diff --git a/MIDAS/.gitignore b/MIDAS/.gitignore
index 4ba81f14..15541236 100644
--- a/MIDAS/.gitignore
+++ b/MIDAS/.gitignore
@@ -1,5 +1,4 @@
 .pio
 .vscode
-/src/log_checksum.h
 **/.DS_Store
 *.launch
diff --git a/MIDAS/lib/ADS7138Q1/ads7138-q1.cpp b/MIDAS/lib/ADS7138Q1/ads7138-q1.cpp
index 2e8630e1..5a0c1de4 100644
--- a/MIDAS/lib/ADS7138Q1/ads7138-q1.cpp
+++ b/MIDAS/lib/ADS7138Q1/ads7138-q1.cpp
@@ -66,6 +66,8 @@ bool ADS7138Init(){
   AdcRegReadResult reg = adc_reg_read(ADC_ADDR, ADC_SYSTEM_STATUS);
   if(reg.error != AdcError::NoError){
     return false;
+  } else{
+    //process profiling continuity sensor initialize error
   }
   return reg.value != 0;
 }
diff --git a/MIDAS/lib/ADXL355/PL_ADXL355.cpp b/MIDAS/lib/ADXL355/PL_ADXL355.cpp
index d7b743b7..a41dc29e 100644
--- a/MIDAS/lib/ADXL355/PL_ADXL355.cpp
+++ b/MIDAS/lib/ADXL355/PL_ADXL355.cpp
@@ -136,6 +136,7 @@ namespace PL {
         SPI.begin();
         pinMode(csPin, OUTPUT);
         digitalWrite(csPin, HIGH);
+        //process profiling acceleration lowG
     }
 
 //==============================================================================
diff --git a/MIDAS/lib/Adafruit BNO08x/src/Adafruit_BNO08x.cpp b/MIDAS/lib/Adafruit BNO08x/src/Adafruit_BNO08x.cpp
index f66369fa..53eebdd8 100644
--- a/MIDAS/lib/Adafruit BNO08x/src/Adafruit_BNO08x.cpp	
+++ b/MIDAS/lib/Adafruit BNO08x/src/Adafruit_BNO08x.cpp	
@@ -180,7 +180,7 @@ bool Adafruit_BNO08x::begin_SPI(uint8_t cs_pin, uint8_t int_pin,
   _HAL.getTimeUs = hal_getTimeUs;
 
   return _init(sensor_id);
-}
+}//process profiling orientation
 
 /*!  @brief Initializer for post i2c/spi init
  *   @param sensor_id Optional unique ID for the sensor set
diff --git a/MIDAS/lib/Arduino_LSM6DS3/src/LSM6DS3.cpp b/MIDAS/lib/Arduino_LSM6DS3/src/LSM6DS3.cpp
index a695df41..e1627e4d 100644
--- a/MIDAS/lib/Arduino_LSM6DS3/src/LSM6DS3.cpp
+++ b/MIDAS/lib/Arduino_LSM6DS3/src/LSM6DS3.cpp
@@ -66,9 +66,9 @@ int LSM6DS3Class::begin()
 
   // Set the ODR config register to ODR/4
   writeRegister(LSM6DS3_CTRL8_XL, 0x09);
-
+  //process profiling acceleration initialized
   return 1;
-}
+}//process profiling lowglsm
 
 void LSM6DS3Class::end()
 {
diff --git a/MIDAS/lib/MS5611/MS5611.cpp b/MIDAS/lib/MS5611/MS5611.cpp
index 74852587..9d9479af 100644
--- a/MIDAS/lib/MS5611/MS5611.cpp
+++ b/MIDAS/lib/MS5611/MS5611.cpp
@@ -77,7 +77,7 @@ void MS5611::init() {
         C[reg] = readProm(reg);
     }
     SPI.endTransaction();
-}
+}//process profiling barometer initialized
 
 int MS5611::read(uint8_t bits) {
     // VARIABLES NAMES BASED ON DATASHEET  <- Nice!
diff --git a/MIDAS/lib/SparkFun_KX13X_Arduino_Library-1.0.7/src/SparkFun_Qwiic_KX13X.cpp b/MIDAS/lib/SparkFun_KX13X_Arduino_Library-1.0.7/src/SparkFun_Qwiic_KX13X.cpp
index f43986f3..3b2cbbf6 100644
--- a/MIDAS/lib/SparkFun_KX13X_Arduino_Library-1.0.7/src/SparkFun_Qwiic_KX13X.cpp
+++ b/MIDAS/lib/SparkFun_KX13X_Arduino_Library-1.0.7/src/SparkFun_Qwiic_KX13X.cpp
@@ -617,7 +617,7 @@ bool QwiicKX134::beginSPI(uint8_t csPin, uint32_t spiPortSpeed,
         return true;
     else
         return false;
-}
+}//process profiling acceleration highG
 
 // Grabs raw accel data and passes it to the following function to be
 // converted.
diff --git a/MIDAS/lib/X-NUCLEO-GNSS1A1/src/teseo_liv3f_class.cpp b/MIDAS/lib/X-NUCLEO-GNSS1A1/src/teseo_liv3f_class.cpp
index ed9c79c8..fbe496e8 100644
--- a/MIDAS/lib/X-NUCLEO-GNSS1A1/src/teseo_liv3f_class.cpp
+++ b/MIDAS/lib/X-NUCLEO-GNSS1A1/src/teseo_liv3f_class.cpp
@@ -48,6 +48,7 @@
 
 
 
+
 /*
  * Constant for strtol base param
  */
@@ -99,6 +100,10 @@ GNSS_StatusTypeDef TeseoLIV3F::I2CUpdate()
          {
             GNSS_PARSER_ParseMsg(&data, (eNMEAMsg)m, buffer);
          }
+      } else{
+         //process profiling
+         //LogMessage error;
+         //error.message = 'GNSS PARSER ERROR';
       }
       strncpy(i2ch.inputString, i2ch.inputString2, sizeof(i2ch.inputString));
       memset(i2ch.inputString2, 0, sizeof(i2ch.inputString2));
@@ -127,6 +132,8 @@ GNSS_StatusTypeDef TeseoLIV3F::UARTUpdate()
          {
             GNSS_PARSER_ParseMsg(&data, (eNMEAMsg)m, buffer);
          }
+      } else{
+         //process profiling
       }
       memset(uarth.inputString, 0, sizeof(uarth.inputString));
       uarth.stringComplete = false;
diff --git a/MIDAS/lib/X-NUCLEO-GNSS1A1/src/teseo_liv3f_class.h b/MIDAS/lib/X-NUCLEO-GNSS1A1/src/teseo_liv3f_class.h
index 657b5068..d2832cda 100644
--- a/MIDAS/lib/X-NUCLEO-GNSS1A1/src/teseo_liv3f_class.h
+++ b/MIDAS/lib/X-NUCLEO-GNSS1A1/src/teseo_liv3f_class.h
@@ -132,7 +132,7 @@ class TeseoLIV3F
       Wire.endTransmission(false);
       delay(2000);
       return GNSS_OK;
-   }
+   }//process profiling
 
    /**
     * @brief       Update the internal data structures of the sensor using the appropriate communication method
diff --git a/MIDAS/src/data_logging.cpp b/MIDAS/src/data_logging.cpp
index e6cb5ce2..08db0ffe 100644
--- a/MIDAS/src/data_logging.cpp
+++ b/MIDAS/src/data_logging.cpp
@@ -1,7 +1,7 @@
 #include "data_logging.h"
 #include "log_format.h"
 #include "log_checksum.h"
-
+#include <queue> 
 /**
  * @brief Forward decleration of the ID recieving function
 */
@@ -11,6 +11,10 @@ constexpr ReadingDiscriminant get_discriminant();
 /**
  * @brief macro to associate a certain sensor with a specific number ID
 */
+
+//std::queue<char[32]> logQueue;  // data logging for process profiling
+
+
 #define ASSOCIATE(ty, id) template<> constexpr ReadingDiscriminant get_discriminant<ty>() { return ReadingDiscriminant::id; }
 
 ASSOCIATE(LowGData, ID_LOWG)
@@ -25,6 +29,8 @@ ASSOCIATE(Orientation, ID_ORIENTATION)
 ASSOCIATE(FSMState, ID_FSM)
 ASSOCIATE(KalmanData, ID_KALMAN)
 ASSOCIATE(PyroState, ID_PYRO)
+ASSOCIATE(ProcessTime, ID_PROCESSTIME);
+ASSOCIATE(LogMessages, ID_LOGMESSAGES)
 
 /**
  * @brief writes a reading, with its ID, timestamp, and data to a specific sink
@@ -88,6 +94,8 @@ void log_data(LogSink& sink, RocketData& data) {
     log_from_sensor_data(sink, data.fsm_state);
     log_from_sensor_data(sink, data.kalman);
     log_from_sensor_data(sink, data.pyro);
+    log_from_sensor_data(sink, data.processTime);
+    log_from_sensor_data(sink, data.logMessages);
 }
 
 #ifndef SILSIM
diff --git a/MIDAS/src/hardware/Barometer.cpp b/MIDAS/src/hardware/Barometer.cpp
index 8adae988..8536a45d 100644
--- a/MIDAS/src/hardware/Barometer.cpp
+++ b/MIDAS/src/hardware/Barometer.cpp
@@ -1,7 +1,9 @@
 #include "sensors.h"
 #include <MS5611.h>
+#include <queue> 
 
 MS5611 MS(MS5611_CS);       //singleton object for the MS sensor
+extern std::queue<std::string> logQueue; 
 
 /**
  * @brief Initializes barometer, returns NoError
@@ -10,7 +12,8 @@ MS5611 MS(MS5611_CS);       //singleton object for the MS sensor
 */
 ErrorCode BarometerSensor::init() {
     MS.init();
-
+    //process profiling
+    logQueue.push("BarometerInitialized");
     return ErrorCode::NoError;
 }
 
diff --git a/MIDAS/src/hardware/Continuity.cpp b/MIDAS/src/hardware/Continuity.cpp
index a57a5ab0..3aba09c4 100644
--- a/MIDAS/src/hardware/Continuity.cpp
+++ b/MIDAS/src/hardware/Continuity.cpp
@@ -1,9 +1,12 @@
 #include "sensors.h"
 #include "ads7138-q1.h"
 #include <hal.h>
+#include <queue>
+
 
 #define PYRO_VOLTAGE_DIVIDER (5.0 / (5.0 + 20.0))       //voltage divider for pyro batt voltage, check hardware schematic
 #define CONT_VOLTAGE_DIVIDER (5.0 / (5.0 + 20.0))       //voltage divider for continuity voltage, check hardware schematic
+extern std::queue<std::string> logQueue; 
 
 /**
  * @brief Initializes ADC, returns NoError
@@ -12,7 +15,7 @@
 */
 ErrorCode ContinuitySensor::init() {
     ADS7138Init();              // Ask ADS to init the pins, we still need to get the device to actually read
-
+    logQueue.push("BarometerInitialized");//process profiling
     return ErrorCode::NoError;
 }
 
diff --git a/MIDAS/src/hardware/Emmc.cpp b/MIDAS/src/hardware/Emmc.cpp
index 06bbd5bf..86806108 100644
--- a/MIDAS/src/hardware/Emmc.cpp
+++ b/MIDAS/src/hardware/Emmc.cpp
@@ -37,6 +37,6 @@ ErrorCode EMMCSink::init(){
     if (!file) {
         return ErrorCode::EmmcCouldNotOpenFile;
     }
-    
+    //process profiling
     return ErrorCode::NoError;
 }
diff --git a/MIDAS/src/hardware/GPSSensor.cpp b/MIDAS/src/hardware/GPSSensor.cpp
index 460d2b8a..5de20c26 100644
--- a/MIDAS/src/hardware/GPSSensor.cpp
+++ b/MIDAS/src/hardware/GPSSensor.cpp
@@ -16,7 +16,7 @@ TeseoLIV3F teseo(&Wire, GPS_RESET, GPS_ENABLE);     // singleton for the teseo g
  */
 ErrorCode GPSSensor::init() {
     teseo.init();       // always returns ok for some reason
-
+    //process profiling
     return ErrorCode::NoError;
 }
 
diff --git a/MIDAS/src/hardware/HighG.cpp b/MIDAS/src/hardware/HighG.cpp
index 1123f9bd..bcc033f3 100644
--- a/MIDAS/src/hardware/HighG.cpp
+++ b/MIDAS/src/hardware/HighG.cpp
@@ -1,7 +1,9 @@
 #include "sensors.h"
 #include "SparkFun_Qwiic_KX13X.h"
+#include <queue>
 
 QwiicKX134 KX;      // global static instance of the sensor
+extern std::queue<std::string> logQueue; 
 
 /**
  * @brief Initializes the high G sensor
@@ -11,15 +13,22 @@ QwiicKX134 KX;      // global static instance of the sensor
 ErrorCode HighGSensor::init() {
     KX.beginSPI(KX134_CS);
     if (!KX.initialize(DEFAULT_SETTINGS)) {
+        
+        logQueue.push("HighGCouldNotBeInitialized");//process profiling
         return ErrorCode::HighGCouldNotBeInitialized;
     }
 
     if(!KX.setOutputDataRate(0xb)) {
+        logQueue.push("HighGCouldNotUpdateDataRate");//process profiling
         return ErrorCode::HighGCouldNotUpdateDataRate;
     }
 
+    
+    logQueue.push("HighGInitialized");//process profiling
     KX.setRange(3);
     return ErrorCode::NoError;
+
+    
 }
 
 /**
diff --git a/MIDAS/src/hardware/LowG.cpp b/MIDAS/src/hardware/LowG.cpp
index 1eac7371..31f9fae5 100644
--- a/MIDAS/src/hardware/LowG.cpp
+++ b/MIDAS/src/hardware/LowG.cpp
@@ -16,7 +16,8 @@ ErrorCode LowGSensor::init() {
     // todo set low pass filter frequency to 250hx
     sensor.enableMeasurement();
     return error;
-}
+    //process profiling
+}   
 
 /**
  * @brief Reads and returns the data from the sensor
diff --git a/MIDAS/src/hardware/LowGLSM.cpp b/MIDAS/src/hardware/LowGLSM.cpp
index 951be540..78992e85 100644
--- a/MIDAS/src/hardware/LowGLSM.cpp
+++ b/MIDAS/src/hardware/LowGLSM.cpp
@@ -13,6 +13,7 @@ ErrorCode LowGLSMSensor::init() {
         return ErrorCode::GyroCouldNotBeInitialized;
     }
     return ErrorCode::NoError;
+    //process profiling
 }
 
 /**
diff --git a/MIDAS/src/hardware/Magnetometer.cpp b/MIDAS/src/hardware/Magnetometer.cpp
index 23ef322d..2686341c 100644
--- a/MIDAS/src/hardware/Magnetometer.cpp
+++ b/MIDAS/src/hardware/Magnetometer.cpp
@@ -1,8 +1,10 @@
 #include <Adafruit_LIS3MDL.h>
-
+#include <queue> 
 #include "sensors.h"
 #include "hal.h"
 
+extern std::queue<std::string> logQueue; // global variable queue for logging the important status of the sensor.
+
 Adafruit_LIS3MDL LIS3MDL;           // global static instance of the sensor
 
 ErrorCode MagnetometerSensor::init() {
@@ -11,9 +13,13 @@ ErrorCode MagnetometerSensor::init() {
     }
     LIS3MDL.setOperationMode(LIS3MDL_CONTINUOUSMODE);         // Reading continuously, instead of single-shot or off
     LIS3MDL.setDataRate(LIS3MDL_DATARATE_155_HZ);
-    LIS3MDL.setRange(LIS3MDL_RANGE_4_GAUSS);                  // Earth's magnetic field is 1/2 gauss, can detect high current
+    LIS3MDL.setRange(LIS3MDL_RANGE_4_GAUSS);  
+                    // Earth's magnetic field is 1/2 gauss, can detect high current
+    char message[64];
+    snprintf(message, sizeof(message), "MagnetometerInitizedW/Mode:%dRate:%dRange:%d", LIS3MDL_CONTINUOUSMODE, static_cast<int>(LIS3MDL_DATARATE_155_HZ), LIS3MDL_RANGE_4_GAUSS);
+    logQueue.push(message);
     return ErrorCode::NoError;
-}
+}//process profiling
 
 Magnetometer MagnetometerSensor::read() {
     // read from aforementioned global instance of sensor
@@ -25,3 +31,9 @@ Magnetometer MagnetometerSensor::read() {
     Magnetometer reading{mx, my, mz};
     return reading;
 }
+
+//void addMessageQueue(String m){
+  //  char message[64];
+    //snprintf(message, sizeof(message), m);
+    //logQueue.push(message);
+//}
\ No newline at end of file
diff --git a/MIDAS/src/hardware/Orientation.cpp b/MIDAS/src/hardware/Orientation.cpp
index 0d6a3526..3ccbe4ba 100644
--- a/MIDAS/src/hardware/Orientation.cpp
+++ b/MIDAS/src/hardware/Orientation.cpp
@@ -23,7 +23,7 @@ ErrorCode OrientationSensor::init() {
         return ErrorCode::CannotInitBNO;
     }
     return ErrorCode::NoError;
-}
+}//process profiling
 
 /**
  * @brief Turns a quaternion into its corresponding Euler 3D vector representation
diff --git a/MIDAS/src/hardware/Pyro.cpp b/MIDAS/src/hardware/Pyro.cpp
index 1c5c3bdb..ee374c26 100644
--- a/MIDAS/src/hardware/Pyro.cpp
+++ b/MIDAS/src/hardware/Pyro.cpp
@@ -55,7 +55,7 @@ ErrorCode Pyro::init() {
 //    } else {
     return ErrorCode::NoError;   // GPIO Driver always claimes it errored even when it doesn't.
 //    }
-}
+}//process profiling
 
 #ifdef IS_SUSTAINER
 
diff --git a/MIDAS/src/hardware/SDLog.cpp b/MIDAS/src/hardware/SDLog.cpp
index bb8d1879..6593aa3a 100644
--- a/MIDAS/src/hardware/SDLog.cpp
+++ b/MIDAS/src/hardware/SDLog.cpp
@@ -30,7 +30,7 @@ ErrorCode SDSink::init() {
     }
 
     return ErrorCode::NoError;
-}
+}//process profiling
 
 /**
  * @brief Writes a byte buffer to the SD card
diff --git a/MIDAS/src/log_checksum.h b/MIDAS/src/log_checksum.h
new file mode 100644
index 00000000..4abe9b14
--- /dev/null
+++ b/MIDAS/src/log_checksum.h
@@ -0,0 +1,2 @@
+// autogenerated on build by applying crc32 on the concatenation of log_format.h and sensor_data.h
+#define LOG_CHECKSUM (0xb8f3527e)
diff --git a/MIDAS/src/log_format.h b/MIDAS/src/log_format.h
index dde361bb..4f5f00c2 100644
--- a/MIDAS/src/log_format.h
+++ b/MIDAS/src/log_format.h
@@ -20,6 +20,8 @@ enum ReadingDiscriminant {
     ID_FSM = 10,
     ID_KALMAN = 11,
     ID_PYRO = 12,
+    ID_PROCESSTIME = 13,
+    ID_LOGMESSAGES = 14
 };
 
 
@@ -51,5 +53,7 @@ struct LoggedReading {
         KalmanData kalman;
         FSMState fsm;
         PyroState pyro;
+        ProcessTime processtime;
+        LogMessages logMessages;
     } data;
 };
diff --git a/MIDAS/src/rocket_state.h b/MIDAS/src/rocket_state.h
index 139acd3d..0a7cafcb 100644
--- a/MIDAS/src/rocket_state.h
+++ b/MIDAS/src/rocket_state.h
@@ -176,6 +176,8 @@ struct RocketData {
     SensorData<Magnetometer> magnetometer;
     SensorData<Orientation> orientation;
     SensorData<Voltage> voltage;
+    SensorData<ProcessTime> processTime;
+    SensorData<LogMessages> logMessages;
 
     Latency log_latency;
 };
diff --git a/MIDAS/src/sensor_data.h b/MIDAS/src/sensor_data.h
index d6b8b765..4b551030 100644
--- a/MIDAS/src/sensor_data.h
+++ b/MIDAS/src/sensor_data.h
@@ -229,3 +229,33 @@ struct PyroState {
     bool is_global_armed = false;
     PyroChannel channels[4];
 };
+
+enum class ProcessName {
+    TELEMETRY = 1,
+    ORIENTATION = 2,
+    KALMAN = 3,
+    BUZZER = 4,
+    FSM = 5,
+    I2C = 6,
+    MAGNETOMETER = 7,
+    ACCELEROMETERS = 8,
+    BAROMETER = 9,
+    LOGGER = 10
+};
+
+/**
+ * @struct ProcessTime
+ * 
+ * @brief The process time of the processes in the thread
+*/
+struct ProcessTime
+{
+    ProcessName name;
+    float dt;
+};
+
+struct LogMessages
+{
+    char message[64];
+};
+
diff --git a/MIDAS/src/systems.cpp b/MIDAS/src/systems.cpp
index 36bff5b8..439defc6 100644
--- a/MIDAS/src/systems.cpp
+++ b/MIDAS/src/systems.cpp
@@ -1,5 +1,7 @@
 #include "systems.h"
 
+#include <queue> 
+
 #include "hal.h"
 #include "gnc/yessir.h"
 
@@ -9,6 +11,19 @@
 #error "At least one of IS_SUSTAINER and IS_BOOSTER must be defined."
 #endif
 
+#define DEBUG
+
+#ifdef DEBUG
+  #define MEASURE_LOOP_TIME(startTime, processName, arg) \
+      ProcessTime new_processTime; \
+      new_processTime.dt = pdTICKS_TO_MS(xTaskGetTickCount() - startTime);; \
+      new_processTime.name = processName; \
+      arg->rocket_data.processTime.update(new_processTime); 
+#else
+  #define MEASURE_LOOP_TIME(startTime, processName, arg) \             // No-op in release mode
+#endif 
+
+std::queue<std::string> logQueue;
 
 /**
  * @brief These are all the functions that will run in each task
@@ -19,24 +34,47 @@
 DECLARE_THREAD(logger, RocketSystems* arg) {
     log_begin(arg->log_sink);
     while (true) {
+        TickType_t startTime = xTaskGetTickCount();
+
         log_data(arg->log_sink, arg->rocket_data);
 
         arg->rocket_data.log_latency.tick();
+        
+        MEASURE_LOOP_TIME(startTime, ProcessName::LOGGER, arg);
 
         THREAD_SLEEP(1);
     }
 }
 
+DECLARE_THREAD(messages, RocketSystems* arg){
+    while(true){
+        if(!logQueue.empty()){
+            LogMessages newMessage;
+            std::strncpy(newMessage.message, logQueue.front().c_str(), sizeof(newMessage.message) - 1);
+            newMessage.message[sizeof(newMessage.message) - 1] = '\0';
+            arg->rocket_data.logMessages.update(newMessage);
+            THREAD_SLEEP(20);
+        }
+    }
+}
+
 DECLARE_THREAD(barometer, RocketSystems* arg) {
     while (true) {
+        TickType_t startTime = xTaskGetTickCount();
+
         Barometer reading = arg->sensors.barometer.read();
         arg->rocket_data.barometer.update(reading);
+
+        MEASURE_LOOP_TIME(startTime, ProcessName::BAROMETER, arg);
+
         THREAD_SLEEP(6);
     }
 }
 
 DECLARE_THREAD(accelerometers, RocketSystems* arg) {
     while (true) {
+        TickType_t startTime = xTaskGetTickCount();
+
 #ifdef IS_SUSTAINER
         LowGData lowg = arg->sensors.low_g.read();
         arg->rocket_data.low_g.update(lowg);
@@ -45,25 +83,37 @@ DECLARE_THREAD(accelerometers, RocketSystems* arg) {
         arg->rocket_data.low_g_lsm.update(lowglsm);
         HighGData highg = arg->sensors.high_g.read();
         arg->rocket_data.high_g.update(highg);
+
+        MEASURE_LOOP_TIME(startTime, ProcessName::ACCELEROMETERS, arg);
+
         THREAD_SLEEP(2);
     }
 }
 
 DECLARE_THREAD(orientation, RocketSystems* arg) {
     while (true) {
+        TickType_t startTime = xTaskGetTickCount();
+
         Orientation reading = arg->sensors.orientation.read();
         if (reading.has_data) {
             arg->rocket_data.orientation.update(reading);
         }
 
+        MEASURE_LOOP_TIME(startTime, ProcessName::ORIENTATION, arg);
+
         THREAD_SLEEP(100);
     }
 }
 
 DECLARE_THREAD(magnetometer, RocketSystems* arg) {
     while (true) {
+        TickType_t startTime = xTaskGetTickCount();
+
         Magnetometer reading = arg->sensors.magnetometer.read();
         arg->rocket_data.magnetometer.update(reading);
+
+        MEASURE_LOOP_TIME(startTime, ProcessName::MAGNETOMETER, arg);
+
         THREAD_SLEEP(50);  //data rate is 155hz so 7 is closest
     }
 }
@@ -73,6 +123,8 @@ DECLARE_THREAD(i2c, RocketSystems* arg) {
     int i = 0;
 
     while (true) {
+        TickType_t startTime = xTaskGetTickCount();
+
         if (i % 10 == 0) {
             GPS reading = arg->sensors.gps.read();
             arg->rocket_data.gps.update(reading);
@@ -91,6 +143,8 @@ DECLARE_THREAD(i2c, RocketSystems* arg) {
         arg->led.update();
         i += 1;
 
+        MEASURE_LOOP_TIME(startTime, ProcessName::I2C, arg);
+
         THREAD_SLEEP(10);
     }
 }
@@ -100,6 +154,8 @@ DECLARE_THREAD(fsm, RocketSystems* arg) {
     FSM fsm{};
     bool already_played_freebird = false;
     while (true) {
+        TickType_t startTime = xTaskGetTickCount();
+
         FSMState current_state = arg->rocket_data.fsm_state.getRecentUnsync();
         StateEstimate state_estimate(arg->rocket_data);
 
@@ -112,14 +168,20 @@ DECLARE_THREAD(fsm, RocketSystems* arg) {
             already_played_freebird = true;
         }
 
+        MEASURE_LOOP_TIME(startTime, ProcessName::FSM, arg);
+        
         THREAD_SLEEP(50);
     }
 }
 
 DECLARE_THREAD(buzzer, RocketSystems* arg) {
     while (true) {
+        TickType_t startTime = xTaskGetTickCount();
+
         arg->buzzer.tick();
 
+        MEASURE_LOOP_TIME(startTime, ProcessName::BUZZER, arg);
+
         THREAD_SLEEP(10);
     }
 }
@@ -129,6 +191,7 @@ DECLARE_THREAD(kalman, RocketSystems* arg) {
     TickType_t last = xTaskGetTickCount();
 
     while (true) {
+        TickType_t startTime = xTaskGetTickCount();
         // add the tick update function
         Barometer current_barom_buf = arg->rocket_data.barometer.getRecentUnsync();
         LowGData current_accelerometer = arg->rocket_data.low_g.getRecentUnsync();
@@ -143,17 +206,24 @@ DECLARE_THREAD(kalman, RocketSystems* arg) {
         KalmanData current_state = yessir.getState();
 
         arg->rocket_data.kalman.update(current_state);
-
         last = xTaskGetTickCount();
 
+        MEASURE_LOOP_TIME(startTime, ProcessName::KALMAN, arg);
+        
+
         THREAD_SLEEP(50);
     }
 }
 
 DECLARE_THREAD(telemetry, RocketSystems* arg) {
     while (true) {
+        TickType_t startTime = xTaskGetTickCount();
+
         arg->tlm.transmit(arg->rocket_data, arg->led);
 
+        MEASURE_LOOP_TIME(startTime, ProcessName::TELEMETRY, arg);
+        
+
         THREAD_SLEEP(1);
     }
 }
diff --git a/ground/lib/RadioHead/RH_RF95.cpp b/ground/lib/RadioHead/RH_RF95.cpp
index 655bbabe..a22f5e67 100644
--- a/ground/lib/RadioHead/RH_RF95.cpp
+++ b/ground/lib/RadioHead/RH_RF95.cpp
@@ -188,7 +188,7 @@ void RH_RF95::handleInterrupt()
     // our ISR will be reinvoked to handle that case)
     // kevinh: turn this off until root cause is known, because it can cause missed interrupts!
     // spiWrite(RH_RF95_REG_12_IRQ_FLAGS, 0xff); // Clear all IRQ flags
-    spiWrite(RH_RF95_REG_12_IRQ_FLAGS, 0xff); // Clear all IRQ flags
+    spiWrite(RH_RF95_REG_12_IRQ_FLAGS, 0xff); // Clear all IRQ flags 
 
     // error if:
     // timeout