diff --git a/.vscode/settings.json b/.vscode/settings.json
index 35ec3f4bdc1c4e7044da90c0cbdfab4ffc91c773..ecfd4054d1e2cbb6647abfbf21156b82160e1ec3 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -94,9 +94,15 @@
         "matrixfunctions": "cpp"
     },
     "cSpell.words": [
+        "Boardcore",
+        "Erbetta",
         "Gpio",
         "leds",
-        "miosix"
+        "Luca",
+        "miosix",
+        "Terraneo",
+        "tscpp",
+        "UBXGPS"
     ],
     "C_Cpp.errorSquiggles": "Enabled"
-}
\ No newline at end of file
+}
diff --git a/src/entrypoints/deserializer/logdecoder.cpp b/scripts/logdecoder/logdecoder.cpp
similarity index 62%
rename from src/entrypoints/deserializer/logdecoder.cpp
rename to scripts/logdecoder/logdecoder.cpp
index be6068fda21e32c623c39e22c867d9a0114a6810..1edf5fe55bad313be086f6ecbcd3ff1204b8c084 100644
--- a/src/entrypoints/deserializer/logdecoder.cpp
+++ b/scripts/logdecoder/logdecoder.cpp
@@ -1,5 +1,5 @@
-/* Copyright (c) 2018-2019 Skyward Experimental Rocketry
- * Authors: Federico Terraneo, Luca Erbetta
+/* Copyright (c) 2018-2022 Skyward Experimental Rocketry
+ * Authors: Terrane Federico
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -20,13 +20,9 @@
  * THE SOFTWARE.
  */
 
-/*
- * This is a stub program for the program that will decode the logged data.
- * Fill in the TODO to make it work.
- */
-
-#include <sys/stat.h>
-#include <sys/types.h>
+#include <Main/Sensors/Pitot/PitotData.h>
+#include <logger/Deserializer.h>
+#include <logger/LogTypes.h>
 #include <tscpp/stream.h>
 
 #include <fstream>
@@ -34,8 +30,27 @@
 #include <stdexcept>
 #include <string>
 
-using namespace std;
+/**
+ * @brief Binary log files decoder.
+ *
+ * This program is to compile for you computer and decodes binary log files
+ * through the tscpp library.
+ *
+ * In LogTypes.h there should be included all the classes you want to
+ * deserialize.
+ */
+
 using namespace tscpp;
+using namespace Boardcore;
+
+void registerTypes(Deserializer& ds)
+{
+    // Register all Boardcore types
+    LogTypes::registerTypes(ds);
+
+    // Custom types
+    ds.registerType<PitotData>();
+}
 
 void showUsage(const string& cmdName)
 {
@@ -48,31 +63,26 @@ void showUsage(const string& cmdName)
 
 bool deserialize(string logName)
 {
-    cout << "Deserializing " << logName << ".dat...\n";
+    std::cout << "Deserializing " << logName << "...\n";
     Deserializer d(logName);
+    LogTypes::registerTypes(d);
     registerTypes(d);
 
     return d.deserialize();
 }
+
 bool deserializeAll()
 {
     for (int i = 0; i < 100; i++)
     {
-        char fn[10];
-        char fnext[11];
-        sprintf(fn, "log%02d", i);
-        sprintf(fnext, "log%02d.dat", i);
+        char nextName[11];
+        sprintf(nextName, "log%02d.dat", i);
         struct stat st;
-        if (stat(fnext, &st) != 0)
-        {
-            // cout << "Skipping " << string(fnext) << "\n ";
+        if (stat(nextName, &st) != 0)
             continue;  // File not found
-        }
         // File found
-        if (!deserialize(string(fn)))
-        {
+        if (!deserialize(string(nextName)))
             return false;
-        }
     }
     return true;
 }
@@ -82,38 +92,29 @@ int main(int argc, char* argv[])
     if (argc < 2)
     {
         showUsage(string(argv[0]));
-        return 1;
+        return 1;  // Error
     }
 
     bool success = false;
-    string arg   = string(argv[1]);
-    if (arg == "-h" || arg == "--help")
+    string arg1  = string(argv[1]);
+
+    // Help message
+    if (arg1 == "-h" || arg1 == "--help")
     {
         showUsage(string(argv[0]));
         return 0;
     }
 
-    if (arg == "-a" || arg == "--all")
-    {
-        cout << "Deserializing all logs in the current directory...\n";
+    // File deserialization
+    if (arg1 == "-a" || arg1 == "--all")
         success = deserializeAll();
-    }
-    else if (arg[0] == '-')
-    {
-        cerr << "Unknown option\n";
-        return 1;
-    }
     else
-    {
-        success = deserialize(arg);
-    }
+        success = deserialize(arg1);
 
+    // End
     if (success)
-    {
-        cout << "Deserialization completed successfully.\n";
-    }
+        std::cout << "Deserialization completed successfully\n";
     else
-    {
-        cout << "Deserialization ended with errors.\n";
-    }
+        std::cout << "Deserialization ended with errors\n";
+    return 0;
 }
diff --git a/src/boards/Parafoil/mocksensors/MockGPS.h b/src/boards/Parafoil/mocksensors/MockGPS.h
index 17ecf424d69daf63c6dd07fb149013d35581cc9d..cc49cd9d7e0d3c1b80d355a6f3ff00e4e8e1ba55 100644
--- a/src/boards/Parafoil/mocksensors/MockGPS.h
+++ b/src/boards/Parafoil/mocksensors/MockGPS.h
@@ -23,9 +23,9 @@
 #pragma once
 
 #include <TimestampTimer.h>
-#include <sensors/Sensor.h>
 #include <mocksensors/MockSensorsData.h>
 #include <mocksensors/lynx_flight_data/lynx_gps_data.h>
+#include <sensors/Sensor.h>
 
 namespace DeathStackBoard
 {
diff --git a/src/boards/Parafoil/mocksensors/MockIMU.h b/src/boards/Parafoil/mocksensors/MockIMU.h
index 94ac9f373714f6143f541618d3459c5e95896671..8405b14d7e13db0e21d564a725ad731e56f832fe 100644
--- a/src/boards/Parafoil/mocksensors/MockIMU.h
+++ b/src/boards/Parafoil/mocksensors/MockIMU.h
@@ -23,9 +23,9 @@
 #pragma once
 
 #include <TimestampTimer.h>
-#include <sensors/Sensor.h>
 #include <mocksensors/MockSensorsData.h>
 #include <mocksensors/lynx_flight_data/lynx_imu_data.h>
+#include <sensors/Sensor.h>
 
 namespace DeathStackBoard
 {
diff --git a/src/boards/Parafoil/mocksensors/MockSensorsData.h b/src/boards/Parafoil/mocksensors/MockSensorsData.h
index c889f30ea256ecbbc4ad2c96a4082d14fbd64476..c17c20fc276bb595c7a0a02546139b1623152f3b 100644
--- a/src/boards/Parafoil/mocksensors/MockSensorsData.h
+++ b/src/boards/Parafoil/mocksensors/MockSensorsData.h
@@ -24,11 +24,9 @@
 
 #include <sensors/SensorData.h>
 
-using namespace Boardcore;
-
-struct MockIMUData : public AccelerometerData,
-                     public GyroscopeData,
-                     public MagnetometerData
+struct MockIMUData : public Boardcore::AccelerometerData,
+                     public Boardcore::GyroscopeData,
+                     public Boardcore::MagnetometerData
 {
     static std::string header()
     {
@@ -89,4 +87,4 @@ struct MockSpeedData
     {
         os << timestamp << "," << speed << "\n";
     }
-};
\ No newline at end of file
+};
diff --git a/src/boards/Parafoil/mocksensors/MockSpeedSensor.h b/src/boards/Parafoil/mocksensors/MockSpeedSensor.h
index a9dd3b3f98ca04837d70440ac0620fc71a6b841d..1b1642c27c5d4cad09b3250c6b78d0e3358af0b0 100644
--- a/src/boards/Parafoil/mocksensors/MockSpeedSensor.h
+++ b/src/boards/Parafoil/mocksensors/MockSpeedSensor.h
@@ -26,6 +26,7 @@
 #include <mocksensors/MockSensorsData.h>
 #include <mocksensors/lynx_flight_data/lynx_airspeed_data.h>
 #include <sensors/Sensor.h>
+
 #include <random>
 
 namespace DeathStackBoard
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp
index 7af10f441adff2c7389974cbad157da6f4aee321..bd3dbd2cfcc4fcc21b79120a7d82473898f765cc 100644
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp
+++ b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp
@@ -23,902 +23,901 @@
 #include "lynx_airspeed_data.h"
 
 const float AIRSPEED_DATA[AIRSPEED_DATA_SIZE] = {
-    12.4113951, 10.6396132, 17.169529,  22.8292465, 10.5444088,
-    8.39081669, 10.641614,  11.4718409, 20.4783287, 15.3504314, 15.3513031,
-    9.63413239, 25.3731174, 18.9253101, 16.0033855, 24.1376781, 28.4115391,
-    27.6845875, 29.4730015, 33.6768837, 34.5762138, 35.450737,  36.8664055,
-    36.8693237, 38.7607841, 41.314991,  41.3147278, 42.0521317, 45.778492,
-    46.6648064, 47.7517242, 49.6425095, 52.0558586, 52.4533348, 53.8047791,
-    55.6794052, 58.0183525, 60.6116638, 60.7854004, 63.1039772, 65.9648132,
-    66.4317398, 68.2648849, 70.625473,  71.7813721, 73.9020615, 75.5481796,
-    77.4300003, 78.3614883, 80.6872864, 82.9510956, 82.7034836, 86.2424927,
-    86.9628677, 88.2577972, 90.9050903, 92.1436462, 94.1384506, 95.7668915,
-    97.7961044, 99.5847855, 102.038879, 103.549995, 105.355217, 107.584,
-    109.401268, 112.003922, 112.947815, 114.310066, 116.204742, 117.900772,
-    119.379234, 121.453636, 123.484711, 124.659866, 126.166412, 127.724335,
-    129.257675, 130.638611, 132.462296, 133.884125, 135.494843, 137.123718,
-    138.941895, 140.886703, 143.3172,   143.985199, 146.436874, 147.651245,
-    149.980957, 151.795288, 152.972382, 155.550827, 157.63028,  158.979904,
-    159.744888, 162.516342, 163.158035, 164.464325, 165.421356, 167.523666,
-    169.456955, 170.805832, 172.415237, 173.797318, 175.7146,   177.344955,
-    179.430923, 181.203964, 182.604797, 184.202942, 183.232407, 183.828201,
-    185.775909, 187.161652, 188.274979, 190.970871, 193.048584, 193.552383,
-    193.903107, 195.170502, 196.671463, 197.220306, 197.083771, 197.749985,
-    198.354935, 199.889923, 200.472031, 201.510834, 201.720306, 201.343964,
-    201.127594, 201.470779, 200.658096, 200.537796, 200.431641, 199.389252,
-    199.213486, 198.424728, 197.32753,  196.845001, 195.506439, 194.997894,
-    194.371918, 193.090515, 193.750916, 192.536942, 192.263809, 191.898621,
-    191.349625, 191.828659, 191.363953, 190.446213, 189.351685, 185.858109,
-    180.658096, 180.828461, 183.347458, 184.327713, 186.507248, 187.238586,
-    187.274399, 188.080185, 187.780655, 186.073151, 186.473251, 184.401474,
-    185.514282, 184.814407, 182.69313,  182.772842, 182.772842, 181.386536,
-    180.426163, 179.513199, 179.017822, 179.074036, 179.045639, 178.686157,
-    177.242355, 177.189133, 176.377136, 176.152817, 175.485916, 174.898453,
-    174.489395, 173.92334,  173.084961, 172.043137, 171.424362, 171.075867,
-    170.613815, 169.925919, 169.062241, 168.137009, 167.604156, 167.320312,
-    166.214432, 166.065033, 166.495438, 165.243683, 164.243286, 163.642975,
-    163.649567, 162.826721, 163.247635, 162.502182, 160.487228, 160.60936,
-    160.999207, 159.284119, 158.065231, 157.567429, 156.423874, 157.117569,
-    154.945602, 156.644455, 156.413177, 155.87352,  155.647827, 154.769485,
-    153.900177, 153.991287, 152.611343, 152.811279, 151.95636,  151.686584,
-    151.216324, 150.376831, 150.142502, 149.453705, 148.636536, 148.431534,
-    147.900177, 147.052231, 146.009003, 145.9505,   145.679123, 144.611954,
-    144.45787,  143.784164, 143.393646, 143.088669, 142.234741, 141.963608,
-    141.214371, 141.056747, 140.908966, 140.156128, 140.33905,  139.678894,
-    138.870056, 138.330856, 137.469437, 135.973679, 135.708847, 135.49617,
-    134.939362, 134.409241, 133.690781, 133.235306, 133.319,    132.43364,
-    132.332947, 131.808243, 132.145615, 131.843628, 131.656967, 131.189651,
-    130.84111,  130.822113, 129.194061, 129.159836, 128.43576,  127.813522,
-    127.921944, 126.603584, 125.869659, 126.404015, 125.184059, 124.586815,
-    124.220787, 124.580544, 124.249268, 124.175308, 123.479156, 123.30941,
-    122.77816,  122.195129, 121.41465,  121.199074, 120.922768, 120.377502,
-    120.308357, 119.179604, 119.280205, 119.204651, 118.655434, 117.689667,
-    117.722618, 117.010521, 116.232468, 116.834404, 116.555901, 115.722458,
-    115.18029,  115.082939, 114.965645, 115.294937, 114.62886,  113.85054,
-    113.45314,  113.286819, 112.595406, 112.576797, 111.637688, 111.34462,
-    110.939369, 110.725937, 111.067787, 111.307861, 110.192368, 109.503044,
-    109.619461, 109.293739, 108.835175, 108.321236, 107.688713, 108.302734,
-    107.286201, 107.089714, 106.759506, 106.905746, 106.503944, 105.741417,
-    106.211449, 104.930573, 104.959724, 104.948799, 104.656197, 104.231476,
-    104.327293, 104.25589,  103.044258, 103.076309, 103.095726, 103.103935,
-    103.013115, 102.692505, 102.904404, 102.244812, 102.244812, 100.50853,
-    101.400246, 99.6098175, 99.6516418, 99.0769882, 99.6706009, 98.7544479,
-    98.1889343, 98.0998154, 97.5229416, 97.294548,  97.5436935, 96.7283325,
-    96.6032104, 96.0145493, 95.925087,  95.3586502, 96.0646896, 95.3726273,
-    94.9047775, 95.2724152, 94.6777878, 93.9669113, 93.8663254, 93.5023575,
-    92.8998337, 92.1656876, 92.1644287, 92.0681839, 91.6967316, 90.8415756,
-    90.6017685, 90.6057816, 90.6103745, 89.8713226, 90.7580795, 89.7719803,
-    90.0259781, 89.1295776, 89.1429672, 89.0196991, 88.9238129, 88.4012299,
-    88.1494522, 87.8901901, 87.9061508, 87.256691,  86.4787445, 86.7329102,
-    86.0919266, 86.1069946, 85.7037277, 84.5901794, 85.6158752, 84.9309998,
-    82.9900208, 82.935997,  82.1810913, 81.3405228, 81.0612259, 82.0060654,
-    82.1019135, 81.2657013, 80.8491669, 80.4293671, 80.7200241, 80.585083,
-    80.5918961, 79.8911362, 79.6070709, 79.7559662, 78.9017639, 78.7602005,
-    78.9147797, 78.6235962, 78.0473709, 77.4674454, 77.0251999, 77.3284149,
-    76.8851242, 76.1434631, 75.9982681, 76.1545715, 76.0106964, 75.5613708,
-    74.8006821, 74.9684753, 74.8190384, 74.9822693, 75.1356201, 74.8413315,
-    75.1525192, 73.9239197, 74.0867538, 73.1514816, 73.3152008, 72.3738251,
-    72.0599976, 70.9409103, 70.9441223, 70.2937088, 70.140213,  69.9797897,
-    70.3167725, 69.9882202, 68.8350296, 69.0057449, 68.8466949, 69.1870804,
-    68.5203094, 68.0226212, 68.1939926, 68.3654556, 68.2077789, 67.8697815,
-    68.0446091, 67.0231018, 66.8602066, 66.6925735, 65.9965057, 65.8304214,
-    65.8362885, 65.8388062, 65.8448029, 65.6725159, 64.6115875, 64.6147308,
-    64.4388885, 64.0865479, 63.7265358, 63.5475883, 63.1892509, 63.0096741,
-    63.7465324, 62.4627075, 62.8401031, 62.6645813, 62.2936783, 62.1134071,
-    62.3037453, 61.9358864, 61.1863976, 61.5671234, 61.3853912, 60.0524178,
-    60.0564346, 60.0612564, 59.2879105, 59.2919846, 58.899395,  58.7092056,
-    58.9122047, 58.321167,  57.9245033, 57.5246315, 57.729763,  57.5287971,
-    57.5352554, 57.5404243, 57.7434425, 56.5259209, 56.3256836, 56.3274956,
-    55.5005493, 54.8687096, 54.8751602, 55.092392,  55.0932121, 55.0972252,
-    55.1003227, 54.8914223, 54.89645,   54.6863785, 55.1166954, 53.6196175,
-    53.4029846, 51.8619728, 53.6315536, 52.7581978, 52.5371323, 52.3209801,
-    52.323204,  52.3257484, 51.8822556, 50.7485352, 50.0599213, 50.5264931,
-    49.3616409, 49.3656807, 49.3667259, 49.3687859, 49.3724022, 49.3762398,
-    49.3780861, 48.6644897, 47.9443398, 47.9471207, 47.9490433, 47.7080727,
-    47.9534836, 47.9575996, 47.958744,  47.7178268, 46.2292938, 46.2304153,
-    46.4842529, 46.234417,  44.9570503, 46.4934654, 45.47789,   44.9655609,
-    45.2264938, 44.7079926, 44.7103996, 44.7117538, 44.4523392, 43.1193924,
-    43.1209602, 43.1238022, 42.854023,  42.8559265, 42.8587952, 42.85952,
-    42.8622475, 41.475563,  41.7597542, 41.4811821, 40.9140892, 41.2012596,
-    41.202652,  41.2042427, 41.2053795, 41.4914932, 40.349575,  40.6394196,
-    39.4713898, 39.4743118, 39.1792641, 39.4780922, 39.4780922, 39.4808846,
-    39.1840248, 39.185955,  39.4847832, 39.4861526, 38.8903236, 39.4900551,
-    38.8932724, 39.4927559, 37.6717682, 37.0458107, 37.6758652, 37.3641129,
-    37.6788673, 37.0512886, 37.3682556, 37.369503,  37.3701096, 37.3719177,
-    37.3730927, 37.6870918, 37.6876945, 37.3767242, 35.4465446, 35.4460869,
-    35.4472466, 35.449543,  35.4499092, 35.4511642, 35.4511642, 35.4538002,
-    35.4547119, 35.1230011, 33.410881,  33.0581741, 34.4510002, 33.0604782,
-    31.9786453, 31.2377892, 30.8595219, 30.8598766, 31.2406349, 31.2420692,
-    31.2429924, 31.2429924, 30.8647938, 30.8668213, 30.8664036, 31.6195831,
-    31.2468319, 30.869627,  31.2483406, 31.2496529, 30.4884949, 30.8720722,
-    31.2515697, 31.6262512, 31.2538109, 31.6281986, 31.6281986, 29.3145161,
-    28.5018139, 24.5097885, 24.9864769, 24.9864426, 24.987608,  24.5116386,
-    24.9877625, 24.9884148, 25.4550762, 24.9890804, 24.9899445, 25.4569378,
-    24.5155354, 24.031086,  24.5171452, 24.9924126, 24.9930611, 21.4468918,
-    22.5186787, 21.9900837, 20.8932552, 21.99086,   21.991396,  21.9915123,
-    21.9920998, 21.9926891, 21.9928856, 21.9945145, 21.9945145, 20.8961391,
-    21.9940243, 21.4522953, 21.994606,  21.4526997, 21.9957924, 21.9958515,
-    21.996254,  21.9964314, 21.9965725, 21.9964924, 21.9976387, 20.3273621,
-    21.4550629, 19.7407608, 21.4558983, 21.9986305, 21.9989548, 21.9993973,
-    21.9991398, 19.7421799, 21.4567852, 20.3296833, 20.3300762, 22.0001965,
-    18.5116444, 22.0004635, 17.8649158, 18.5126705, 17.8653278, 21.4595833,
-    18.512888,  20.9040699, 19.1385517, 17.8656101, 18.5133038, 21.4594917,
-    22.5309448, 22.5318375, 22.5320187, 22.0026321, 22.0030384, 22.0026226,
-    22.5323658, 22.003109,  21.4602718, 22.0032024, 17.1941872, 18.513855,
-    17.86726,   17.8674145, 17.8668137, 18.5143547, 17.8674564, 17.8672352,
-    18.5146198, 18.5145397, 17.8666153, 18.5147762, 18.5147762, 19.1403484,
-    18.5144711, 18.5147095, 18.5133171, 18.5145321, 18.514267,  18.5146809,
-    18.514204,  19.140276,  17.8670464, 19.1403503, 20.9043922, 19.745657,
-    19.1379051, 12.4201765, 13.3371429, 9.14465141, 14.1921349, 3.60264635,
-    6.04226494, 13.3364954, 17.1931267, 19.139143,  6.04244566, 18.5128231,
-    17.8655987, 18.5122795, 17.8650379, 17.8648739, 18.5121994, 18.5116119,
-    17.8652287, 19.7448235, 6.04315424, 13.3384638, 16.4980888, 9.14543152,
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\ No newline at end of file
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+    8.54885864, 8.54864979, 9.67793369, 8.54869938, 8.54872608, 7.24535036,
+    7.24536753, 7.24552155, 7.24548578, 5.64906788, 7.24538946, 7.24533701,
+    7.24556303, 7.24538946, 8.54896259, 7.24564791, 8.54893398, 8.5488739,
+    7.24552155, 9.67792606, 7.24553394, 7.24541426, 7.24551487, 8.54875183,
+    7.24564695, 8.54863834, 9.67806911, 8.54866695, 3.04500675, 7.10104704,
+    9.5712862,  8.42847538, 7.1011796,  8.4287672,  7.10095692, 7.10102034,
+    8.42850971, 9.57134724, 8.42857933, 8.42859364, 8.4284935,  8.4283762,
+    7.10103607, 7.10089874, 8.42836475, 5.46396208, 3.36807752, 8.42859268,
+    7.10104084, 7.100914,   3.04496884, 8.42867851, 8.4285984,  3.04501152,
+    5.64914608, 7.10101652, 8.42857456, 8.42857361, 8.42860985, 8.42871094,
+    9.57142353, 8.42868614, 7.2454505,  8.4284029,  7.10101032, 3.36808872,
+    3.04504347, 8.42857265, 7.10102367, 8.42846966, 5.64913654, 8.42867661,
+    5.46405458, 5.4641037,  7.10097075, 7.10097075, 9.57109261, 5.64907026,
+    9.57126427, 7.10087252, 5.64899302, 5.46416044, 8.42867565, 7.10102081,
+    3.0449779,  3.04504228, 8.42847252, 7.10094595, 8.4284668,  8.42854977,
+    8.42854977, 8.42850494, 7.2454505,  8.42854977, 7.1010952,  9.57125759,
+    9.5714159,  3.36807466, 5.46410608, 7.10106945, 7.10103035, 7.10110712,
+    3.36813903, 7.10105944, 7.10098886, 8.42852306, 8.4284153,  8.42852592,
+    8.42850113, 3.0450294,  8.42829037, 8.4286375,  7.24541759, 7.1008606,
+    8.42870426, 8.42858601, 3.36807442, 8.54880619, 8.42840481, 7.10107565,
+    8.42862511, 7.10099316, 8.42841148, 5.6489954,  9.57114029, 5.46398115,
+    7.24545479, 3.36805773, 8.42847729, 7.10098934, 5.46399784, 3.36807752,
+    5.46398401, 7.10101175, 7.10096073, 8.42848873, 8.42824173, 7.24545765,
+    5.46405935, 5.64890766, 3.3680203,  8.5487566,  9.57122612, 7.10083675,
+    5.64896965, 5.46405077, 8.42843437, 8.54873371, 7.24538803, 7.10098839,
+    3.04499364, 8.4284668,  5.6490097,  8.42846203, 8.42853737, 3.04499555,
+    8.42841721, 8.54864311, 7.10086012, 7.10118818, 5.64909124, 8.42842484,
+    7.10094309, 3.36813259, 7.24543285, 8.428545,   7.24546289, 7.245327,
+    7.24537659, 8.5482502,  8.54854012, 7.24545431, 7.24539614, 9.67787552,
+    9.6777153,  8.5486412,  7.24538374, 7.24531031, 8.54841423, 8.54879951,
+    9.67814732, 8.54858971, 8.54860973, 8.5487566,  8.54844952, 7.24545097,
+    9.67816162, 7.24541998, 8.54874897, 8.54876995, 8.5487833,  9.67811584,
+    8.54877567, 7.24530172, 8.54862404, 8.54862404, 7.24525642, 7.24555159,
+    7.24561071, 8.54864693, 8.54877472, 8.5489006,  7.24542665, 9.67788696,
+    9.6779623,  8.54860687, 7.24537039, 8.54876709, 8.54876328, 7.2455492,
+    7.2455492,  7.24531937, 7.24541426, 8.54865742, 9.67789841, 8.54874897,
+    8.54868698, 8.54879856, 8.54867077, 9.67799473, 7.24543953, 7.24538422,
+    8.54859543, 8.54849625, 7.24532604, 7.24532604, 8.54859734, 8.54887295,
+    8.5487175,  8.54844284, 8.54866409, 8.54863548, 8.54869366, 9.67795372,
+    7.24526262, 8.5487442,  7.24523973, 7.24526501, 8.54886913, 10.6894016,
+    8.54865932, 7.24516201, 8.54880714, 7.24530602, 8.54856491, 7.24531555,
+    8.54861736, 7.24542475, 8.54858685, 8.54860497, 8.54874706, 8.5486145,
+    8.54876232, 8.54862118, 7.24545193, 8.5487318,  7.24531507, 7.24539566,
+    8.5487566,  7.24530697, 9.6778307,  8.54864216, 8.5487957,  9.67823124,
+    8.54878998, 9.67807007, 7.24551582, 7.24530745, 8.54856682, 8.54863167,
+    9.67795753, 8.54868317, 8.54869652, 8.54869175, 7.24533987, 9.6779089,
+    9.67794037, 8.54869556, 8.54859161, 7.24542713, 8.54850006, 7.24544525,
+    7.2452364,  8.54864407, 7.24532986, 8.54858685, 8.54850101, 8.54864216,
+    8.54854488, 9.67793751, 9.67785645, 8.54859447, 7.24539995, 7.24516296,
+    8.54874802, 7.24538231, 7.10097742, 5.64900589, 8.54846287, 9.67804337,
+    9.67804337, 9.67807293, 3.04497218, 7.10076523, 8.42840195, 9.67793846,
+    8.42849731, 7.10094786, 5.6490345,  5.64898491, 8.42831802, 7.24532843,
+    7.24534321, 7.10093927, 8.54858303, 8.42842102, 8.4285326,  3.04494166,
+    7.24514961, 5.46398306, 5.46397352, 3.36808443, 8.42861557, 7.10091591,
+    3.36799455, 3.36801362, 5.64899302, 7.24537277, 5.64897776, 8.54866791,
+    9.67799759, 8.54859638, 8.42818928, 5.46391582, 9.67796993, 8.54866982,
+    7.2453022,  3.36811757, 8.54859352, 8.54864693, 5.46399832, 8.42839432,
+    7.10096121, 8.54865074, 7.24533892, 8.54859734, 8.54843903, 5.46399736,
+    5.64901304, 8.54851532, 7.10091066, 8.42855453, 8.54862022, 8.54861546,
+    9.67809486, 8.54871464, 3.36806703, 3.04499364, 5.6490078,  8.54854012,
+    7.2452898,  8.42834663, 9.67762852, 7.24548531, 3.36801696, 8.54853439,
+    7.24530888, 8.54851246, 7.10093832, 7.10067272, 8.54868984, 8.54847813,
+    3.04493189, 8.5484705,  7.24545097, 3.04500961, 5.46406269, 3.36800504,
+    7.10094357, 8.54851151, 8.54866886, 10.5927849, 7.24540377, 7.10075283,
+    7.24534369, 8.54843235, 9.67783642, 7.24517918, 8.54879951, 8.548522,
+    8.548522,   9.67778301, 8.54860115, 7.10093164, 8.42852306, 5.64902306,
+    3.04495406, 7.24548578, 3.04489493, 3.04494214, 7.24534893, 8.54843903,
+    5.46406937, 3.36802626, 9.67804337, 7.24543238, 5.64898205, 8.54842758,
+    3.04494452, 3.04497337, 7.24522591, 8.54879475, 7.2453618,  8.42841053,
+    9.57095623, 7.10093355, 5.46401739, 8.42823792, 8.54849911, 8.54875183,
+    5.64911509, 7.24519968, 3.36812043, 7.24549627, 3.04498339, 7.10086727,
+    8.42856026, 8.42859173, 3.04481268, 7.24532175, 3.36802101, 8.42823792,
+    8.54860115, 3.36796093, 9.67775059, 9.67775059, 9.67768764, 8.54860115,
+    9.67777348, 8.54845715, 8.54848385, 7.24536133, 8.54850864, 8.54850769,
+    9.67781639, 7.24537849, 7.24520159, 8.54855919, 8.54855537, 7.24519587,
+    8.54842854, 9.677948,   9.67787457, 8.5485487,  8.54859638, 8.54852486,
+    8.54869843, 8.54856968, 7.24519157, 10.6890306, 8.54838657, 7.24541616,
+    8.54855347, 9.67801189, 8.54869461, 8.54869461, 7.24515867, 8.5485239,
+    8.54871655, 8.54845047, 8.54845428, 7.24527645, 8.54839706, 7.24514294,
+    7.24548101, 8.54843044, 8.54857635, 8.54848385, 8.54835129, 8.5487299,
+    8.5487299,  8.54850483, 8.54849625, 8.54861069, 7.24535179, 8.5484066,
+    8.54865646, 7.24535894, 7.24524355, 10.6893644, 8.54849148, 8.54852676,
+    7.24538612, 7.24532795, 9.67798424, 8.54865551, 10.6891737, 7.2452693,
+    8.54872513, 8.54863167, 9.67783546, 8.548522,   8.5486517,  8.54854679,
+    8.54851913, 8.54853058, 7.24531841, 8.54833317, 9.67802525, 9.67797279,
+    8.54864502, 8.54887867, 8.54854679, 7.24550486, 8.54846764, 9.67776108,
+    5.64895296, 10.6895771, 9.67808437, 7.24518299, 9.67793846, 8.5486908,
+    9.67781734, 8.54827976, 9.67785645, 8.54854298, 7.2452569,  8.54874706,
+    9.67804909, 3.04495716, 7.24530792, 3.04493141, 8.54869556, 7.24528456,
+    3.36803365, 9.67791367, 8.54862022, 8.54866791, 7.24512434, 9.67784405,
+    8.54853153, 7.10101318, 7.24540567, 8.54863548, 9.67797852, 8.54854393,
+    8.42855549, 8.54858875, 9.6777401,  9.67780876, 8.54880238, 7.24542999,
+    9.67799664, 9.67793846, 9.67816734, 9.67816734, 5.64909172, 9.67804813,
+    9.67784214, 8.54853344, 8.54864025, 5.6489892,  8.54871655, 7.24519587,
+    8.54860115, 8.54881001, 7.24530077, 7.24541664, 9.67792988, 5.46404219,
+    8.54865074, 8.54857445, 8.54853439, 8.54873848, 8.54854107, 8.54854488,
+    8.54865932, 7.24547338, 7.24516535, 8.54849148, 8.54853058, 9.67776966,
+    8.5487051,  9.67784119, 8.54872322, 7.24544525, 9.67783737, 8.54861641,
+    8.5487442,  8.54861069, 9.6781168,  7.24540949, 7.24533892, 3.04493976,
+    8.54883671, 9.67795563, 9.67778397, 8.54867268, 9.6780014,  8.54862785,
+    9.67795277, 8.54854679, 8.54880428, 8.54883575, 7.24538469, 9.67802906,
+    8.54888344, 9.67798042, 8.54868507, 5.46399879, 10.6895142, 8.54852676,
+    8.54869843, 8.54868317, 8.54869843, 3.04499841, 3.36809969, 7.24543095,
+    9.67807961, 9.67805576, 9.67798233, 8.54868221, 8.54860497, 8.54870701,
+    8.54848385, 8.5486412,  9.67798615, 8.54881287, 9.67815304, 7.24539518,
+    5.64905691, 9.67804432, 3.3681438,  9.67823029, 8.54854393, 8.54850578,
+    7.24552011, 9.67810535, 8.54876232, 9.67815113, 8.54876328, 9.67800903,
+    8.54845333, 8.54876232, 9.67807293, 9.67807293, 7.24555397, 9.67800236,
+    8.54891872, 8.54874134, 9.67811108, 8.5487175,  9.6781702,  8.54857922,
+    9.67806149, 9.67820644, 9.67806911, 5.46411324, 8.54864311, 3.36811256,
+    8.548769,   8.54872608, 7.24541473, 9.67819977, 8.54888153, 7.24551058,
+    7.2453866,  8.54862022, 3.04508567, 3.36803555, 5.64911175, 5.64906168,
+    7.24531889, 8.54879284, 7.24552441, 8.54881668, 9.67796135, 9.67796993,
+    9.67819977, 8.54873562, 5.46410894, 8.42869854, 7.10112619, 5.46413422,
+    5.46404457, 7.10100889, 7.10103083, 7.10087013, 8.42854595, 5.46431112,
+    7.1013093,  8.42872524, 8.42856789, 8.42877579, 8.4286108,  7.10108471,
+    7.10111713, 8.42870522, 7.10117722, 7.10108423, 7.10116291, 5.46417046,
+    5.46410227, 8.42852306, 7.10091877, 7.10091877, 8.42876053, 7.1011095,
+    8.42865086, 8.42845726, 7.10110044, 8.42866516, 5.46416044, 7.10095024,
+    5.46399307, 5.46412134, 7.10102654, 8.42853832, 7.10112858, 8.42865181,
+    8.42865181, 7.10094023, 7.10088062, 8.42878056, 7.10099649, 7.1011157,
+    7.10101175, 5.46409607, 7.10099077, 7.10110712, 7.1011138,  7.10096455,
+    8.4284668,  7.10101175, 5.46410799, 7.10104561, 8.42859745, 5.46416044,
+    7.10087252, 5.46405506, 8.42874813, 7.10093355, 5.4641819,  5.4641881,
+    5.46416664, 7.10129452, 7.10114193, 7.1008954,  8.42853546, 5.4641099,
+    5.4641099,  7.10110474, 7.1011548,  8.42870617, 5.46414089, 7.10110712,
+    8.42862034, 5.4642539,  7.10094786, 7.10091734, 7.10112095, 7.10101986,
+    8.54879189, 8.54861546, 9.67801952, 8.54868698, 8.54884529, 8.54895592,
+    8.54869461, 9.67792988, 9.67812061, 9.67813778, 8.54891109, 11.6121511,
+    8.54892159, 7.24555683, 7.24559784, 8.54881954, 9.67842865, 8.54896736,
+    7.24565172, 8.54852104, 8.54890347, 8.54875278, 9.67812347, 10.6893873,
+    9.67832088, 8.5486536};
diff --git a/src/entrypoints/Parafoil/logdecoder/LogTypes.h b/src/entrypoints/Parafoil/logdecoder/LogTypes.h
deleted file mode 100644
index da4559a9a26f7b1eb1aecfff904ef5ab65b3e982..0000000000000000000000000000000000000000
--- a/src/entrypoints/Parafoil/logdecoder/LogTypes.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Luca Erbetta
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <Parafoil/Wing/WingAlgorithmData.h>
-#include <algorithms/NAS/NASState.h>
-#include <sensors/BME280/BME280Data.h>
-#include <sensors/MPU9250/MPU9250Data.h>
-#include <sensors/UBXGPS/UBXGPSData.h>
-
-#include <fstream>
-#include <iostream>
-
-//#include "AirBrakes/WindData.h"
-//#include "Deployment/DeploymentData.h"
-//#include "LogStats.h"
-#include <common/SystemData.h>
-
-#include "diagnostic/PrintLoggerData.h"
-// #include "diagnostic/StackData.h"
-#include "events/EventData.h"
-// #include "radio/MavlinkDriver/MavlinkStatus.h"
-//#include "logger/Deserializer.h"
-#include <Parafoil/ParafoilTestStatus.h>
-#include <logger/Deserializer.h>
-#include <logger/LoggerStats.h>
-#include <scheduler/TaskSchedulerData.h>
-
-using namespace Boardcore;
-using namespace Parafoil;
-
-template <typename T>
-void print(T& t, ostream& os)
-{
-    t.print(os);
-}
-
-template <typename T>
-void registerType(Deserializer& ds)
-{
-    ds.registerType<T>(print<T>, T::header());
-}
-
-void registerTypes(Deserializer& ds)
-{
-    // Disagnostic
-    registerType<TaskStatsResult>(ds);
-    registerType<LoggerStats>(ds);
-    // registerType<StackData>(ds);
-    registerType<LoggingString>(ds);
-    registerType<SystemData>(ds);
-    registerType<ParafoilTestStatus>(ds);
-
-    // Parafoil data
-    registerType<WingAlgorithmData>(ds);
-
-    // Sensors
-    registerType<UBXGPSData>(ds);
-    registerType<MPU9250Data>(ds);
-    registerType<BME280Data>(ds);
-
-    // Nas state
-    registerType<NASState>(ds);
-
-    // Mavlink
-    // registerType<MavlinkStatus>(ds);
-
-    // Others
-    registerType<EventData>(ds);
-    // registerType<WindData>(ds);
-}
diff --git a/src/entrypoints/Parafoil/logdecoder/Makefile b/src/entrypoints/Parafoil/logdecoder/Makefile
index 26821845b2301c488a8790fc4dfd508902d4f903..33e311b1f7e838ea89cec89e7b6ae89a365f4d90 100644
--- a/src/entrypoints/Parafoil/logdecoder/Makefile
+++ b/src/entrypoints/Parafoil/logdecoder/Makefile
@@ -2,22 +2,15 @@ BASE := ../../../../
 BOARDCORE := $(BASE)skyward-boardcore/
 
 all:
-	g++ -std=c++17 -O2 -o logdecoder Parafoil-decoder.cpp \
-					$(BOARDCORE)libs/tscpp/tscpp/stream.cpp \
+	g++ -std=c++17 -O2 -o logdecoder logdecoder.cpp \
 					-DCOMPILE_FOR_X86 \
-					-I$(BOARDCORE)libs/tscpp/tscpp \
-					-I$(BASE)src/boards/Parafoil \
-					-I$(BASE)src/boards \
-					-I$(BASE)Lynx/boards/DeathStack \
-	 				-I$(BASE)src \
-					-I$(BASE)Lynx \
+					$(BOARDCORE)libs/tscpp/tscpp/stream.cpp \
+	 				-I$(BOARDCORE)libs/mavlink-skyward-lib \
+	 				-I$(BOARDCORE)libs/eigen \
+	 				-I$(BOARDCORE)libs/tscpp \
 	 				-I$(BOARDCORE)src/shared \
-	 				-I$(BOARDCORE)src/tests \
-					-I$(BOARDCORE)libs \
-					-I$(BOARDCORE)libs/tscpp \
-					-I$(BOARDCORE)libs/eigen \
-					-I$(BOARDCORE)libs/mavlink_skyward_lib \
-					-I$(BOARDCORE)libs/miosix-kernel/miosix
+					-I$(BASE)src/boards/Parafoil \
+					-I$(BASE)src/boards
 
 clean:
 	rm logdecoder
diff --git a/src/entrypoints/Parafoil/logdecoder/Parafoil-decoder.cpp b/src/entrypoints/Parafoil/logdecoder/Parafoil-decoder.cpp
deleted file mode 100644
index 4fdafbddad40077d6914574c9ac707b16905c8f3..0000000000000000000000000000000000000000
--- a/src/entrypoints/Parafoil/logdecoder/Parafoil-decoder.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Luca Erbetta
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "LogTypes.h"
-#include "entrypoints/deserializer/logdecoder.cpp"
diff --git a/src/entrypoints/Parafoil/logdecoder/logdecoder.cpp b/src/entrypoints/Parafoil/logdecoder/logdecoder.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1c761505dfd7929b61532649804afc9a27c0aa06
--- /dev/null
+++ b/src/entrypoints/Parafoil/logdecoder/logdecoder.cpp
@@ -0,0 +1,149 @@
+/* Copyright (c) 2018-2019 Skyward Experimental Rocketry
+ * Authors: Federico Terraneo, Luca Erbetta
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/*
+ * This is a stub program for the program that will decode the logged data.
+ * Fill in the TODO to make it work.
+ */
+
+#include <Parafoil/ParafoilTestStatus.h>
+#include <Parafoil/Wing/WingAlgorithmData.h>
+#include <algorithms/NAS/NASState.h>
+#include <common/SystemData.h>
+#include <logger/Deserializer.h>
+#include <logger/LogTypes.h>
+#include <logger/LoggerStats.h>
+#include <scheduler/TaskSchedulerData.h>
+#include <sensors/BME280/BME280Data.h>
+#include <sensors/MPU9250/MPU9250Data.h>
+#include <sensors/UBXGPS/UBXGPSData.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <tscpp/stream.h>
+
+#include <fstream>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+#include "diagnostic/PrintLoggerData.h"
+#include "events/EventData.h"
+
+using namespace tscpp;
+using namespace Boardcore;
+using namespace Parafoil;
+
+void registerTypes(Deserializer& ds)
+{
+    // Register all Boardcore types
+    LogTypes::registerTypes(ds);
+
+    // Custom types
+
+    // Diagnostic
+    ds.registerType<TaskStatsResult>();
+    ds.registerType<LoggerStats>();
+    ds.registerType<LoggingString>();
+    ds.registerType<SystemData>();
+    ds.registerType<ParafoilTestStatus>();
+
+    // Parafoil data
+    ds.registerType<WingAlgorithmData>();
+
+    // Sensors
+    ds.registerType<UBXGPSData>();
+    ds.registerType<MPU9250Data>();
+    ds.registerType<BME280Data>();
+
+    // Nas state
+    ds.registerType<NASState>();
+
+    // Others
+    ds.registerType<EventData>();
+}
+
+void showUsage(const string& cmdName)
+{
+    std::cerr << "Usage: " << cmdName << " {-a | <log_file_name> | -h}"
+              << "Options:\n"
+              << "\t-h,--help\t\tShow help message\n"
+              << "\t-a,--all Deserialize all logs in the current directory\n"
+              << std::endl;
+}
+
+bool deserialize(string logName)
+{
+    std::cout << "Deserializing " << logName << "...\n";
+    Deserializer d(logName);
+    LogTypes::registerTypes(d);
+    registerTypes(d);
+
+    return d.deserialize();
+}
+
+bool deserializeAll()
+{
+    for (int i = 0; i < 100; i++)
+    {
+        char nextName[11];
+        sprintf(nextName, "log%02d.dat", i);
+        struct stat st;
+        if (stat(nextName, &st) != 0)
+            continue;  // File not found
+        // File found
+        if (!deserialize(string(nextName)))
+            return false;
+    }
+    return true;
+}
+
+int main(int argc, char* argv[])
+{
+    if (argc < 2)
+    {
+        showUsage(string(argv[0]));
+        return 1;  // Error
+    }
+
+    bool success = false;
+    string arg1  = string(argv[1]);
+
+    // Help message
+    if (arg1 == "-h" || arg1 == "--help")
+    {
+        showUsage(string(argv[0]));
+        return 0;
+    }
+
+    // File deserialization
+    if (arg1 == "-a" || arg1 == "--all")
+        success = deserializeAll();
+    else
+        success = deserialize(arg1);
+
+    // End
+    if (success)
+        std::cout << "Deserialization completed successfully\n";
+    else
+        std::cout << "Deserialization ended with errors\n";
+    return 0;
+}