diff --git a/fsfw_hal b/fsfw_hal
index 61d7c618..6487c88f 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 61d7c61852d19c91f798d6cfbe4a6fc694cda5df
+Subproject commit 6487c88fc99ed8021b2d42cc1de9cba1b50d01d4
diff --git a/mission/devices/GyroADIS16507Handler.cpp b/mission/devices/GyroADIS16507Handler.cpp
index e1c4301b..3c4639a0 100644
--- a/mission/devices/GyroADIS16507Handler.cpp
+++ b/mission/devices/GyroADIS16507Handler.cpp
@@ -151,7 +151,7 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
         /* Now verify the read checksum with the expected checksum
         according to datasheet p. 20 */
         uint16_t calcChecksum = 0;
-        for(size_t idx = 2; idx < 22; idx ++) {
+        for(size_t idx = 2; idx < 20; idx ++) {
             calcChecksum += packet[idx];
         }
         if(checksum != calcChecksum) {
@@ -183,13 +183,13 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
 
             int16_t accelXRaw = packet[10] << 8 | packet[11];
             primaryDataset.accelX.value = static_cast<float>(accelXRaw) / INT16_MAX *
-                    ADIS16507::GYRO_RANGE;
+                    ADIS16507::ACCELEROMETER_RANGE;
             int16_t accelYRaw = packet[12] << 8 | packet[13];
             primaryDataset.accelY.value = static_cast<float>(accelYRaw) / INT16_MAX *
-                    ADIS16507::GYRO_RANGE;
+                    ADIS16507::ACCELEROMETER_RANGE;
             int16_t accelZRaw = packet[14] << 8 | packet[15];
             primaryDataset.accelZ.value = static_cast<float>(accelZRaw) / INT16_MAX *
-                    ADIS16507::GYRO_RANGE;
+                    ADIS16507::ACCELEROMETER_RANGE;
 
             int16_t temperatureRaw = packet[16] << 8 | packet[17];
             primaryDataset.temperature.value = static_cast<float>(temperatureRaw) * 0.1;
@@ -199,11 +199,14 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
 
 #if ADIS16507_DEBUG == 1
         if(debugDivider->checkAndIncrement()) {
-            sif::info << "GyroADIS16507Handler: Angular velocities in degrees per second:" <<
-                    std::endl;
-            sif::info << "X: " << primaryDataset.angVelocX.value << " \xC2\xB0" << std::endl;
-            sif::info << "Y: " << primaryDataset.angVelocY.value << " \xC2\xB0" << std::endl;
-            sif::info << "Z: " << primaryDataset.angVelocZ.value << " \xC2\xB0" << std::endl;
+            sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
+            sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
+            sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
+            sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
+            sif::info << "GyroADIS16507Handler: Accelerations in m / s^2: " << std::endl;
+            sif::info << "X: " << primaryDataset.accelX.value << std::endl;
+            sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
+            sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;
         }
 #endif