diff --git a/sw/ground_segment/misc/natnet2ivy.c b/sw/ground_segment/misc/natnet2ivy.c
index 2ee254ab90..9f03bc123c 100644
--- a/sw/ground_segment/misc/natnet2ivy.c
+++ b/sw/ground_segment/misc/natnet2ivy.c
@@ -57,6 +57,12 @@ uint16_t natnet_data_port       = 1511;
 uint8_t natnet_major            = 2;
 uint8_t natnet_minor            = 7;
 
+/** Logging */
+FILE *fp;
+char *nameOfLogfile             = "natnet_log.dat";
+bool_t log_exists = 0;
+bool_t must_log = 0;
+
 /** Ivy Bus default */
 #ifdef __APPLE__
 char *ivy_bus                   = "224.255.255.255";
@@ -587,8 +593,41 @@ gboolean timeout_transmit_callback(gpointer data)
                  (int)(rigidBodies[i].ecef_vel.z * 100.0), //int32 ECEF velocity Z in m/s
                  0,
                  (int)(heading * 10000000.0));           //int32 Course in rad*1e7
+
+      if (must_log) {
+        if (log_exists == 0) {
+          fp = fopen(nameOfLogfile, "w");
+          log_exists = 1;
+        }
+
+        if (fp == NULL) {
+          printf("I couldn't open file for writing.\n");
+          exit(0);
+        } else {
+          struct timeval cur_time;
+          gettimeofday(&cur_time, NULL);
+          fprintf(fp, "%d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n", aircrafts[rigidBodies[i].id].ac_id,
+                  rigidBodies[i].nMarkers,                //uint8 Number of markers (sv_num)
+                  (int)(ecef_pos.x * 100.0),              //int32 ECEF X in CM
+                  (int)(ecef_pos.y * 100.0),              //int32 ECEF Y in CM
+                  (int)(ecef_pos.z * 100.0),              //int32 ECEF Z in CM
+                  (int)(DegOfRad(lla_pos.lat) * 1e7),     //int32 LLA latitude in deg*1e7
+                  (int)(DegOfRad(lla_pos.lon) * 1e7),     //int32 LLA longitude in deg*1e7
+                  (int)(rigidBodies[i].z * 1000.0),       //int32 LLA altitude in mm above elipsoid
+                  (int)(rigidBodies[i].z * 1000.0),       //int32 HMSL height above mean sea level in mm
+                  (int)(rigidBodies[i].ecef_vel.x * 100.0), //int32 ECEF velocity X in cm/s
+                  (int)(rigidBodies[i].ecef_vel.y * 100.0), //int32 ECEF velocity Y in cm/s
+                  (int)(rigidBodies[i].ecef_vel.z * 100.0), //int32 ECEF velocity Z in cm/s
+                  (int)(heading * 10000000.0),            //int32 Course in rad*1e7
+                  (int)cur_time.tv_sec,
+                  (int)cur_time.tv_usec);
+        }
+      }
     }
 
+
+
+
     // Reset the velocity differentiator if we calculated the velocity
     if (rigidBodies[i].nVelocitySamples >= min_velocity_samples) {
       rigidBodies[i].vel_x = 0;
@@ -634,7 +673,7 @@ void print_help(char *filename)
     "   -v, --verbose <level>     Verbosity level 0-2 (0)\n\n"
 
     "   -ac <rigid_id> <ac_id>    Use rigid ID for GPS of ac_id (multiple possible)\n\n"
-
+    "   -log <name of file>         Log to a file\n\n"
     "   -multicast_addr <ip>      NatNet server multicast address (239.255.42.99)\n"
     "   -server <ip>              NatNet server IP address (255.255.255.255)\n"
     "   -version <id>             NatNet server version (2.5)\n"
@@ -696,6 +735,13 @@ static void parse_options(int argc, char **argv)
       aircrafts[rigid_id].ac_id = ac_id;
       count_ac++;
     }
+    // See if we want to log to a file
+    else if (strcmp(argv[i], "-log") == 0) {
+      check_argcount(argc, argv, i, 1);
+
+      nameOfLogfile = argv[++i];
+      must_log = 1;
+    }
 
     // Set the NatNet multicast address
     else if (strcmp(argv[i], "-multicast_addr") == 0) {