diff --git a/eive_tmtc/config/definitions.py b/eive_tmtc/config/definitions.py
index 44daa19..c0eaee1 100644
--- a/eive_tmtc/config/definitions.py
+++ b/eive_tmtc/config/definitions.py
@@ -36,6 +36,7 @@ class CustomServiceList(str, enum.Enum):
     POWER = "power"
     ACU = "acu"
     ACS = "acs"
+    GYRO = "gyro"
     COM_SS = "com"
     BPX_BATTERY = "bpx"
     HEATER = "heater"
diff --git a/eive_tmtc/pus_tc/procedure_packer.py b/eive_tmtc/pus_tc/procedure_packer.py
index 9729c2e..853977c 100644
--- a/eive_tmtc/pus_tc/procedure_packer.py
+++ b/eive_tmtc/pus_tc/procedure_packer.py
@@ -3,6 +3,7 @@
 import logging
 from typing import cast
 
+from eive_tmtc.tmtc.acs.gyros import handle_gyr_cmd
 from eive_tmtc.tmtc.power.power import pack_power_commands
 from eive_tmtc.tmtc.tcs.rtd import pack_rtd_commands
 from eive_tmtc.tmtc.payload.scex import pack_scex_cmds
@@ -177,6 +178,8 @@ def handle_default_procedure(
         return pack_syrlinks_command(
             object_id=object_id, q=queue_helper, op_code=op_code
         )
+    if service == CustomServiceList.GYRO.value:
+        return handle_gyr_cmd(q=queue_helper, op_code=op_code)
     if service == CustomServiceList.PROCEDURE.value:
         return pack_proc_commands(q=queue_helper, op_code=op_code)
     if service == CustomServiceList.PL_PCDU.value:
diff --git a/eive_tmtc/tmtc/acs/__init__.py b/eive_tmtc/tmtc/acs/__init__.py
index e69de29..f19c09d 100644
--- a/eive_tmtc/tmtc/acs/__init__.py
+++ b/eive_tmtc/tmtc/acs/__init__.py
@@ -0,0 +1 @@
+from .gyros import add_gyr_cmd_defs
diff --git a/eive_tmtc/tmtc/acs/gyros.py b/eive_tmtc/tmtc/acs/gyros.py
index ecc4fbe..66215f6 100644
--- a/eive_tmtc/tmtc/acs/gyros.py
+++ b/eive_tmtc/tmtc/acs/gyros.py
@@ -1,13 +1,25 @@
 import enum
+import logging
 import struct
 
-import eive_tmtc.config.object_ids as obj_ids
+from tmtccmd.tc import DefaultPusQueueHelper
 
+import eive_tmtc.config.object_ids as obj_ids
+from tmtccmd.tc.pus_3_fsfw_hk import create_request_one_hk_command, make_sid
+from tmtccmd.config.tmtc import tmtc_definitions_provider, OpCodeEntry, TmtcDefinitionWrapper
+from eive_tmtc.config.object_ids import GYRO_0_ADIS_HANDLER_ID, GYRO_1_L3G_HANDLER_ID, GYRO_2_ADIS_HANDLER_ID, GYRO_3_L3G_HANDLER_ID
+from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.pus_tm.defs import PrintWrapper
+
 from tmtccmd.util import ObjectIdU32
 from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
 
 
+class OpCode:
+    CORE_HK = "core_hk"
+    CFG_HK = "cfg_hk"
+
+
 class AdisGyroSetId(enum.IntEnum):
     CORE_HK = 0
     CFG_HK = 1
@@ -17,6 +29,46 @@ class L3gGyroSetId(enum.IntEnum):
     CORE_HK = 0
 
 
+class GyrSel(enum.IntEnum):
+    GYR_0_ADIS = 0
+    GYR_1_L3G = 1
+    GYR_2_ADIS = 2
+    GYR_3_L3G = 3
+
+
+GYR_SEL_DICT = {
+    GyrSel.GYR_0_ADIS: ("GYRO_0_ADIS", GYRO_0_ADIS_HANDLER_ID),
+    GyrSel.GYR_1_L3G: ("GYRO_1_L3G", GYRO_1_L3G_HANDLER_ID),
+    GyrSel.GYR_2_ADIS: ("GYRO_2_ADIS", GYRO_2_ADIS_HANDLER_ID),
+    GyrSel.GYR_3_L3G: ("GYRO_3_L3G", GYRO_3_L3G_HANDLER_ID),
+}
+
+
+def handle_gyr_cmd(q: DefaultPusQueueHelper, op_code: str):
+    print("Please select the Gyro Device")
+    for (k, v) in GYR_SEL_DICT.items():
+        print(f"{k}: {v[0]}")
+    sel_idx = int(input("Select gyro device by index: "))
+    gyr_info = GYR_SEL_DICT[GyrSel(sel_idx)]
+    gyr_obj_id = gyr_info[1]
+    is_adis = False
+    if sel_idx == GyrSel.GYR_0_ADIS or sel_idx == GyrSel.GYR_2_ADIS:
+        is_adis = True
+        core_hk_id = AdisGyroSetId.CORE_HK
+    else:
+        core_hk_id = L3gGyroSetId.CORE_HK
+    if op_code == OpCode.CORE_HK:
+        q.add_log_cmd(f"Gyro  {gyr_info[0]} Core HK")
+        q.add_pus_tc(create_request_one_hk_command(make_sid(gyr_obj_id, core_hk_id)))
+    elif op_code == OpCode.CFG_HK:
+        if not is_adis:
+            raise ValueError("No config HK for L3 device")
+        q.add_log_cmd(f"Gyro {gyr_info[0]} CFG HK")
+        q.add_pus_tc(create_request_one_hk_command(make_sid(gyr_obj_id, AdisGyroSetId.CFG_HK)))
+    else:
+        logging.getLogger(__name__).warning(f"invalid op code {op_code} for gyro command")
+
+
 def handle_gyros_hk_data(
     object_id: ObjectIdU32, printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes
 ):
@@ -43,24 +95,26 @@ def handle_adis_gyro_hk(
         pw = PrintWrapper(printer)
         fmt_str = "!ddddddf"
         inc_len = struct.calcsize(fmt_str)
-        (angVelocX, angVelocY, angVelocZ, accelX, accelY, accelZ, temp) = struct.unpack(
+        (ang_veloc_x, ang_veloc_y, ang_veloc_z, accel_x, accel_y, accel_z, temp) = struct.unpack(
             fmt_str, hk_data[0 : 0 + inc_len]
         )
         pw.dlog(f"Received ADIS1650X Gyro HK data from object {object_id}")
         pw.dlog(
-            f"Angular Velocities (degrees per second): X {angVelocX} | "
-            f"Y {angVelocY} | Z {angVelocZ}"
+            f"Angular Velocities (degrees per second): X {ang_veloc_x} | "
+            f"Y {ang_veloc_y} | Z {ang_veloc_z}"
         )
-        pw.dlog(f"Acceleration (m/s^2): X {accelX} | Y {accelY} | Z {accelZ}")
+        pw.dlog(f"Acceleration (m/s^2): X {accel_x} | Y {accel_y} | Z {accel_z}")
         pw.dlog(f"Temperature {temp} C")
     if set_id == AdisGyroSetId.CFG_HK:
         pw = PrintWrapper(printer)
-        fmt_str = "!HBHH"
+        fmt_str = "!HBHHH"
         inc_len = struct.calcsize(fmt_str)
-        (diag_stat_reg, filter_setting, msc_ctrl_reg, dec_rate_reg) = struct.unpack(
+        print(len(hk_data))
+        (diag_stat_reg, filter_setting, range_mdl, msc_ctrl_reg, dec_rate_reg) = struct.unpack(
             fmt_str, hk_data[0 : 0 + inc_len]
         )
         pw.dlog(f"Diagnostic Status Register {diag_stat_reg:#018b}")
+        pw.dlog(f"Range MDL {range_mdl}")
         pw.dlog(f"Filter Settings {filter_setting:#010b}")
         pw.dlog(f"Miscellaneous Control Register {msc_ctrl_reg:#018b}")
         pw.dlog(f"Decimation Rate {dec_rate_reg:#06x}")
@@ -82,3 +136,11 @@ def handle_l3g_gyro_hk(
             f"Y {angVelocY} | Z {angVelocZ}"
         )
         pw.dlog(f"Temperature {temp} °C")
+
+
+@tmtc_definitions_provider
+def add_gyr_cmd_defs(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(keys=OpCode.CORE_HK, info="Request Core HK")
+    oce.add(keys=OpCode.CFG_HK, info="Request CFG HK")
+    defs.add_service(CustomServiceList.GYRO, info="Gyro", op_code_entry=oce)
diff --git a/eive_tmtc/tmtc/acs/mgms.py b/eive_tmtc/tmtc/acs/mgms.py
index 80afcd4..908df55 100644
--- a/eive_tmtc/tmtc/acs/mgms.py
+++ b/eive_tmtc/tmtc/acs/mgms.py
@@ -57,7 +57,7 @@ def handle_mgm_rm3100_hk_data(
         fmt_str = f"!fff"
         inc_len = struct.calcsize(fmt_str)
         (field_x, field_y, field_z) = struct.unpack(fmt_str, hk_data[0 : 0 + inc_len])
-        pw.dlog(f"Received MGM LIS3 from object {object_id}")
+        pw.dlog(f"Received MGM RM3100 from object {object_id}")
         pw.dlog(
             f"Field strengths in micro Tesla X {field_x} | Y {field_y} | Z {field_z}"
         )
diff --git a/eive_tmtc/tmtc/tcs/tm.py b/eive_tmtc/tmtc/tcs/tm.py
index 309039f..6db5bea 100644
--- a/eive_tmtc/tmtc/tcs/tm.py
+++ b/eive_tmtc/tmtc/tcs/tm.py
@@ -61,7 +61,9 @@ def handle_thermal_controller_hk_data(
         pw = PrintWrapper(printer)
         pw.dlog("Received device temperature data")
         fmt_str = "!fhhhhiiiifffhffffffffffffff"
+        fmt_len = struct.calcsize(fmt_str)
         tm_data = struct.unpack(fmt_str, hk_data[:98])
+        valid_list = validity_buffer_list(hk_data[fmt_len:], 25)
         parsed_data = {
             "Q7S_TEMPERATURE": tm_data[0],
             "BATTERY_TEMPERATURE_1": tm_data[1],
@@ -76,9 +78,7 @@ def handle_thermal_controller_hk_data(
             "SYRLINKS_POWER_AMPLIFIER_TEMPERATURE": tm_data[10],
             "SYRLINKS_BASEBAND_BOARD_TEMPERATURE": tm_data[11],
             "MGT_TEMPERATURE": tm_data[12],
-            "ACU_TEMPERATURE_1": tm_data[13],
-            "ACU_TEMPERATURE_2": tm_data[14],
-            "ACU_TEMPERATURE_3": tm_data[15],
+            "ACU_TEMPERATURES": (tm_data[13], tm_data[14], tm_data[15]),
             "PDU1_TEMPERATURE": tm_data[16],
             "PDU2_TEMPERATURE": tm_data[17],
             "P60DOCK_TEMPERATURE_1": tm_data[18],
@@ -87,18 +87,19 @@ def handle_thermal_controller_hk_data(
             "GYRO_1_TEMPERATURE": tm_data[21],
             "GYRO_2_TEMPERATURE": tm_data[22],
             "GYRO_3_TEMPERATURE": tm_data[23],
-            "MGM_0_TEMPERATURE": tm_data[24],
-            "MGM_1_TEMPERATURE": tm_data[25],
+            "MGM_0_LIS3_TEMPERATURE": tm_data[24],
+            "MGM_2_LIS3_TEMPERATURE": tm_data[25],
             "ADC_PL_PCDU_TEMPERATURE": tm_data[26],
         }
-        printer.file_logger.info(str(parsed_data))
-        pp = pprint.PrettyPrinter(depth=4)
-        pp.pprint(parsed_data)
+        for idx, (k, v) in enumerate(parsed_data.items()):
+            print(f"{str(k).ljust(30)}: Valid: {valid_list[idx]}, Value: {v}")
     elif set_id == CtrlSetId.SUS_TEMP_SENSORS:
         pw = PrintWrapper(printer)
         pw.dlog("Received SUS temperature data")
-        fmt_str = "!ffffffffffffffffff"
-        tm_data = struct.unpack(fmt_str, hk_data[: 4 * 18])
+        fmt_str = "!ffffffffffff"
+        fmt_len = struct.calcsize(fmt_str)
+        tm_data = struct.unpack(fmt_str, hk_data[: 12 * 4])
+        valid_list = validity_buffer_list(hk_data[fmt_len:], 12)
         parsed_data = {
             "SUS_0": tm_data[0],
             "SUS_1": tm_data[1],
@@ -113,9 +114,8 @@ def handle_thermal_controller_hk_data(
             "SUS_10": tm_data[10],
             "SUS_11": tm_data[11],
         }
-        printer.file_logger.info(str(parsed_data))
-        pp = pprint.PrettyPrinter(depth=4)
-        pp.pprint(parsed_data)
+        for idx, (k, v) in enumerate(parsed_data.items()):
+            print(f"{str(k).ljust(30)}: Valid: {valid_list[idx]}, Value: {v}")
     elif set_id == CtrlSetId.HEATER_INFO:
         print("Heater Switch States")
         for i in range(8):