diff --git a/.run/PLOC_SUPV.run.xml b/.run/PLOC_SUPV.run.xml
index 62c49bb..472a471 100644
--- a/.run/PLOC_SUPV.run.xml
+++ b/.run/PLOC_SUPV.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="PLOC SUPV" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="PLOC SUPV" type="PythonConfigurationType" factoryName="Python" folderName="PLOC">
     <module name="tmtc" />
     <option name="INTERPRETER_OPTIONS" value="" />
     <option name="PARENT_ENVS" value="true" />
diff --git a/deps/tmtccmd b/deps/tmtccmd
index 87a430e..acaea6d 160000
--- a/deps/tmtccmd
+++ b/deps/tmtccmd
@@ -1 +1 @@
-Subproject commit 87a430eb5cfea01d8265c3b327269799954c64ee
+Subproject commit acaea6d9b6fe1d31283604e44c0977365c97040e
diff --git a/gomspace/gomspace_common.py b/gomspace/gomspace_common.py
index eb08ca4..958eed5 100644
--- a/gomspace/gomspace_common.py
+++ b/gomspace/gomspace_common.py
@@ -11,7 +11,8 @@ import struct
 from typing import Union
 
 from spacepackets.ecss import PusTelecommand
-from tmtccmd.tc.pus_8_funccmd import generate_action_command
+from tmtccmd.tc import DefaultPusQueueHelper
+from tmtccmd.tc.pus_8_funccmd import make_fsfw_action_cmd
 from tmtccmd.util import ObjectIdU32
 
 
@@ -28,18 +29,19 @@ class GomspaceDeviceActionIds(enum.IntEnum):
 
 class GomspaceOpCodes:
     # Request HK
-    REQUEST_CORE_HK_ONCE = ["hk-core", "128"]
-    REQUEST_AUX_HK_ONCE = ["hk-aux", "129"]
+    REQUEST_CORE_HK_ONCE = ["hk_core", "128"]
+    REQUEST_AUX_HK_ONCE = ["hk_aux", "129"]
     PRINT_SWITCH_V_I = ["print-switch-vi", "130"]
     PRINT_LATCHUPS = ["print-latchups", "131"]
-    GET_PARAM = ["get-param", "132"]
-    SET_PARAM = ["set-param", "133"]
+    GET_PARAM = ["get_param", "132"]
+    SET_PARAM = ["set_param", "133"]
 
 
 class GsInfo:
     REQUEST_CORE_HK_ONCE = "Requesting Core HK once"
     REQUEST_AUX_HK_ONCE = "Requesting Aux HK once"
     PRINT_SWITCH_V_I = "Print Switch V I Info"
+    PRINT_LATCHUPS = "Print latchups"
     GET_PARAMETER = "Get parameter"
     SET_PARAMETER = "Set parameter"
 
@@ -135,8 +137,31 @@ def pack_set_param_command(
         app_data.append(byte_two)
         app_data.append(byte_three)
         app_data.append(byte_four)
-    return generate_action_command(
-        object_id=object_id, action_id=action_id, app_data=app_data, ssc=ssc
+    return make_fsfw_action_cmd(
+        object_id=object_id, action_id=action_id, user_data=app_data
+    )
+
+
+def prompt_and_pack_get_param_command(q: DefaultPusQueueHelper, object_id: ObjectIdU32):
+    table_id = int(input("Specify table ID: "))
+    memory_address = int(input("Specify memory address: 0x"), 16)
+    parameter_size = int(input("Specify parameter size: "))
+    q.add_pus_tc(
+        pack_get_param_command(
+            object_id.as_bytes, table_id, memory_address, parameter_size
+        )
+    )
+
+
+def prompt_and_pack_set_param_command(q: DefaultPusQueueHelper, object_id: ObjectIdU32):
+    memory_address = int(input("Specify memory address: 0x"), 16)
+    memory_address = struct.pack("!H", memory_address)
+    parameter_size = int(input("Specify parameter size: "))
+    parameter = int(input("Specify parameter: "))
+    q.add_pus_tc(
+        pack_set_param_command(
+            object_id.as_bytes, memory_address, parameter_size, parameter
+        )
     )
 
 
diff --git a/pus_tc/devs/acu.py b/pus_tc/devs/acu.py
index 9f846c9..01d0237 100644
--- a/pus_tc/devs/acu.py
+++ b/pus_tc/devs/acu.py
@@ -91,34 +91,19 @@ def pack_acu_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code:
             )
         )
     if op_code in GomspaceOpCodes.REQUEST_CORE_HK_ONCE:
-        q.add_log_cmd(f"PDU1: {GsInfo.REQUEST_CORE_HK_ONCE}")
+        q.add_log_cmd(f"ACU: {GsInfo.REQUEST_CORE_HK_ONCE}")
         hk_sid = make_sid(object_id=object_id.as_bytes, set_id=gs.SetIds.ACU_CORE)
         q.add_pus_tc(generate_one_diag_command(sid=hk_sid))
     if op_code in GomspaceOpCodes.REQUEST_AUX_HK_ONCE:
-        q.add_log_cmd(f"PDU1: {GsInfo.REQUEST_AUX_HK_ONCE}")
+        q.add_log_cmd(f"ACU: {GsInfo.REQUEST_AUX_HK_ONCE}")
         hk_sid = make_sid(object_id=object_id.as_bytes, set_id=gs.SetIds.ACU_AUX)
         q.add_pus_tc(generate_one_hk_command(sid=hk_sid))
     if op_code in GomspaceOpCodes.GET_PARAM:
-        q.add_log_cmd(f"PDU1: {GsInfo.GET_PARAMETER}")
-        table_id = int(input("Specify table ID: "))
-        memory_address = int(input("Specify memory address: 0x"), 16)
-        parameter_size = int(input("Specify parameter size: "))
-        q.add_pus_tc(
-            gs.pack_get_param_command(
-                object_id.as_bytes, table_id, memory_address, parameter_size
-            )
-        )
+        q.add_log_cmd(f"ACU: {GsInfo.GET_PARAMETER}")
+        gs.prompt_and_pack_get_param_command(q, object_id)
     if op_code in GomspaceOpCodes.SET_PARAM:
-        q.add_log_cmd(f"PDU1: {GsInfo.SET_PARAMETER}")
-        memory_address = int(input("Specify memory address: 0x"), 16)
-        memory_address = struct.pack("!H", memory_address)
-        parameter_size = int(input("Specify parameter size: "))
-        parameter = int(input("Specify parameter: "))
-        q.add_pus_tc(
-            gs.pack_set_param_command(
-                object_id.as_bytes, memory_address, parameter_size, parameter
-            )
-        )
+        q.add_log_cmd(f"ACU: {GsInfo.SET_PARAMETER}")
+        gs.prompt_and_pack_set_param_command(q, object_id)
     pack_test_cmds(object_id=object_id, q=q)
 
 
diff --git a/pus_tc/devs/common_power.py b/pus_tc/devs/common_power.py
index 0e5741e..122561a 100644
--- a/pus_tc/devs/common_power.py
+++ b/pus_tc/devs/common_power.py
@@ -1,4 +1,5 @@
 import enum
+import struct
 
 from config.object_ids import PDU_1_HANDLER_ID, PDU_2_HANDLER_ID
 from gomspace.gomspace_common import (
@@ -6,9 +7,10 @@ from gomspace.gomspace_common import (
     Channel,
     GomspaceOpCodes,
     GsInfo,
-    SetIds,
+    SetIds, GomspaceDeviceActionIds,
 )
 from gomspace.gomspace_pdu_definitions import PDU_CONFIG_LIST
+from pus_tm.defs import PrintWrapper
 from tmtccmd.config import OpCodeEntry
 from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.tc.pus_3_fsfw_hk import (
@@ -16,6 +18,7 @@ from tmtccmd.tc.pus_3_fsfw_hk import (
     generate_one_diag_command,
     generate_one_hk_command,
 )
+from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
 
 
 class Pdu1ChIndex(enum.IntEnum):
@@ -440,3 +443,29 @@ def generic_off_cmd(
             Channel.off,
         )
     )
+
+
+def handle_get_param_data_reply(
+    action_id: int, pw: PrintWrapper, custom_data: bytearray
+):
+    if action_id == GomspaceDeviceActionIds.PARAM_GET:
+        header_list = [
+            "Gomspace action ID",
+            "Table ID",
+            "Memory Address",
+            "Payload length",
+            "Payload",
+        ]
+        fmt_str = "!BBHH"
+        (action, table_id, address, payload_length) = struct.unpack(
+            fmt_str, custom_data[:6]
+        )
+        content_list = [
+            action,
+            table_id,
+            hex(address),
+            payload_length,
+            "0x" + custom_data[6:].hex(),
+        ]
+        pw.dlog(f"{header_list}")
+        pw.dlog(f"{content_list}")
diff --git a/pus_tc/devs/pdu1.py b/pus_tc/devs/pdu1.py
index 4662b0e..3d21d8d 100644
--- a/pus_tc/devs/pdu1.py
+++ b/pus_tc/devs/pdu1.py
@@ -53,6 +53,12 @@ def pack_pdu1_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code
                 object_id=objb, action_id=GomspaceDeviceActionIds.PRINT_LATCHUPS
             )
         )
+    if op_code in GomspaceOpCodes.SET_PARAM:
+        q.add_log_cmd(f"PDU1: {GsInfo.SET_PARAMETER}")
+        prompt_and_pack_set_param_command(q, object_id)
+    if op_code in GomspaceOpCodes.GET_PARAM:
+        q.add_log_cmd(f"PDU1: {GsInfo.GET_PARAMETER}")
+        gs.prompt_and_pack_get_param_command(q, object_id)
     if PDU1TestProcedure.all or PDU1TestProcedure.ping:
         q.add_log_cmd("PDU1: Ping Test")
         ping_data = bytearray([0, 1, 2, 3, 4, 5, 6, 7, 8, 9])
@@ -107,14 +113,4 @@ def pack_pdu1_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code
                 Channel.off,
             )
         )
-    if op_code in GomspaceOpCodes.SET_PARAM:
-        q.add_log_cmd(f"PDU1: {GsInfo.SET_PARAMETER}")
-        memory_address = int(input("Specify memory address: 0x"), 16)
-        memory_address = struct.pack("!H", memory_address)
-        parameter_size = int(input("Specify parameter size: "))
-        parameter = int(input("Specify parameter: "))
-        q.add_pus_tc(
-            gs.pack_set_param_command(
-                object_id.as_bytes, memory_address, parameter_size, parameter
-            )
-        )
+
diff --git a/pus_tc/devs/pdu2.py b/pus_tc/devs/pdu2.py
index 6ccd49d..af08fbc 100644
--- a/pus_tc/devs/pdu2.py
+++ b/pus_tc/devs/pdu2.py
@@ -6,16 +6,9 @@
 @author J. Meier
 @date   17.12.2020
 """
-from tmtccmd.tc import DefaultPusQueueHelper
-from tmtccmd.tc.pus_3_fsfw_hk import (
-    generate_one_hk_command,
-    generate_one_diag_command,
-    make_sid,
-)
 from pus_tc.devs.common_power import pdu2_cmds, pdu2_req_hk_cmds
 from gomspace.gomspace_common import *
 from gomspace.gomspace_pdu_definitions import *
-from config.object_ids import PDU_2_HANDLER_ID
 
 
 class PDU2TestProcedure:
@@ -64,6 +57,12 @@ def pack_pdu2_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code
                 object_id=objb, action_id=GomspaceDeviceActionIds.PRINT_LATCHUPS
             )
         )
+    if op_code in GomspaceOpCodes.SET_PARAM:
+        q.add_log_cmd(f"PDU1: {GsInfo.SET_PARAMETER}")
+        prompt_and_pack_set_param_command(q, object_id)
+    if op_code in GomspaceOpCodes.GET_PARAM:
+        q.add_log_cmd(f"PDU1: {GsInfo.GET_PARAMETER}")
+        prompt_and_pack_get_param_command(q, object_id)
     if PDU2TestProcedure.all or PDU2TestProcedure.reboot:
         q.add_log_cmd("PDU2: Reboot")
         q.add_pus_tc(pack_reboot_command(object_id))
diff --git a/pus_tc/devs/power.py b/pus_tc/devs/power.py
index 0b8de91..a05c0d2 100644
--- a/pus_tc/devs/power.py
+++ b/pus_tc/devs/power.py
@@ -50,13 +50,7 @@ def add_p60_cmds(defs: TmtcDefinitionWrapper):
     oce.add(keys=P60OpCodes.STACK_3V3_OFF, info=P60Info.STACK_3V3_OFF)
     oce.add(keys=P60OpCodes.STACK_5V_ON, info=P60Info.STACK_5V_ON)
     oce.add(keys=P60OpCodes.STACK_5V_OFF, info=P60Info.STACK_5V_OFF)
-    oce.add(keys=GomspaceOpCodes.REQUEST_CORE_HK_ONCE, info=GsInfo.REQUEST_CORE_HK_ONCE)
-    oce.add(keys=GomspaceOpCodes.REQUEST_AUX_HK_ONCE, info=GsInfo.REQUEST_AUX_HK_ONCE)
-    oce.add(
-        keys=GomspaceOpCodes.PRINT_SWITCH_V_I,
-        info="P60 Dock: Print Switches, Voltages, Currents",
-    )
-    oce.add(keys=GomspaceOpCodes.PRINT_LATCHUPS, info="P60 Dock: Print Latchups")
+    add_gomspace_cmds(oce)
     oce.add(keys=P60OpCodes.TEST, info="P60 Tests")
     defs.add_service(
         name=CustomServiceList.P60DOCK.value, info="P60 Device", op_code_entry=oce
@@ -82,14 +76,15 @@ def add_power_cmd_defs(defs: TmtcDefinitionWrapper):
 def add_pdu1_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
     add_pdu1_common_defs(oce)
+    add_gomspace_cmds(oce)
     oce.add(keys=GomspaceOpCodes.REQUEST_CORE_HK_ONCE, info=GsInfo.REQUEST_CORE_HK_ONCE)
     oce.add(keys=GomspaceOpCodes.REQUEST_AUX_HK_ONCE, info=GsInfo.REQUEST_AUX_HK_ONCE)
     oce.add(
         keys=GomspaceOpCodes.PRINT_SWITCH_V_I,
         info="PDU1: Print Switches, Voltages, Currents",
     )
-    oce.add(keys=GomspaceOpCodes.PRINT_LATCHUPS, info="PDU1: Print Latchups")
-    oce.add(keys=GomspaceOpCodes.SET_PARAM, info="Set parameter")
+    oce.add(keys=GomspaceOpCodes.GET_PARAM, info=GsInfo.GET_PARAMETER)
+
     defs.add_service(
         name=CustomServiceList.PDU1.value,
         info="PDU1 Device",
@@ -101,14 +96,7 @@ def add_pdu1_cmds(defs: TmtcDefinitionWrapper):
 def add_pdu2_cmds(defs: TmtcDefinitionWrapper):
     oce = OpCodeEntry()
     add_pdu2_common_defs(oce)
-    oce.add(
-        keys=GomspaceOpCodes.REQUEST_CORE_HK_ONCE,
-        info=GsInfo.REQUEST_CORE_HK_ONCE,
-    )
-    oce.add(
-        keys=GomspaceOpCodes.REQUEST_AUX_HK_ONCE,
-        info=GsInfo.REQUEST_AUX_HK_ONCE,
-    )
+    add_gomspace_cmds(oce)
     oce.add(
         keys=GomspaceOpCodes.PRINT_SWITCH_V_I,
         info="PDU2: Print Switches, Voltages, Currents",
@@ -124,6 +112,20 @@ def add_pdu2_cmds(defs: TmtcDefinitionWrapper):
     )
 
 
+def add_gomspace_cmds(oce: OpCodeEntry):
+    oce.add(
+        keys=GomspaceOpCodes.REQUEST_CORE_HK_ONCE,
+        info=GsInfo.REQUEST_CORE_HK_ONCE,
+    )
+    oce.add(
+        keys=GomspaceOpCodes.REQUEST_AUX_HK_ONCE,
+        info=GsInfo.REQUEST_AUX_HK_ONCE,
+    )
+    oce.add(keys=GomspaceOpCodes.GET_PARAM, info=GsInfo.GET_PARAMETER)
+    oce.add(keys=GomspaceOpCodes.PRINT_LATCHUPS, info=GsInfo.PRINT_LATCHUPS)
+    oce.add(keys=GomspaceOpCodes.SET_PARAM, info=GsInfo.SET_PARAMETER)
+
+
 def add_pcdu_cmds(defs: TmtcDefinitionWrapper):
     add_p60_cmds(defs)
     add_pdu1_cmds(defs)
diff --git a/pus_tm/action_reply_handler.py b/pus_tm/action_reply_handler.py
index 3497912..09c526d 100644
--- a/pus_tm/action_reply_handler.py
+++ b/pus_tm/action_reply_handler.py
@@ -1,6 +1,8 @@
 import struct
 from config.object_ids import *
+from pus_tc.devs.common_power import handle_get_param_data_reply
 from pus_tc.devs.imtq import ImtqActionIds
+from pus_tm.defs import PrintWrapper
 from tmtc.ploc_mpsoc import PlocReplyIds
 from tmtc.ploc_supervisor import SupvActionIds
 from pus_tc.devs.star_tracker import StarTrackerActionIds
@@ -21,13 +23,13 @@ def handle_action_reply(
     tm_packet = Service8FsfwTm.unpack(raw_telemetry=raw_tm)
     printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
     object_id = obj_id_dict.get(tm_packet.source_object_id_as_bytes)
+    pw = PrintWrapper(printer)
     custom_data = tm_packet.custom_data
     action_id = tm_packet.action_id
     generic_print_str = printer.generic_action_packet_tm_print(
         packet=tm_packet, obj_id=object_id
     )
-    print(generic_print_str)
-    printer.file_logger.info(generic_print_str)
+    pw.dlog(generic_print_str)
     if object_id.as_bytes == IMTQ_HANDLER_ID:
         return handle_imtq_replies(action_id, printer, custom_data)
     elif object_id.as_bytes == PLOC_MPSOC_ID:
@@ -36,8 +38,11 @@ def handle_action_reply(
         return handle_supervisor_replies(action_id, printer, custom_data)
     elif object_id.as_bytes == STAR_TRACKER_ID:
         return handle_startracker_replies(action_id, printer, custom_data)
-    elif object_id.as_bytes == ACU_HANDLER_ID:
-        return handle_acu_replies(action_id, printer, custom_data)
+    elif object_id.as_bytes in [ACU_HANDLER_ID, PDU_1_HANDLER_ID, PDU_2_HANDLER_ID, P60_DOCK_HANDLER]:
+        return handle_get_param_data_reply(action_id, pw, custom_data)
+    else:
+        pw.dlog(f"No dedicated action reply handler found for reply from {object_id}")
+        pw.dlog(f"Raw Data: {tm_packet.custom_data.hex(sep=',')}")
 
 
 def handle_imtq_replies(
@@ -123,27 +128,3 @@ def handle_startracker_replies(
         print(content_list)
         printer.file_logger.info(header_list)
         printer.file_logger.info(content_list)
-
-
-def handle_acu_replies(
-    action_id: int, printer: FsfwTmTcPrinter, custom_data: bytearray
-):
-    if action_id == GomspaceDeviceActionIds.PARAM_GET:
-        header_list = [
-            "Gomspace action ID" "Table ID",
-            "Memory Address",
-            "Payload length" "Payload",
-        ]
-        fmt_str = "!BBHH"
-        (action, table_id, address, payload_length) = struct.unpack(
-            fmt_str, custom_data[:6]
-        )
-        content_list = [
-            action,
-            table_id,
-            "0x" + hex(address),
-            payload_length,
-            "0x" + custom_data[6:].hex(),
-        ]
-        print(header_list)
-        print(content_list)