diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index 5749ff396..e52795538 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -62,15 +62,15 @@ void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler")))
 
 // For debugging the raw sensors
 //#define DUMP_RAW
-//#define DUMP_FRIENDLY
+#define DUMP_FRIENDLY
 
 /**
  * @addtogroup AHRS_Definitions 
  * @{
  */
 // Currently analog acquistion hard coded at 480 Hz
-#define ADC_OVERSAMPLE          12
-#define EKF_RATE                ((float) 480 / ADC_OVERSAMPLE)
+#define ADC_OVERSAMPLE          40
+#define EKF_RATE                ((float) 4*480 / ADC_OVERSAMPLE)
 #define ADC_CONTINUOUS_CHANNELS PIOS_ADC_NUM_PINS
 #define CORRECTION_COUNT        4
 
diff --git a/flight/AHRS/inc/pios_board.h b/flight/AHRS/inc/pios_board.h
index eabfd0b85..a0100442a 100644
--- a/flight/AHRS/inc/pios_board.h
+++ b/flight/AHRS/inc/pios_board.h
@@ -193,7 +193,7 @@ TIM8  |           |           |           |
 #define PIOS_ADC_NUM_ADC_CHANNELS		2
 #define PIOS_ADC_USE_ADC2			1
 #define PIOS_ADC_CLOCK_FUNCTION			RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
-#define PIOS_ADC_ADCCLK				RCC_PCLK2_Div8
+#define PIOS_ADC_ADCCLK				RCC_PCLK2_Div2
 /* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
 /* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
 /* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
diff --git a/flight/AHRS/pios_board.c b/flight/AHRS/pios_board.c
index 1c9a89b44..257509243 100644
--- a/flight/AHRS/pios_board.c
+++ b/flight/AHRS/pios_board.c
@@ -157,7 +157,7 @@ void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler")));
 const struct pios_usart_cfg pios_usart_aux_cfg = {
   .regs = USART3,
   .init = {
-    .USART_BaudRate            = 115200,
+    .USART_BaudRate            = 230400,
     .USART_WordLength          = USART_WordLength_8b,
     .USART_Parity              = USART_Parity_No,
     .USART_StopBits            = USART_StopBits_1,
diff --git a/ground/src/experimental/SerialLogger/analyzeINSGPS.m b/ground/src/experimental/SerialLogger/analyzeINSGPS.m
index 8561d228f..a47a4d54b 100644
--- a/ground/src/experimental/SerialLogger/analyzeINSGPS.m
+++ b/ground/src/experimental/SerialLogger/analyzeINSGPS.m
@@ -43,6 +43,8 @@ if(gaps) % get biggest contiguous chunk
     data = data(idx);
 end
 
+data(end) = []; % delete in case partial update
+
 q = cat(1,data.q);
 accel = cat(1,data.accel);
 gyro = cat(1,data.gyro);