From f264235e92aabf19ce5d15b9dc67e7931e5473a9 Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Wed, 8 Nov 2023 23:52:33 +0100
Subject: [PATCH] adapter responds with path to TOC file

---
 .../crazyflie_connection.cpython-38.pyc       | Bin 8722 -> 8964 bytes
 .../groundstation_socket.cpython-38.pyc       | Bin 4782 -> 4809 bytes
 cflib_groundstation/crazyflie_connection.py   |  29 +-
 cflib_groundstation/groundstation_socket.py   |   1 +
 .../cflie1_Log_toc_2023_11_08_23:29:24.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:31:09.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:31:54.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:32:26.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:34:11.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:43:32.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:43:51.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:43:54.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:44:19.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:44:21.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:48:45.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:50:40.txt    | 506 ++++++++++++++++++
 .../cflie1_Log_toc_2023_11_08_23:50:42.txt    | 506 ++++++++++++++++++
 .../cflie1_Param_toc_2023_11_08_23:50:30.txt  | 247 +++++++++
 .../cflie1_Param_toc_2023_11_08_23:50:41.txt  | 247 +++++++++
 cflib_groundstation/main.py                   |   2 +-
 20 files changed, 7098 insertions(+), 6 deletions(-)
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:29:24.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:31:09.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:31:54.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:32:26.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:34:11.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:43:32.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:43:51.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:43:54.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:44:19.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:44:21.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:48:45.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:50:40.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Log_toc_2023_11_08_23:50:42.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_23:50:30.txt
 create mode 100644 cflib_groundstation/logs/cflie1_Param_toc_2023_11_08_23:50:41.txt

diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index 1b8b9d5c09eb2e1505ecc55d4bab16f0590b7e48..1f98e192c39a19d35d350f3dbb7c74cf0693ed0e 100644
GIT binary patch
delta 1248
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z%~Amh;(BSnW$!jr-@>(Wzkfk&mma77Sy9~i)$kB%ik`wS<dCr#cv4)&b4IG{FPHx)
A#{d8T

delta 1075
zcmX|AO^g&p6s}kOGd<nYGqdy8)4L1IY?LsdqDBvFj4^?%2@)W%f;Q~xFtxi`?cRZ&
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diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
index 0d31a41c9743e78bafe8b694fc9ba01ff72d0188..18ef548fa5610945c0736f127f3da2527f69e011 100644
GIT binary patch
delta 91
zcmZ3ddQz1)l$V!_0SMml`J{Gi<lW29m@s)FpXlTV{2m-p;wfUm44UGTbp(nzUWx%#
u`DsdQUL>H#$QH#H<Qg0>d7q#Lqt@h$yuy=&1SkI&WMgJxVVo=^GzS1+nHT>6

delta 76
zcmX@9x=xihl$V!_0SH7Zy;2J{^6uqljF~)<PjvDFeh-#l22HWa1_H&*ewyN&R|}{y
gPJSpT$EY#+BCqgdc_Hq}3PN1Wj4Vu(b%o{t0R3|lRR910

diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index ecf005c9d..5ba1dfc38 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 585bcdc52..d003fb783 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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..031ca075e
--- /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 000000000..aa438503f
--- /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 000000000..aa438503f
--- /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 2aae0c8e8..0c3e2198f 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)
             
             
 
-- 
GitLab