFILE_ID),
             "msg_id": command['msg_id'],
             "data_len": len(data),
             "data": data
-            }
-            outputQueue.put(responsedata)
-        else :
-            raise Exception
+        }
+        outputQueue.put(responsedata)
         
     def LogBlockCommand(self, command): 
         print("Log Block Command")
         id = command['data'][0]
-        if id == 0:
+        if id == 0: # Delete all log blocks
             self.delete_log_blocks()
-        elif id == 1:
+        elif id == 1: # refresh log blocks
             self.delete_log_blocks()
             self.logging_configs = self.logfile_handler.read_all_active_blocks(self.scf)
-        elif id == 2:
+        elif id == 2: #Read all log blocks
             self.logging_configs = self.logfile_handler.read_all_active_blocks(self.scf)
-        elif id == 3:
+        elif id == 3: # delete a specific log block
             block_id = command['data'][1]
             self.logging_configs.remove(self.logging_configs[block_id])
-        elif id == 4:
+        elif id == 4: #Not needed by the current implementation
             print(4)
-            #self.enable_logging()
-        elif id == 5:
+            
+        elif id == 5: #Not needed by the current implementation
             print(5)
-            #self.disable_logging()
-        elif id == 8:
+        elif id == 8: #start logging
             self.enable_logging()
             self.start_logging()
-        elif id == 9:
+        elif id == 9: # stop logging
             self.stop_logging()
             self.disable_logging()
             
@@ -338,24 +281,22 @@ class CrazyflieConnection:
     def delete_log_blocks(self):
         self.logging_configs = []
     
+    #Begin the other process to log everything
     def start_logging(self):
         self.stop_thread = False
         self.logging_thread = Process(target=self.continous_log, args=(self.logfile_handler.logging_queue, self.logfile_handler,))
-        #self.logging_thread.daemon = True
         self.logging_thread.start()
         
 
-
+    #Stop the logging process
     def stop_logging(self):
         self.logging_thread.join(timeout=1.0)
-        #self.logging_thread.kill()0
         self.stop_thread = True
 
+    #Continously log 
     def continous_log(self, logging_queue, logfile_handler :LogfileHandler):
         print("Starting thread")
-        while True:#not self.stop_thread:
-            #print("pulling data")
-            #print(f"Queue Size: {logging_queue.qsize()}")
+        while True:
             if logging_queue.qsize() > 3:
                 data = []
                 for i in range(0, 12):
@@ -364,6 +305,15 @@ class CrazyflieConnection:
                 #print(data)
                 logfile_handler.write_data_points(data)
 
+    def disconnect(self):
+        #Disconnect from the crazyflie
+        print("Disconnect quad")
+        if self.is_connected:
+            self.scf.close_link()
+            self.scf = None
+            self.is_connected = False
+        self.logging_thread.kill()
+
 
     
 
diff --git a/cflib_groundstation/groundstation_socket.py b/cflib_groundstation/groundstation_socket.py
index b033cb0295ceef0e72be11af5ce646e2c6ee31fe..4e15accceb2de72540bab1de890b75bfcb27c21e 100644
--- a/cflib_groundstation/groundstation_socket.py
+++ b/cflib_groundstation/groundstation_socket.py
@@ -3,13 +3,16 @@ import socket
 import os
 import collections
 from enum import IntEnum, Enum
-import struct
 
 # Set the path for the Unix socket
 socket_path = './cflib_groundstation.socket'
 
 class GroundstationSocket():
     metadata = collections.namedtuple("metadata", ["msg_type", "msg_id", "data_len"])
+
+    """
+    Creates a TCP connection that will be connected to by the backend.
+    """
     def groundstation_connect(self, inputQueue: Queue):
         # remove the socket file if it already exists
         try:
@@ -40,8 +43,6 @@ class GroundstationSocket():
                 data = self.connection.recv(1000)
                 if not data:
                     break
-                #print('Received data:' + data.decode())
-                dataarray = bytearray(data)
                 message = self.decodePacket(data, 256, len(data))
                 if message == None:
                     print("There was an error decoding the packet")
@@ -55,40 +56,49 @@ class GroundstationSocket():
             self.connection.close()
             # remove the socket file
             os.unlink(socket_path)
-
-    def sendToBackend(self, message):
-        if self.connection != None:
-            print("Can't send message, not connected to Backend")
-            return
-        self.connection.send(message)
     
+    """
+    Decodes the bytes that are coming in from backend and puts them into a struct for the other
+    classes to use. Message Type determines which action should be performed
+    """
     def decodePacket(self, data, data_size, packet_size):
+
+        #Initial checks to ensure the packet is valid
         if data[PacketHeader.BEGIN.value] != Message.BEGIN_CHAR.value:
             return
         if len(data) < PacketHeader.HDR_SIZE.value + ChecksumFormat.CSUM_SIZE.value:
             return
         
+        #Get the message type, id and data length
         messagedata = {
             "msg_type": int.from_bytes(data[PacketHeader.MTYPE_L.value:PacketHeader.MTYPE_H.value], 'big'),
             "msg_id": int.from_bytes(data[PacketHeader.ID_L.value:PacketHeader.ID_H.value], 'big'),
             "data_len": int.from_bytes(data[PacketHeader.DLEN_L.value:PacketHeader.DLEN_H.value], 'big'),
         }
+
+        #Check if the size is correct
         if packet_size < PacketHeader.HDR_SIZE.value + messagedata["data_len"] + ChecksumFormat.CSUM_SIZE.value:
             return
         if data_size < messagedata["data_len"]:
             return
+
+        #Get the checksum from the packet and then ensure it is correct
         checkSum = self.packetChecksum(data, PacketHeader.HDR_SIZE.value + messagedata["data_len"] + ChecksumFormat.CSUM_SIZE.value)
         if checkSum != data[PacketHeader.HDR_SIZE.value + messagedata["data_len"]]:
             return
+
+        #Get the message data
         messagedata["data"] = data[PacketHeader.HDR_SIZE.value:PacketHeader.HDR_SIZE.value + messagedata["data_len"]]
         return messagedata
 
+    #Computes the checksum for a packet's data
     def packetChecksum(self, data, packet_size):
         checkSum = 0
         for i in range(0, packet_size - ChecksumFormat.CSUM_SIZE.value):
             checkSum ^= data[i]
         return checkSum
 
+    #Converts the message data dictionary into a byte array to be sent
     def EncodePacket(self, messagedata):
         bytedata = bytearray()
         bytedata += b"\xbe"        
@@ -102,6 +112,7 @@ class GroundstationSocket():
         bytedata.append(self.packetChecksum(bytedata, PacketHeader.HDR_SIZE.value + messagedata["data_len"] + ChecksumFormat.CSUM_SIZE.value))
         return bytedata
 
+    #Sends a packet over the socket to the backend
     def WriteToBackend(self, message):
         messagedata = self.EncodePacket(message)
         self.connection.send(messagedata)
diff --git a/cflib_groundstation/logs/cflie1_2023_12_11_20:28:34.txt b/cflib_groundstation/logs/cflie1_2023_12_11_20:28:34.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_20:28:34.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_11_20:29:40.txt b/cflib_groundstation/logs/cflie1_2023_12_11_20:29:40.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_20:29:40.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_2023_12_11_20:32:12.txt b/cflib_groundstation/logs/cflie1_2023_12_11_20:32:12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_20:32:12.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_2023_12_11_20:44:07.txt b/cflib_groundstation/logs/cflie1_2023_12_11_20:44:07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_20:44:07.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_11_20:45:10.txt b/cflib_groundstation/logs/cflie1_2023_12_11_20:45:10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_20:45:10.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_11_20:45:46.txt b/cflib_groundstation/logs/cflie1_2023_12_11_20:45:46.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_20:45:46.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_11_20:48:05.txt b/cflib_groundstation/logs/cflie1_2023_12_11_20:48:05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_20:48:05.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_11_20:50:14.txt b/cflib_groundstation/logs/cflie1_2023_12_11_20:50:14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_20:50:14.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_11_20:51:07.txt b/cflib_groundstation/logs/cflie1_2023_12_11_20:51:07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_20:51:07.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_2023_12_11_21:01:43.txt b/cflib_groundstation/logs/cflie1_2023_12_11_21:01:43.txt
new file mode 100644
index 0000000000000000000000000000000000000000..00fd98177871f7e35ae15e3be0825b8dd3eb1f83
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_21:01:43.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
46.31229591369629	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1147		
46.418354511260986	0.5443	0.5306	128.1152	-0.2153	-0.1898	0.1978	0.0000	0.0000	0.0000	0.0000	0.0000	128.1173		
46.53460931777954	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1215		
46.64729976654053	0.5467	0.5393	128.1207	-0.4308	-0.1672	-0.0210	0.0000	0.0000	0.0000	0.0000	0.0000	128.1200		
46.69512867927551	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1201		
46.73522138595581	0.5449	0.5357	128.1212	0.0733	0.1076	-0.0944	0.0000	0.0000	0.0000	0.0000	0.0000	128.1211		
46.820170164108276	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1231		
46.91298317909241	0.5495	0.5310	128.1231	0.9437	-0.5601	0.1709	0.0000	0.0000	0.0000	0.0000	0.0000	128.1230		
46.96567225456238	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1215		
46.999388217926025	0.5432	0.5328	128.1217	-0.3677	-0.1203	0.1714	0.0000	0.0000	0.0000	0.0000	0.0000	128.1209		
47.102930545806885	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1224		
47.25792169570923	0.5496	0.5306	128.1223	-0.0903	-0.3086	-0.0076	0.0000	0.0000	0.0000	0.0000	0.0000	128.1217		
47.311572551727295	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1220		
47.377705335617065	0.5540	0.5304	128.1220	0.0910	-0.4242	0.2510	0.0000	0.0000	0.0000	0.0000	0.0000	128.1210		
47.48003172874451	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1172		
47.5447723865509	0.5522	0.5210	128.1165	-0.3376	-0.0209	-0.0610	0.0000	0.0000	0.0000	0.0000	0.0000	128.1186		
47.58189582824707	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	128.1164		
47.620397090911865	0.5587	0.5215	128.1161	0.5776	0.1710	0.1349	0.0000	0.0000	0.0000	0.0000	0.0000	128.1168		
47.75749397277832	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1189		
47.8390908241272	0.5539	0.5213	128.1178	0.3074	0.3873	-0.0362	0.0000	0.0000	0.0000	0.0000	0.0000	128.1197		
47.87758755683899	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	128.1239		
47.91063189506531	0.5504	0.5223	128.1237	-1.0528	-0.6310	-0.0070	0.0000	0.0000	0.0000	0.0000	0.0000	128.1241		
47.99142789840698	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1227		
48.106879472732544	0.5531	0.5244	128.1230	-0.5775	0.2915	0.2609	0.0000	0.0000	0.0000	0.0000	0.0000	128.1246		
48.15068864822388	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	128.1239		
48.18514323234558	0.5576	0.5186	128.1239	0.5617	-0.2493	-0.0667	0.0000	0.0000	0.0000	0.0000	0.0000	128.1253		
49.91332769393921	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1290		
49.985931634902954	0.5537	0.5181	128.1286	1.2220	0.1495	0.0676	0.0000	0.0000	0.0000	0.0000	0.0000	128.1263		
50.05258798599243	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1234		
50.93183732032776	0.5492	0.5167	128.1230	-0.3608	0.1493	-0.0395	0.0000	0.0000	0.0000	0.0000	0.0000	128.1251		
50.984585762023926	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1242		
51.02410006523132	0.5454	0.5111	128.1241	-1.3188	-0.9696	0.0899	0.0000	0.0000	0.0000	0.0000	0.0000	128.1271		
51.156285524368286	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1280		
51.20993256568909	0.5449	0.5068	128.1279	-0.8368	0.1859	-0.1315	0.0000	0.0000	0.0000	0.0000	0.0000	128.1294		
51.24862194061279	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1304		
51.28690457344055	0.5514	0.5093	128.1306	0.9496	0.0683	-0.0300	0.0000	0.0000	0.0000	0.0000	0.0000	128.1320		
51.41510796546936	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1372		
51.49134922027588	0.5491	0.5104	128.1377	0.9201	0.1223	-0.1298	0.0000	0.0000	0.0000	0.0000	0.0000	128.1384		
51.52735257148743	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1374		
51.559317111968994	0.5348	0.5077	128.1380	-1.3659	-0.3425	-0.0873	0.0000	0.0000	0.0000	0.0000	0.0000	128.1390		
51.652137756347656	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1406		
51.77641415596008	0.5306	0.5022	128.1417	-0.6826	-0.2089	-0.1517	0.0000	0.0000	0.0000	0.0000	0.0000	128.1413		
51.81599688529968	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1405		
51.85617446899414	0.5411	0.5075	128.1397	0.6424	0.8243	0.0125	0.0000	0.0000	0.0000	0.0000	0.0000	128.1391		
51.89236330986023	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1409		
51.96708393096924	0.5458	0.5071	128.1409	0.9474	-0.0534	-0.0471	0.0000	0.0000	0.0000	0.0000	0.0000	128.1419		
52.095439434051514	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1438		
52.143758058547974	0.5321	0.5026	128.1439	-0.4067	0.1916	0.0702	0.0000	0.0000	0.0000	0.0000	0.0000	128.1449		
52.180899143218994	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	128.1450		
52.21786856651306	0.5269	0.4968	128.1443	-0.6902	0.2219	-0.0843	0.0000	0.0000	-0.0000	0.0000	0.0000	128.1461		
52.293076276779175	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1496		
52.39537954330444	0.5304	0.5024	128.1504	0.4052	-0.1501	0.2312	0.0000	0.0000	0.0000	0.0000	0.0000	128.1503		
52.43333387374878	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1509		
52.47452235221863	0.5320	0.5075	128.1515	0.6338	0.3749	-0.3317	0.0000	0.0000	0.0000	0.0000	0.0000	128.1503		
52.56282591819763	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1515		
52.65932893753052	0.5331	0.5086	128.1519	-0.5222	0.0480	0.2173	0.0000	0.0000	0.0000	0.0000	0.0000	128.1531		
52.72628045082092	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1585		
52.76389932632446	0.5333	0.5040	128.1587	-0.0689	-0.5219	-0.0665	0.0000	0.0000	0.0000	0.0000	0.0000	128.1570		
52.808181047439575	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1547		
52.891544342041016	0.5318	0.5098	128.1546	0.0406	0.2313	-0.1035	0.0000	0.0000	-0.0000	0.0000	0.0000	128.1597		
53.01035189628601	0.5441	0.5058	128.1594	-0.2805	-0.1856	-0.1257	0.0000	0.0000	0.0000	0.0000	0.0000	128.1583		
53.05007219314575	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1626		
53.08627271652222	0.5462	0.5045	128.1643	-0.5474	-0.0693	0.0630	0.0000	0.0000	0.0000	0.0000	0.0000	128.1639		
53.17289471626282	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1634		
53.28512144088745	0.5480	0.4972	128.1655	-0.0658	-0.3497	-0.2243	0.0000	0.0000	0.0000	0.0000	0.0000	128.1656		
53.35030460357666	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1632		
53.39160490036011	0.5481	0.5046	128.1600	0.3589	0.3700	-0.0502	0.0000	0.0000	0.0000	0.0000	0.0000	128.1598		
53.49554419517517	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1609		
53.6096932888031	0.5497	0.4984	128.1624	-0.0287	0.3443	-0.0449	0.0000	0.0000	0.0000	0.0000	0.0000	128.1621		
53.65802597999573	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1588		
53.697859048843384	0.5514	0.5031	128.1578	0.2041	0.2205	0.1675	0.0000	0.0000	0.0000	0.0000	0.0000	128.1577		
53.79404044151306	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1600		
53.904653787612915	0.5515	0.5054	128.1608	0.0599	-0.4446	0.1446	0.0000	0.0000	0.0000	0.0000	0.0000	128.1616		
53.948559522628784	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1618		
53.982189893722534	0.5534	0.5048	128.1615	0.2301	-0.1849	0.1490	0.0000	0.0000	0.0000	0.0000	0.0000	128.1610		
54.0766499042511	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	128.1570		
54.213342905044556	0.5462	0.5057	128.1596	-0.2510	-0.4187	-0.3730	0.0000	0.0000	0.0000	0.0000	0.0000	128.1591		
54.27913737297058	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1567		
54.31797766685486	0.5486	0.5112	128.1587	1.8327	1.1194	0.1475	0.0000	0.0000	0.0000	0.0000	0.0000	128.1589		
54.90486931800842	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1632		
54.953720808029175	0.5705	0.5433	128.1621	4.6168	6.2977	-0.1965	0.0000	0.0000	0.0000	0.0000	0.0000	128.1619		
54.98509192466736	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1643		
55.100552797317505	0.6440	0.5158	128.1632	19.2307	2.2061	-0.1237	0.0000	0.0000	0.0000	0.0000	0.0000	128.1625		
55.19452428817749	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1645		
55.8368616104126	0.6112	0.5298	128.1629	4.8300	4.8537	-0.1843	0.0000	0.0000	0.0000	0.0000	0.0000	128.1623		
55.9717903137207	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1645		
56.1025915145874	0.4800	0.4797	128.1652	-8.3887	-4.7096	0.1246	0.0000	0.0000	0.0000	0.0000	0.0000	128.1642		
56.140543937683105	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1635		
56.17657923698425	0.4798	0.4564	128.1639	-10.3856	-6.4101	0.3392	0.0000	0.0000	0.0000	0.0000	0.0000	128.1643		
56.48824381828308	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1582		
56.591588258743286	0.5254	0.5131	128.1574	-3.3712	1.9386	0.2704	0.0000	0.0000	0.0000	0.0000	0.0000	128.1589		
56.665884017944336	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	128.1597		
56.7915780544281	0.5639	0.5001	128.1589	5.1252	0.3599	0.0102	0.0000	0.0000	0.0000	0.0000	0.0000	128.1594		
56.955183029174805	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1630		
57.178197145462036	0.5663	0.5018	128.1638	8.6989	3.2501	0.1221	0.0000	0.0000	0.0000	0.0000	0.0000	128.1648		
57.27548265457153	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1653		
57.39553666114807	0.4954	0.4905	128.1700	-4.4869	-1.2579	0.0585	0.0000	0.0000	0.0000	0.0000	0.0000	128.1691		
57.62724828720093	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1656		
58.43951869010925	0.4775	0.4851	128.1691	-9.0986	-4.1754	0.1836	0.0000	0.0000	0.0000	0.0000	0.0000	128.1688		
58.93989586830139	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1681		
59.18004393577576	0.5103	0.4993	128.1683	-5.0652	-0.5227	-0.0445	0.0000	0.0000	0.0000	0.0000	0.0000	128.1693		
59.32973051071167	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1711		
59.73993682861328	0.5352	0.5083	128.1726	3.4494	1.5071	-0.0103	0.0000	0.0000	0.0000	0.0000	0.0000	128.1719		
61.42369341850281	nan	nan	nan	nan	nan	nan	0.0000	0.0000	-0.0000	0.0000	0.0000	128.1722		
62.94393539428711	0.5514	0.5048	128.1753	5.6247	1.1919	0.0040	0.0000	0.0000	0.0000	0.0000	0.0000	128.1747		
63.03704309463501	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1776		
63.20065784454346	0.5331	0.4933	128.1772	1.1076	1.1086	0.0120	0.0000	0.0000	0.0000	0.0000	0.0000	128.1781		
63.3188750743866	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1780		
63.474589347839355	0.5071	0.4724	128.1781	-2.7138	-0.8842	-0.1080	0.0000	0.0000	0.0000	0.0000	0.0000	128.1777		
63.59044647216797	nan	nan	nan	0.4968	0.4005	0.1573	0.0000	0.0000	0.0000	nan	nan	nan		
63.73519206047058	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1826		
63.86832571029663	0.5357	0.4956	128.1789	2.2638	0.5951	-0.0227	0.0000	0.0000	0.0000	0.0000	0.0000	128.1789		
64.01926684379578	nan	nan	nan	nan	nan	nan	0.0000	0.0000	0.0000	0.0000	0.0000	128.1798		
64.1520745754242	0.5243	0.4905	128.1810	0.4744	0.5589	-0.1023	0.0000	0.0000	0.0000	0.0000	0.0000	128.1817		
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_11_21:04:08.txt b/cflib_groundstation/logs/cflie1_2023_12_11_21:04:08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_21:04:08.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_2023_12_11_21:08:59.txt b/cflib_groundstation/logs/cflie1_2023_12_11_21:08:59.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_21:08:59.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_11_21:12:22.txt b/cflib_groundstation/logs/cflie1_2023_12_11_21:12:22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_21:12:22.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_2023_12_11_21:13:23.txt b/cflib_groundstation/logs/cflie1_2023_12_11_21:13:23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2deb3d7f9194aecf66b8ffeb60d11618d2e5c67
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_21:13:23.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_11_21:13:36.txt b/cflib_groundstation/logs/cflie1_2023_12_11_21:13:36.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce05e7b8df15083b7c9dac21f4f8a802b6363
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_11_21:13:36.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_11_20:31:21.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_20:31:21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f7bea63c0635523acfef0275f56a338abece558
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_20:31:21.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_11_20:32:23.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_20:32:23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f7bea63c0635523acfef0275f56a338abece558
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_20:32:23.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_11_21:02:20.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_21:02:20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f7bea63c0635523acfef0275f56a338abece558
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_21:02:20.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_11_21:04:20.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_21:04:20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f7bea63c0635523acfef0275f56a338abece558
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_21:04:20.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_11_21:12:34.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_21:12:34.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f7bea63c0635523acfef0275f56a338abece558
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_21:12:34.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_11_21:13:48.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_21:13:48.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f7bea63c0635523acfef0275f56a338abece558
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_12_11_21:13:48.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_11_20:31:21.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_20:31:21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12008f581334686325e0320872355fee857b33ce
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_20:31:21.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_11_20:32:23.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_20:32:23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12008f581334686325e0320872355fee857b33ce
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_20:32:23.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_11_21:02:20.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_21:02:20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12008f581334686325e0320872355fee857b33ce
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_21:02:20.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_11_21:04:20.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_21:04:20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12008f581334686325e0320872355fee857b33ce
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_21:04:20.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_11_21:12:34.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_21:12:34.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12008f581334686325e0320872355fee857b33ce
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_21:12:34.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_11_21:13:48.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_21:13:48.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12008f581334686325e0320872355fee857b33ce
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_12_11_21:13:48.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 7b3751a0a6862bc3a1f20fa5de576e515b1bddd8..d928faff3fe977571e173f039b5c88494a3c7f11 100644
--- a/cflib_groundstation/main.py
+++ b/cflib_groundstation/main.py
@@ -31,36 +31,12 @@ class main():
             if self.inputQueue.not_empty:
                 command = self.inputQueue.get()
                 msg_type = command["msg_type"]
-                if msg_type == MessageTypeID.GETPACKETLOGS_ID.value:
-                    self.cfConnect.GetPacketLogs()
-                elif msg_type == MessageTypeID.UPDATE_ID.value:
-                    self.cfConnect.Update()
-                elif msg_type == MessageTypeID.BEGINUPDATE_ID.value:
-                    self.cfConnect.BeginUpdate()
-                elif msg_type == MessageTypeID.OUTPUT_OVERRIDE_ID.value:
+                if msg_type == MessageTypeID.OUTPUT_OVERRIDE_ID.value:
                     self.cfConnect.OverrideOuput(command)
-                elif msg_type == MessageTypeID.GETNODES_ID.value:
-                    self.cfConnect.GetNodes()
                 elif msg_type == MessageTypeID.SETPARAM_ID.value:
                     self.cfConnect.SetParam(command)
                 elif msg_type == MessageTypeID.GETPARAM_ID.value:
                     self.cfConnect.GetParam(command, self.outputQueue)
-                elif msg_type == MessageTypeID.SETSOURCE_ID.value:
-                    self.cfConnect.SetSource()
-                elif msg_type == MessageTypeID.GETSOURCE_ID.value:
-                    self.cfConnect.GetSource()
-                elif msg_type == MessageTypeID.RESPSOURCE_ID.value:
-                    self.cfConnect.RespSource()
-                elif msg_type == MessageTypeID.GETOUTPUT_ID.value:
-                    self.cfConnect.GetOutput()
-                elif msg_type == MessageTypeID.GETNODES_ID.value:
-                    self.cfConnect.GetNodes()
-                elif msg_type == MessageTypeID.ADDNODE_ID.value:
-                    self.cfConnect.AddNode()
-                elif msg_type == MessageTypeID.LOG_ID.value:
-                    self.cfConnect.GetLogFile()
-                elif msg_type == MessageTypeID.LOG_END_ID.value:
-                    self.cfConnect.LogBlockCommand()
                 elif msg_type == MessageTypeID.GETLOGFILE_ID.value:
                     self.cfConnect.GetLogFile(command, self.outputQueue)
                 elif msg_type == MessageTypeID.LOGBLOCKCOMMAND_ID.value:
@@ -70,14 +46,21 @@ class main():
 
 if __name__ == '__main__':
     print(sys.argv)
+    begin = True
     if len(sys.argv) < 2:
         print("No radio channel specified")
+        begin = False
     else:
         try:
-            radio_channel = int(sys.argv[1])
-            main().start(sys.argv[1])
+            radio_channel = int(sys.argv[1])  
         except:
             print("Radio channel is not a number.")
-    
+            begin = False
+    if begin:
+        m = main()
+        try:
+            m.start(sys.argv[1])
+        except KeyboardInterrupt:
+            m.cfConnect.disconnect()
     
     
\ No newline at end of file
diff --git a/crazyCART.sh b/crazyCART.sh
index 8fe9e8001d1af9da498df1c0a890a37b6c38fcf7..7e268442758a36d1c1a0aed01ec519b49e0f2322 100755
--- a/crazyCART.sh
+++ b/crazyCART.sh
@@ -69,4 +69,7 @@ fi
 
 trap handler INT
 
-wait
\ No newline at end of file
+wait
+
+echo "ending process"
+pkill 'python3'
\ No newline at end of file