diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index 1b8b9d5c09eb2e1505ecc55d4bab16f0590b7e48..1f98e192c39a19d35d350f3dbb7c74cf0693ed0e 100644
Binary files a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc and b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
index 0d31a41c9743e78bafe8b694fc9ba01ff72d0188..18ef548fa5610945c0736f127f3da2527f69e011 100644
Binary files a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc and b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc differ
diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index ecf005c9d17c7d1e1ef4eba56739a35e3126a2e1..5ba1dfc38cfa0927c1891434137b7a24395bf494 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -11,6 +11,7 @@ from time import time
from typing import List
import time
import struct
+import os
import cflib.crtp
from cflib.crazyflie import Crazyflie
@@ -246,7 +247,7 @@ class CrazyflieConnection:
pass
return {}
- def GetLogFile(self, command):
+ def GetLogFile(self, command, outputQueue: Queue):
print("Getting LogFile...")
id = command['data'][0]
print(id)
@@ -255,12 +256,27 @@ class CrazyflieConnection:
elif id == 1: # param toc
params = self.get_param_toc()
filename = self.CopyTocToFile(params, True)
- raise Exception # Not implemented
+ 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()
- print(logs)
filename = self.CopyTocToFile(logs, False)
- raise Exception # Not implemented
+ 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: # active header of the data log
raise Exception # Not implemented
elif id == 4: # state of test stand connection
@@ -277,7 +293,10 @@ class CrazyflieConnection:
logType = "Param"
else:
logType = "Log"
- filename = f"logs/cflie1_{logType}_toc_{time.strftime('%Y_%m_%d_%H:%M:%S', time.localtime())}.txt"
+
+ 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,
diff --git a/cflib_groundstation/groundstation_socket.py b/cflib_groundstation/groundstation_socket.py
index 585bcdc527331671605bd07701005ac862801387..d003fb7832f9226804e2011546379b9f6637a7d4 100644
--- a/cflib_groundstation/groundstation_socket.py
+++ b/cflib_groundstation/groundstation_socket.py
@@ -167,6 +167,7 @@ class MessageTypeID(Enum):
SEND_RT_ID = 20
#MAX_TYPE_ID = 21
GETLOGFILE_ID = 21
+ RESPLOGFILE_ID = 22
diff --git a/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:29:24.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:29:24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:29:24.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_11_08_23:31:09.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:31:09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:31:09.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_11_08_23:31:54.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:31:54.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:31:54.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_11_08_23:32:26.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:32:26.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:32:26.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_11_08_23:34:11.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:34:11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:34:11.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_11_08_23:43:32.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:43:32.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:43:32.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_11_08_23:43:51.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:43:51.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:43:51.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_11_08_23:43:54.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:43:54.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:43:54.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_11_08_23:44:19.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:44:19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:44:19.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_11_08_23:44:21.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:44:21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:44:21.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_11_08_23:48:45.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:48:45.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:48:45.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_11_08_23:50:40.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:50:40.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:50:40.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_11_08_23:50:42.txt b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:50:42.txt
new file mode 100644
index 0000000000000000000000000000000000000000..031ca075e49b54b84ae1c7b7c8a8024b8d46690c
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:50:42.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_11_08_23:50:30.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_23:50:30.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa438503f8713db21500fc6c1799a956270e950f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_23:50:30.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_11_08_23:50:41.txt b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_23:50:41.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa438503f8713db21500fc6c1799a956270e950f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_23:50:41.txt
@@ -0,0 +1,247 @@
+Param ID Type Group Identifier Name
+0 8 imu_sensors AK8963
+1 8 imu_sensors LPS25H
+5 8 imu_sensors BMP388
+2 8 imu_tests MPU6500
+3 8 imu_tests AK8963
+4 8 imu_tests LPS25H
+6 9 cpu flash
+7 10 cpu id0
+8 10 cpu id1
+9 10 cpu id2
+10 0 system selftestPassed
+11 0 system forceArm
+16 8 system taskDump
+208 8 system highlight
+12 9 crtpsrv echoDelay
+13 8 sound effect
+14 10 sound neffect
+15 9 sound freq
+17 8 memTst resetW
+18 0 sys e_stop
+19 8 commander enHighLevel
+20 8 flightmode althold
+21 8 flightmode poshold
+22 8 flightmode posSet
+23 8 flightmode yawMode
+24 8 flightmode stabModeRoll
+25 8 flightmode stabModePitch
+26 8 flightmode stabModeYaw
+27 6 cmdrCPPM rateRoll
+28 6 cmdrCPPM ratePitch
+29 6 cmdrCPPM angPitch
+30 6 cmdrCPPM angRoll
+31 6 cmdrCPPM rateYaw
+32 8 locSrv enRangeStreamFP32
+33 8 locSrv enLhAngleStream
+34 6 locSrv extPosStdDev
+35 6 locSrv extQuatStdDev
+36 6 pid_attitude roll_kp
+37 6 pid_attitude roll_ki
+38 6 pid_attitude roll_kd
+39 6 pid_attitude pitch_kp
+40 6 pid_attitude pitch_ki
+41 6 pid_attitude pitch_kd
+42 6 pid_attitude yaw_kp
+43 6 pid_attitude yaw_ki
+44 6 pid_attitude yaw_kd
+45 6 pid_rate roll_kp
+46 6 pid_rate roll_ki
+47 6 pid_rate roll_kd
+48 6 pid_rate pitch_kp
+49 6 pid_rate pitch_ki
+50 6 pid_rate pitch_kd
+51 6 pid_rate yaw_kp
+52 6 pid_rate yaw_ki
+53 6 pid_rate yaw_kd
+54 6 sensfusion6 kp
+55 6 sensfusion6 ki
+56 6 sensfusion6 baseZacc
+57 8 stabilizer estimator
+58 8 stabilizer controller
+59 8 stabilizer stop
+60 6 posEstAlt estAlphaAsl
+61 6 posEstAlt estAlphaZr
+62 6 posEstAlt velFactor
+63 6 posEstAlt velZAlpha
+64 6 posEstAlt vAccDeadband
+65 6 posCtlPid xKp
+66 6 posCtlPid xKi
+67 6 posCtlPid xKd
+68 6 posCtlPid yKp
+69 6 posCtlPid yKi
+70 6 posCtlPid yKd
+71 6 posCtlPid zKp
+72 6 posCtlPid zKi
+73 6 posCtlPid zKd
+74 9 posCtlPid thrustBase
+75 9 posCtlPid thrustMin
+76 6 posCtlPid rpLimit
+77 6 posCtlPid xyVelMax
+78 6 posCtlPid zVelMax
+79 6 velCtlPid vxKp
+80 6 velCtlPid vxKi
+81 6 velCtlPid vxKd
+82 6 velCtlPid vyKp
+83 6 velCtlPid vyKi
+84 6 velCtlPid vyKd
+85 6 velCtlPid vzKp
+86 6 velCtlPid vzKi
+87 6 velCtlPid vzKd
+88 6 posCtrlIndi K_xi_x
+89 6 posCtrlIndi K_xi_y
+90 6 posCtrlIndi K_xi_z
+91 6 posCtrlIndi K_dxi_x
+92 6 posCtrlIndi K_dxi_y
+93 6 posCtrlIndi K_dxi_z
+94 6 posCtrlIndi pq_clamping
+95 8 controller tiltComp
+96 6 ctrlMel kp_xy
+97 6 ctrlMel kd_xy
+98 6 ctrlMel ki_xy
+99 6 ctrlMel i_range_xy
+100 6 ctrlMel kp_z
+101 6 ctrlMel kd_z
+102 6 ctrlMel ki_z
+103 6 ctrlMel i_range_z
+104 6 ctrlMel mass
+105 6 ctrlMel massThrust
+106 6 ctrlMel kR_xy
+107 6 ctrlMel kR_z
+108 6 ctrlMel kw_xy
+109 6 ctrlMel kw_z
+110 6 ctrlMel ki_m_xy
+111 6 ctrlMel ki_m_z
+112 6 ctrlMel kd_omega_rp
+113 6 ctrlMel i_range_m_xy
+114 6 ctrlMel i_range_m_z
+115 6 ctrlINDI thrust_threshold
+116 6 ctrlINDI bound_ctrl_input
+117 6 ctrlINDI g1_p
+118 6 ctrlINDI g1_q
+119 6 ctrlINDI g1_r
+120 6 ctrlINDI g2
+121 6 ctrlINDI ref_err_p
+122 6 ctrlINDI ref_err_q
+123 6 ctrlINDI ref_err_r
+124 6 ctrlINDI ref_rate_p
+125 6 ctrlINDI ref_rate_q
+126 6 ctrlINDI ref_rate_r
+127 6 ctrlINDI act_dyn_p
+128 6 ctrlINDI act_dyn_q
+129 6 ctrlINDI act_dyn_r
+130 6 ctrlINDI filt_cutoff
+131 6 ctrlINDI filt_cutoff_r
+132 8 ctrlINDI outerLoopActive
+133 6 s_pid_attitude roll_kp
+134 6 s_pid_attitude roll_ki
+135 6 s_pid_attitude roll_kd
+136 6 s_pid_attitude pitch_kp
+137 6 s_pid_attitude pitch_ki
+138 6 s_pid_attitude pitch_kd
+139 6 s_pid_attitude yaw_kp
+140 6 s_pid_attitude yaw_ki
+141 6 s_pid_attitude yaw_kd
+142 6 s_pid_rate roll_kp
+143 6 s_pid_rate roll_ki
+144 6 s_pid_rate roll_kd
+145 6 s_pid_rate pitch_kp
+146 6 s_pid_rate pitch_ki
+147 6 s_pid_rate pitch_kd
+148 6 s_pid_rate yaw_kp
+149 6 s_pid_rate yaw_ki
+150 6 s_pid_rate yaw_kd
+151 8 ctrlStdnt tiltComp
+152 8 ctrlStdnt TEST_PARAM
+153 8 motorPowerSet enable
+154 9 motorPowerSet m1
+155 9 motorPowerSet m2
+156 9 motorPowerSet m3
+157 9 motorPowerSet m4
+158 10 powerDist idleThrust
+159 8 colAv enable
+160 6 colAv ellipsoidX
+161 6 colAv ellipsoidY
+162 6 colAv ellipsoidZ
+163 6 colAv bboxMinX
+164 6 colAv bboxMinY
+165 6 colAv bboxMinZ
+166 6 colAv bboxMaxX
+167 6 colAv bboxMaxY
+168 6 colAv bboxMaxZ
+169 6 colAv horizon
+170 6 colAv maxSpeed
+171 6 colAv sidestepThrsh
+172 2 colAv maxPeerLocAge
+173 6 colAv vorTol
+174 2 colAv vorIters
+175 8 health startPropTest
+176 8 health startBatTest
+177 8 kalman resetEstimation
+178 8 kalman quadIsFlying
+179 8 kalman robustTdoa
+180 8 kalman robustTwr
+181 6 kalman pNAcc_xy
+182 6 kalman pNAcc_z
+183 6 kalman pNVel
+184 6 kalman pNPos
+185 6 kalman pNAtt
+186 6 kalman mNBaro
+187 6 kalman mNGyro_rollpitch
+188 6 kalman mNGyro_yaw
+189 6 kalman initialX
+190 6 kalman initialY
+191 6 kalman initialZ
+192 6 kalman initialYaw
+193 6 kalman maxPos
+194 6 kalman maxVel
+195 6 hlCommander vtoff
+196 6 hlCommander vland
+197 8 deck bcLedRing
+209 8 deck bcBuzzer
+210 8 deck bcGTGPS
+211 8 deck bcCPPM
+212 8 deck bcUSD
+215 8 deck bcZRanger
+216 8 deck bcZRanger2
+217 8 deck bcDWM1000
+222 8 deck bcFlow
+223 8 deck bcFlow2
+227 8 deck bcOA
+228 8 deck bcMultiranger
+229 8 deck bcLighthouse4
+236 8 deck bcActiveMarker
+237 8 deck bcAIDeck
+198 8 ring effect
+199 10 ring neffect
+200 8 ring solidRed
+201 8 ring solidGreen
+202 8 ring solidBlue
+203 8 ring headlightEnable
+204 6 ring emptyCharge
+205 6 ring fullCharge
+206 10 ring fadeColor
+207 6 ring fadeTime
+213 8 usd canLog
+214 8 usd logging
+218 8 loco mode
+219 8 tdoaEngine logId
+220 8 tdoaEngine logOthrId
+221 8 tdoaEngine matchAlgo
+224 8 motion disable
+225 8 motion adaptive
+226 6 motion flowStdFixed
+230 8 activeMarker front
+231 8 activeMarker back
+232 8 activeMarker left
+233 8 activeMarker right
+234 8 activeMarker mode
+235 8 activeMarker poll
+238 10 firmware revision0
+239 9 firmware revision1
+240 8 firmware modified
+241 8 lighthouse method
+242 8 lighthouse bsCalibReset
+243 8 lighthouse systemType
+244 6 lighthouse sweepStd
+245 6 lighthouse sweepStd2
diff --git a/cflib_groundstation/main.py b/cflib_groundstation/main.py
index 2aae0c8e83280a8027eae43cf97400a9fe1e26bc..0c3e2198f63119892f5388d7b8878387e7f601e3 100644
--- a/cflib_groundstation/main.py
+++ b/cflib_groundstation/main.py
@@ -63,7 +63,7 @@ class main():
elif msg_type == MessageTypeID.LOG_END_ID.value:
self.cfConnect.LogBlockCommand()
elif msg_type == MessageTypeID.GETLOGFILE_ID.value:
- self.cfConnect.GetLogFile(command)
+ self.cfConnect.GetLogFile(command, self.outputQueue)