diff --git a/eive_tmtc/tmtc/acs/acs_ctrl.py b/eive_tmtc/tmtc/acs/acs_ctrl.py
index f0f9179..af406e5 100644
--- a/eive_tmtc/tmtc/acs/acs_ctrl.py
+++ b/eive_tmtc/tmtc/acs/acs_ctrl.py
@@ -88,13 +88,16 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
 def handle_acs_ctrl_sus_raw_data(printer: FsfwTmTcPrinter, hk_data: bytes):
     pw = PrintWrapper(printer)
     if len(hk_data) < 6 * 2 * 12:
-        pw.dlog(f"SUS Raw dataset with size {len(hk_data)} does not have expected size of {6 * 2 * 12} bytes")
+        pw.dlog(
+            f"SUS Raw dataset with size {len(hk_data)} does not have expected size"
+            f" of {6 * 2 * 12} bytes"
+        )
         return
     current_idx = 0
     for idx in range(12):
         fmt_str = "!HHHHHH"
         length = struct.calcsize(fmt_str)
-        sus_list = struct.unpack(fmt_str, hk_data[current_idx: current_idx + length])
+        sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
         sus_list_formatted = [f"{val:#04x}" for val in sus_list]
         current_idx += length
         pw.dlog(f"SUS {idx} RAW: {sus_list_formatted}")
@@ -104,27 +107,36 @@ def handle_acs_ctrl_sus_raw_data(printer: FsfwTmTcPrinter, hk_data: bytes):
 def handle_acs_ctrl_sus_processed_data(printer: FsfwTmTcPrinter, hk_data: bytes):
     pw = PrintWrapper(printer)
     if len(hk_data) < 3 * 4 * 12:
-        pw.dlog(f"SUS Raw dataset with size {len(hk_data)} does not have expected size of {3 * 4 * 12} bytes")
+        pw.dlog(
+            f"SUS Raw dataset with size {len(hk_data)} does not have expected size"
+            f" of {3 * 4 * 12} bytes"
+        )
         return
     current_idx = 0
     for idx in range(12):
         fmt_str = "!fff"
         length = struct.calcsize(fmt_str)
-        sus_list = struct.unpack(fmt_str, hk_data[current_idx: current_idx + length])
+        sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
         sus_list_formatted = [f"{val:8.3f}" for val in sus_list]
         current_idx += length
         pw.dlog(f"SUS {idx} CALIB: {sus_list_formatted}")
     fmt_str = "!ddd"
     inc_len = struct.calcsize(fmt_str)
-    sus_vec_tot = list(struct.unpack(fmt_str, hk_data[current_idx: current_idx + inc_len]))
+    sus_vec_tot = list(
+        struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+    )
     sus_vec_tot = [f"{val:8.3f}" for val in {sus_vec_tot}]
     current_idx += inc_len
     pw.dlog(f"SUS Vector Total: {sus_vec_tot}")
-    sus_vec_tot_deriv = struct.unpack(fmt_str, hk_data[current_idx: current_idx + inc_len])
+    sus_vec_tot_deriv = struct.unpack(
+        fmt_str, hk_data[current_idx : current_idx + inc_len]
+    )
     sus_vec_tot_deriv = [f"{val:8.3f}" for val in {sus_vec_tot_deriv}]
     current_idx += inc_len
     pw.dlog(f"SUS Vector Derivative: {sus_vec_tot_deriv}")
-    sun_ijk_model = list(struct.unpack(fmt_str, hk_data[current_idx: current_idx + inc_len]))
+    sun_ijk_model = list(
+        struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+    )
     sun_ijk_model = [f"{val:8.3f}" for val in {sun_ijk_model}]
     current_idx += inc_len
     pw.dlog(f"SUS ijk Model: {sun_ijk_model}")
@@ -188,6 +200,99 @@ def handle_acs_ctrl_mgm_data(printer: FsfwTmTcPrinter, hk_data: bytes):
     assert current_idx == 61
 
 
+def handle_mgm_data_processed(pw: PrintWrapper, hk_data: bytes):
+    pw.dlog("Received Processed MGM Set")
+    fmt_str = "!fffffddd"
+    inc_len = struct.calcsize(fmt_str)
+    if len(hk_data) < inc_len:
+        pw.dlog("Recieved HK set too small")
+        return
+    current_idx = 0
+    for i in range(5):
+        fmt_str = "!fff"
+        inc_len = struct.calcsize(fmt_str)
+        mgm_vec = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+        mgm_vec = [f"{val:8.3f}" for val in mgm_vec]
+        pw.dlog(f"MGM {i}: {mgm_vec}")
+    fmt_str = "!ddd"
+    inc_len = struct.calcsize(fmt_str)
+    mgm_vec_tot = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+    mgm_vec_tot = [f"{val:8.3f}" for val in mgm_vec_tot]
+    current_idx += inc_len
+    pw.dlog(f"MGM Total Vec: {mgm_vec_tot}")
+    mgm_vec_tot_deriv = struct.unpack(
+        fmt_str, hk_data[current_idx : current_idx + inc_len]
+    )
+    mgm_vec_tot_deriv = [f"{val:8.3f}" for val in mgm_vec_tot_deriv]
+    pw.dlog(f"MGM Total Vec Deriv: {mgm_vec_tot_deriv}")
+    current_idx += inc_len
+    mag_igrf_model = struct.unpack(
+        fmt_str, hk_data[current_idx : current_idx + inc_len]
+    )
+    mag_igrf_model = [f"{val:8.3f}" for val in mag_igrf_model]
+    pw.dlog(f"MAG IGRF Model: {mag_igrf_model}")
+    current_idx += inc_len
+    pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=8)
+
+
+def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
+    pw.dlog("Received Gyro Raw Set with rotation rates in deg per second")
+    float_fmt = "!fff"
+    double_fmt = "!ddd"
+    inc_len_flt = struct.calcsize(float_fmt)
+    inc_len_double = struct.calcsize(double_fmt)
+    if len(hk_data) < 2 * inc_len_double + 2 * inc_len_flt:
+        pw.dlog("HK data too small")
+        return
+    current_idx = 0
+    gyr_0_adis = [
+        f"{val:8.3f}" for val in struct.unpack(double_fmt, hk_data[:inc_len_double])
+    ]
+    current_idx += inc_len_double
+    gyr_1_l3 = [
+        f"{val:8.3f}" for val in struct.unpack(float_fmt, hk_data[:inc_len_flt])
+    ]
+    current_idx += inc_len_flt
+    gyr_2_adis = [
+        f"{val:8.3f}" for val in struct.unpack(double_fmt, hk_data[:inc_len_double])
+    ]
+    current_idx += inc_len_flt
+    gyr_3_l3 = [
+        f"{val:8.3f}" for val in struct.unpack(float_fmt, hk_data[:inc_len_flt])
+    ]
+    current_idx += inc_len_flt
+    pw.dlog(f"Gyro 0 ADIS: {gyr_0_adis}")
+    pw.dlog(f"Gyro 1 L3: {gyr_1_l3}")
+    pw.dlog(f"Gyro 2 ADIS: {gyr_2_adis}")
+    pw.dlog(f"Gyro 3 L3: {gyr_3_l3}")
+    pw.printer.print_validity_buffer(hk_data[current_idx:], 4)
+
+
+GYRO_NAMES = ["Gyro 0 ADIS", "Gyro 1 L3", "Gyro 2 ADIS", "Gyro 3 L3"]
+
+
+def handle_gyr_data_processed(pw: PrintWrapper, hk_data: bytes):
+    pw.dlog("Received Gyro Processed Set with rotation rates in deg per second")
+    fmt_str = "!ddd"
+    inc_len = struct.calcsize(fmt_str)
+    current_idx = 0
+    for i in range(4):
+        gyr_vec = [
+            f"{val:8.3f}"
+            for val in struct.unpack(
+                fmt_str, hk_data[current_idx : current_idx + inc_len]
+            )
+        ]
+        pw.dlog(f"{GYRO_NAMES[i]}: {gyr_vec}")
+        current_idx += inc_len
+    gyr_vec_tot = [
+        f"{val:8.3f}"
+        for val in struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+    ]
+    pw.dlog(f"Gyro Vec Total: {gyr_vec_tot}")
+    current_idx += inc_len
+
+
 def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
     global CALIBR_SOCKET, CALIBRATION_ADDR
     try:
@@ -196,7 +301,8 @@ def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
         reply = CALIBR_SOCKET.recv(1024)
         if len(reply) != 2:
             pw.dlog(
-                f"MGM calibration: Reply received command {declare_api_cmd} has invalid length {len(reply)}"
+                f"MGM calibration: Reply received command {declare_api_cmd} has"
+                f" invalid length {len(reply)}"
             )
             return
         else:
@@ -213,7 +319,8 @@ def perform_mgm_calibration(pw: PrintWrapper, mgm_tuple: Tuple):
         reply = CALIBR_SOCKET.recv(1024)
         if len(reply) != 2:
             pw.dlog(
-                f"MGM calibration: Reply received command magnetometer_field has invalid length {len(reply)}"
+                f"MGM calibration: Reply received command magnetometer_field has invalid "
+                f"length {len(reply)}"
             )
             return
         else: