diff --git a/CHANGELOG.md b/CHANGELOG.md
index c055ce7..a76b643 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,9 +10,22 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+# [v6.2.0] 2024-04-10
+
 ## Added
 
-- Added version set for STR
+- Added version set for STR.
+- Command for relative timeshift.
+- Health commands for payload components.
+
+## Fixed
+
+- EPS power commands working again.
+- GNSS commands working again.
+
+## Changed
+
+- Fixed PLOC commanding
 
 # [v6.1.1] 2024-03-06
 
diff --git a/eive_tmtc/config/custom_mode_op.py b/eive_tmtc/config/custom_mode_op.py
index 7981371..6143aaa 100644
--- a/eive_tmtc/config/custom_mode_op.py
+++ b/eive_tmtc/config/custom_mode_op.py
@@ -3,6 +3,7 @@
 @details    Template configuration file. Copy this folder to the TMTC commander root and adapt
             it to your needs.
 """
+
 import enum
 
 from tmtccmd import CcsdsTmtcBackend
diff --git a/eive_tmtc/config/events.csv b/eive_tmtc/config/events.csv
index 200cbdb..3c05a3c 100644
--- a/eive_tmtc/config/events.csv
+++ b/eive_tmtc/config/events.csv
@@ -75,9 +75,12 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-8900;0x22c4;CLOCK_SET;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8901;0x22c5;CLOCK_DUMP;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8902;0x22c6;CLOCK_SET_FAILURE;LOW;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8900;0x22c4;CLOCK_SET;INFO;Clock has been set. P1: old timeval seconds. P2: new timeval seconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_DUMP_LEGACY;INFO;Clock dump event. P1: timeval seconds P2: timeval milliseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8902;0x22c6;CLOCK_SET_FAILURE;LOW;Clock could not be set. P1: Returncode.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8903;0x22c7;CLOCK_DUMP;INFO;Clock dump event. P1: timeval seconds P2: timeval microseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8904;0x22c8;CLOCK_DUMP_BEFORE_SETTING_TIME;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8905;0x22c9;CLOCK_DUMP_AFTER_SETTING_TIME;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 9700;0x25e4;TEST;INFO;No description;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;No description;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
@@ -233,8 +236,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;No description;mission/system/acs/SusAssembly.h
 12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/acs/SusAssembly.h
 13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;No description;mission/system/tcs/TcsBoardAssembly.h
-13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/acs/archive/GPSDefinitions.h
-13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/acs/archive/GPSDefinitions.h
+13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: New fix. P2: Missed fix changes 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;linux/acs/GPSDefinitions.h
+13101;0x332d;CANT_GET_FIX;MEDIUM;Could not get fix in maximum allowed time. Trying to reset both GNSS devices. P1: Maximum allowed time to get a fix after the GPS was switched on.;linux/acs/GPSDefinitions.h
+13102;0x332e;RESET_FAIL;HIGH;Failed to reset an GNNS Device. P1: Board-Side.;linux/acs/GPSDefinitions.h
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/power/P60DockHandler.h
 13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/power/P60DockHandler.h
 13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/power/P60DockHandler.h
diff --git a/eive_tmtc/config/object_ids.py b/eive_tmtc/config/object_ids.py
index cb81d07..3d1c1c5 100644
--- a/eive_tmtc/config/object_ids.py
+++ b/eive_tmtc/config/object_ids.py
@@ -3,6 +3,7 @@
 @details    Template configuration file. Copy this folder to the TMTC commander root and adapt
             it to your needs.
 """
+
 import logging
 import os.path
 from typing import Dict
diff --git a/eive_tmtc/pus_tc/cmd_definitions.py b/eive_tmtc/pus_tc/cmd_definitions.py
index 88ba312..e69de29 100644
--- a/eive_tmtc/pus_tc/cmd_definitions.py
+++ b/eive_tmtc/pus_tc/cmd_definitions.py
@@ -1,21 +0,0 @@
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry, CoreServiceList
-from tmtccmd.config.tmtc import (
-    call_all_definitions_providers,
-)
-from tmtccmd.config.globals import get_default_tmtc_defs
-
-
-def get_eive_service_op_code_dict() -> TmtcDefinitionWrapper:
-    """Call all registered TMTC definition providers. They were registered using
-    the :py:func:`tmtc_definitions_provider` decorator.
-    """
-    def_wrapper = get_default_tmtc_defs()
-    srv_5 = OpCodeEntry()
-    srv_5.add("0", "Event Test")
-    def_wrapper.add_service(
-        name=CoreServiceList.SERVICE_5.value,
-        info="PUS Service 5 Event",
-        op_code_entry=srv_5,
-    )
-    call_all_definitions_providers(def_wrapper)
-    return def_wrapper
diff --git a/eive_tmtc/pus_tc/cmd_demux.py b/eive_tmtc/pus_tc/cmd_demux.py
index d379ebd..12c4722 100644
--- a/eive_tmtc/pus_tc/cmd_demux.py
+++ b/eive_tmtc/pus_tc/cmd_demux.py
@@ -1,5 +1,6 @@
 """Hook function which packs telecommands based on service and operation code string
 """
+
 import logging
 from typing import List, cast
 
@@ -51,6 +52,7 @@ from eive_tmtc.tmtc.com.subsystem import build_com_subsystem_procedure
 from eive_tmtc.tmtc.com.syrlinks_handler import pack_syrlinks_command
 from eive_tmtc.tmtc.core import pack_core_commands
 from eive_tmtc.tmtc.health import build_health_cmds
+from eive_tmtc.tmtc.payload.subsystem import create_payload_subsystem_cmd
 from eive_tmtc.tmtc.payload.ploc_mpsoc import pack_ploc_mpsoc_commands
 from eive_tmtc.tmtc.payload.ploc_supervisor import pack_ploc_supv_commands
 from eive_tmtc.tmtc.payload.plpcdu import pack_pl_pcdu_commands
@@ -116,9 +118,9 @@ def handle_pus_procedure(
 
 def handle_eps_procedure(queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]):
     obj_id_man = get_object_ids()
-    if len(cmd_path_list) == 1:
-        return pack_power_commands(queue_helper, cmd_path_list[0])
-    assert len(cmd_path_list) >= 2
+    assert len(cmd_path_list) >= 1
+    if cmd_path_list[0] == "power":
+        return pack_power_commands(queue_helper, cmd_path_list[1])
     if cmd_path_list[0] == "pwr_ctrl":
         return pack_power_ctrl_command(queue_helper, cmd_path_list[1])
     if cmd_path_list[0] == "p60_dock":
@@ -251,7 +253,8 @@ def handle_payload_procedure(
     queue_helper: DefaultPusQueueHelper, cmd_path_list: List[str]
 ):
     obj_id_man = get_object_ids()
-    assert len(cmd_path_list) >= 2
+    if cmd_path_list[0] == "subsystem":
+        return create_payload_subsystem_cmd(queue_helper, cmd_path_list[1])
     if cmd_path_list[0] == "ploc_mpsoc":
         return pack_ploc_mpsoc_commands(queue_helper, cmd_path_list[1])
     if cmd_path_list[0] == "ploc_supv":
@@ -263,7 +266,6 @@ def handle_payload_procedure(
             object_id=object_id, q=queue_helper, cmd_str=cmd_path_list[1]
         )
     if cmd_path_list[0] == "pl_pcdu":
-        assert len(cmd_path_list) >= 3
         return pack_pl_pcdu_commands(q=queue_helper, cmd_str=cmd_path_list[1])
     if cmd_path_list[0] == "scex":
         return pack_scex_cmds(
diff --git a/eive_tmtc/pus_tm/event_handler.py b/eive_tmtc/pus_tm/event_handler.py
index 496c28b..e5cfc35 100644
--- a/eive_tmtc/pus_tm/event_handler.py
+++ b/eive_tmtc/pus_tm/event_handler.py
@@ -122,12 +122,18 @@ def handle_event_packet(  # noqa C901: Complexity okay here
         new_time_dt = datetime.datetime.fromtimestamp(new_time, datetime.timezone.utc)
         pw.dlog(f"Old time (UTC): {old_time_dt}")
         pw.dlog(f"New time (UTC): {new_time_dt}")
-    if info.name == "CLOCK_DUMP":
+    if info.name == "CLOCK_DUMP_LEGACY":
         specific_handler = True
         # param 1 is timeval seconds, param 2 is timeval subsecond milliseconds
         time = event_def.param1 + event_def.param2 / 1000.0
         time_dt = datetime.datetime.fromtimestamp(time, datetime.timezone.utc)
         pw.dlog(f"Current time: {time_dt}")
+    if info.name == "CLOCK_DUMP":
+        specific_handler = True
+        # param 1 is timeval seconds, param 2 is timeval subsecond microseconds
+        time = event_def.param1 + event_def.param2 / 1000000.0
+        time_dt = datetime.datetime.fromtimestamp(time, datetime.timezone.utc)
+        pw.dlog(f"Current time: {time_dt}")
     if info.name == "ACTIVE_SD_INFO":
         sd_0_state = (event_def.param2 >> 16) & 0xFFFF
         sd_1_state = event_def.param2 & 0xFFFF
diff --git a/eive_tmtc/pus_tm/hk_handler.py b/eive_tmtc/pus_tm/hk_handler.py
index 56c53af..bee9f23 100644
--- a/eive_tmtc/pus_tm/hk_handler.py
+++ b/eive_tmtc/pus_tm/hk_handler.py
@@ -1,4 +1,5 @@
 """HK Handling for EIVE OBSW"""
+
 import dataclasses
 import logging
 import base64  # noqa
diff --git a/eive_tmtc/pus_tm/pus_handler.py b/eive_tmtc/pus_tm/pus_handler.py
index f3e62d1..7767b7f 100644
--- a/eive_tmtc/pus_tm/pus_handler.py
+++ b/eive_tmtc/pus_tm/pus_handler.py
@@ -1,5 +1,6 @@
 """Core EIVE TM handler module
 """
+
 import logging
 import sqlite3
 import uuid
diff --git a/eive_tmtc/tmtc/acs/gps.py b/eive_tmtc/tmtc/acs/gps.py
index a99a7f0..7ff3d72 100644
--- a/eive_tmtc/tmtc/acs/gps.py
+++ b/eive_tmtc/tmtc/acs/gps.py
@@ -3,10 +3,8 @@ import enum
 import logging
 import struct
 
-from eive_tmtc.config.definitions import CustomServiceList
 from eive_tmtc.pus_tm.defs import PrintWrapper
-from tmtccmd.config import CmdTreeNode, TmtcDefinitionWrapper, OpCodeEntry
-from tmtccmd.config.tmtc import tmtc_definitions_provider
+from tmtccmd.config import CmdTreeNode
 from tmtccmd.pus.s200_fsfw_mode import create_mode_command, Mode
 from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.pus.tc.s3_fsfw_hk import (
@@ -15,6 +13,7 @@ from tmtccmd.pus.tc.s3_fsfw_hk import (
     create_enable_periodic_hk_command_with_interval_with_diag,
     create_disable_periodic_hk_command_with_diag,
 )
+from tmtccmd.pus.tc.s8_fsfw_action import create_action_cmd
 from tmtccmd.fsfw.tmtc_printer import FsfwTmTcPrinter
 
 _LOGGER = logging.getLogger(__name__)
@@ -24,6 +23,11 @@ class GpsInfo:
     MAX_SATELLITES = 30
 
 
+class GnssChip(enum.IntEnum):
+    A_SIDE = 0
+    B_SIDE = 1
+
+
 class OpCode:
     OFF = "off"
     ON = "on"
@@ -59,36 +63,25 @@ def create_gnss_node() -> CmdTreeNode:
     ]
     info_strs = [getattr(Info, key) for key in dir(OpCode) if not key.startswith("__")]
     combined_dict = dict(zip(op_code_strs, info_strs))
-    node = CmdTreeNode("gnss", "GNSS device", hide_children_for_print=True)
+    node = CmdTreeNode("gnss_devs", "GNSS Controller", hide_children_for_print=True)
     for op_code, info in combined_dict.items():
         node.add_child(CmdTreeNode(op_code, info))
     return node
 
 
-@tmtc_definitions_provider
-def add_gps_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(keys=OpCode.OFF, info=Info.OFF)
-    oce.add(keys=OpCode.ON, info=Info.ON)
-    oce.add(keys=OpCode.RESET_GNSS, info=Info.RESET_GNSS)
-    oce.add(keys=OpCode.REQ_CORE_HK, info=Info.REQ_CORE_HK)
-    oce.add(keys=OpCode.ENABLE_CORE_HK, info=Info.ENABLE_CORE_HK)
-    oce.add(keys=OpCode.DISABLE_CORE_HK, info=Info.DISABLE_CORE_HK)
-    oce.add(keys=OpCode.REQ_SKYVIEW_HK, info=Info.REQ_SKYVIEW_HK)
-    oce.add(keys=OpCode.ENABLE_SKYVIEW_HK, info=Info.ENABLE_SKYVIEW_HK)
-    oce.add(keys=OpCode.DISABLE_SKYVIEW_HK, info=Info.DISABLE_SKYVIEW_HK)
-    defs.add_service(
-        name=CustomServiceList.GPS_CTRL.value,
-        info="GPS/GNSS Controller",
-        op_code_entry=oce,
-    )
-
-
 def pack_gps_command(  # noqa: C901
     object_id: bytes, q: DefaultPusQueueHelper, cmd_str: str
 ):  # noqa: C901:
     if cmd_str == OpCode.RESET_GNSS:
-        # TODO: This needs to be re-implemented
+        for val in GnssChip:
+            print("{:<2}: {:<20}".format(val, val.name))
+        chip: str = ""
+        while chip not in ["0", "1"]:
+            chip = input("Please specify which chip to reset: ")
+        q.add_log_cmd(f"gps: {Info.DISABLE_CORE_HK}")
+        q.add_pus_tc(
+            create_action_cmd(object_id=object_id, action_id=5, user_data=chip.encode())
+        )
         _LOGGER.warning("Reset pin handling needs to be re-implemented")
     if cmd_str == OpCode.ENABLE_CORE_HK:
         interval = float(input("Please specify interval in floating point seconds: "))
diff --git a/eive_tmtc/tmtc/obj_prompt.py b/eive_tmtc/tmtc/obj_prompt.py
index c472a01..0764a92 100644
--- a/eive_tmtc/tmtc/obj_prompt.py
+++ b/eive_tmtc/tmtc/obj_prompt.py
@@ -6,6 +6,8 @@ from eive_tmtc.config.object_ids import (
     GYRO_1_L3G_HANDLER_ID,
     GYRO_2_ADIS_HANDLER_ID,
     ACS_BOARD_ASS_ID,
+    PLOC_MPSOC_ID,
+    PLOC_SUPV_ID,
     RW_ASSEMBLY,
     SUS_BOARD_ASS_ID,
     MGM_0_LIS3_HANDLER_ID,
@@ -28,6 +30,7 @@ SUBSYSTEM_DICT = {
     0: "acs",
     1: "tcs",
     2: "com",
+    3: "payload",
 }
 
 ACS_OBJ_DICT = {
@@ -59,6 +62,11 @@ TCS_OBJ_DICT = {
     5: ("TMP1075 IF BOARD", TMP1075_HANDLER_IF_BRD_ID),
 }
 
+PAYLOAD_OBJ_DICT = {
+    0: ("Payload MPSoC", PLOC_MPSOC_ID),
+    1: ("Payload Supervisor", PLOC_SUPV_ID),
+}
+
 
 def get_obj_if_from_dict(lut: dict) -> bytes:
     for k, v in lut.items():
@@ -81,6 +89,8 @@ def prompt_object() -> bytes:
         return get_obj_if_from_dict(ACS_OBJ_DICT)
     elif subsystem == "tcs":
         return get_obj_if_from_dict(TCS_OBJ_DICT)
+    elif subsystem == "payload":
+        return get_obj_if_from_dict(PAYLOAD_OBJ_DICT)
     else:
         print(f"No object for subsystem {subsystem}")
         return bytes()
diff --git a/eive_tmtc/tmtc/payload/subsystem.py b/eive_tmtc/tmtc/payload/subsystem.py
index 529865e..7ebd77a 100644
--- a/eive_tmtc/tmtc/payload/subsystem.py
+++ b/eive_tmtc/tmtc/payload/subsystem.py
@@ -21,20 +21,27 @@ class ModeId(enum.IntEnum):
 class OpCode(str, enum.Enum):
     OFF = "off"
     REPORT_ALL_MODES = "report_modes"
+    MPSOC_STREAM = "mode_mpsoc_stream"
+    CAM_STREAM = "mode_cam_stream"
+    EARTH_OBSV = "mode_eart_obsv"
 
 
 class Info(str, enum.Enum):
     OFF = "Off Command"
     REPORT_ALL_MODES = "Report all modes"
+    MPSOC_STREAM = "MPSoC Stream Mode"
+    CAM_STREAM = "Camera Stream Mode"
+    EARTH_OBSV = "Earth Observation Mode"
 
 
 HANDLER_LIST: Dict[str, Tuple[int, str]] = {
     OpCode.OFF: (ModeId.OFF, Info.OFF),
+    OpCode.MPSOC_STREAM: (ModeId.MPSOC_STREAM, Info.MPSOC_STREAM),
 }
 
 
-def build_acs_subsystem_cmd(q: DefaultPusQueueHelper, cmd_str: str):
-    info_prefix = "ACS Subsystem"
+def create_payload_subsystem_cmd(q: DefaultPusQueueHelper, cmd_str: str):
+    info_prefix = "Payload Subsystem"
     if cmd_str == OpCode.REPORT_ALL_MODES:
         q.add_log_cmd(f"{info_prefix}: {Info.REPORT_ALL_MODES}")
         q.add_pus_tc(
@@ -45,19 +52,28 @@ def build_acs_subsystem_cmd(q: DefaultPusQueueHelper, cmd_str: str):
             )
         )
     mode_info_tup = HANDLER_LIST.get(cmd_str)
+    assert mode_info_tup is not None
     if mode_info_tup is None:
         return
     pack_mode_cmd_with_info(
         object_id=PL_SUBSYSTEM_ID,
         info=f"{info_prefix}: {mode_info_tup[1]}",
-        submode=0,
         mode=mode_info_tup[0],
+        submode=0,
         q=q,
     )
 
 
 def create_payload_subsystem_node() -> CmdTreeNode:
     payload_node = CmdTreeNode("payload", "Payload Subsystem")
-    payload_node.add_child(CmdTreeNode(OpCode.OFF, Info.OFF))
-    payload_node.add_child(CmdTreeNode(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES))
+    subsystem_node = CmdTreeNode("subsystem", "Subsystem Commands")
+    subsystem_node.add_child(CmdTreeNode(OpCode.OFF, Info.OFF))
+    subsystem_node.add_child(CmdTreeNode(OpCode.MPSOC_STREAM, Info.MPSOC_STREAM))
+    subsystem_node.add_child(CmdTreeNode(OpCode.EARTH_OBSV, Info.EARTH_OBSV))
+    subsystem_node.add_child(CmdTreeNode(OpCode.CAM_STREAM, Info.CAM_STREAM))
+
+    subsystem_node.add_child(
+        CmdTreeNode(OpCode.REPORT_ALL_MODES, Info.REPORT_ALL_MODES)
+    )
+    payload_node.add_child(subsystem_node)
     return payload_node
diff --git a/eive_tmtc/tmtc/tcs/heater.py b/eive_tmtc/tmtc/tcs/heater.py
index 99fe3eb..356b751 100644
--- a/eive_tmtc/tmtc/tcs/heater.py
+++ b/eive_tmtc/tmtc/tcs/heater.py
@@ -59,7 +59,7 @@ CTN = CmdTreeNode
 
 
 def create_heater_node() -> CmdTreeNode:
-    node = CmdTreeNode("heater", "Heater Device", hide_children_which_are_leaves=True)
+    node = CmdTreeNode("heaters", "Heater Device", hide_children_which_are_leaves=True)
     node.add_child(CTN(OpCode.HEATER_CMD, Info.HEATER_CMD))
     node.add_child(CTN(OpCode.HEATER_HEALTHY_CMD, Info.HEATER_HEALTHY_CMD))
     node.add_child(CTN(OpCode.HEATER_EXT_CTRL, Info.HEATER_EXT_CTRL))
diff --git a/eive_tmtc/tmtc/time.py b/eive_tmtc/tmtc/time.py
index 1e7fdc7..97413c5 100644
--- a/eive_tmtc/tmtc/time.py
+++ b/eive_tmtc/tmtc/time.py
@@ -1,6 +1,7 @@
 import enum
+import struct
 import logging
-from datetime import datetime
+import datetime
 
 from spacepackets.ecss import PusTelecommand, PusService
 
@@ -8,28 +9,34 @@ from tmtccmd.tmtc import DefaultPusQueueHelper
 from tmtccmd.config import CmdTreeNode
 
 
+_LOGGER = logging.getLogger(__name__)
+
+
 class Subservice(enum.IntEnum):
     SET_TIME = 128
     DUMP_TIME = 129
+    RELATIVE_TIMESHIFT = 130
 
 
 class CmdStr:
     SET_CURRENT_TIME = "set_curr_time"
+    RELATIVE_TIMESHIFT = "relative_timeshift"
     DUMP_TIME = "dump_time"
 
 
 class Info:
     SET_CURRENT_TIME = "Setting current time in ASCII format"
+    RELATIVE_TIMESHIFT = "Shift time with a relative offset"
     DUMP_TIME = "Dump system time as event"
 
 
 def pack_time_management_cmd(q: DefaultPusQueueHelper, cmd_str: str):
     if cmd_str == CmdStr.SET_CURRENT_TIME:
-        current_time = datetime.utcnow().isoformat() + "Z" + "\0"
-        current_time_ascii = current_time.encode("ascii")
-        logging.getLogger(__name__).info(
-            f"Current time in ASCII format: {current_time_ascii}"
+        current_time = (
+            datetime.datetime.now(datetime.timezone.utc).isoformat() + "Z" + "\0"
         )
+        current_time_ascii = current_time.encode("ascii")
+        _LOGGER.info(f"Current time in ASCII format: {current_time_ascii}")
         q.add_log_cmd(Info.SET_CURRENT_TIME)
         q.add_pus_tc(
             PusTelecommand(
@@ -38,6 +45,17 @@ def pack_time_management_cmd(q: DefaultPusQueueHelper, cmd_str: str):
                 app_data=current_time_ascii,
             )
         )
+    elif cmd_str == CmdStr.RELATIVE_TIMESHIFT:
+        nanos = int(input("Specify relative timeshift in nanoseconds: "))
+        nanos_packed = struct.pack("!q", nanos)
+        q.add_log_cmd(Info.RELATIVE_TIMESHIFT)
+        q.add_pus_tc(
+            PusTelecommand(
+                service=PusService.S9_TIME_MGMT,
+                subservice=Subservice.RELATIVE_TIMESHIFT,
+                app_data=nanos_packed,
+            )
+        )
     elif cmd_str == CmdStr.DUMP_TIME:
         q.add_log_cmd(Info.DUMP_TIME)
         q.add_pus_tc(
@@ -51,4 +69,5 @@ def create_time_node() -> CmdTreeNode:
     time_node = CmdTreeNode("time", "Time Management")
     time_node.add_child(CmdTreeNode(CmdStr.SET_CURRENT_TIME, "Set current time"))
     time_node.add_child(CmdTreeNode(CmdStr.DUMP_TIME, "Dumpy current time"))
+    time_node.add_child(CmdTreeNode(CmdStr.RELATIVE_TIMESHIFT, Info.RELATIVE_TIMESHIFT))
     return time_node
diff --git a/pyproject.toml b/pyproject.toml
index 36e7208..b5f75e8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -6,7 +6,7 @@ build-backend = "setuptools.build_meta"
 name = "eive-tmtc"
 description = "TMTC Commander EIVE"
 readme = "README.md"
-version = "6.1.1"
+version = "6.2.0"
 requires-python = ">=3.10"
 license = {text = "Apache-2.0"}
 authors = [