diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
index e9c2d987b6..8e7d0bc024 100644
--- a/common/CMakeLists.txt
+++ b/common/CMakeLists.txt
@@ -7,6 +7,8 @@ set(COMMON_SRC
         "${CMAKE_CURRENT_LIST_DIR}/model-views.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/notifications.h"
         "${CMAKE_CURRENT_LIST_DIR}/notifications.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/calibration-model.h"
+        "${CMAKE_CURRENT_LIST_DIR}/calibration-model.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/viewer.h"
         "${CMAKE_CURRENT_LIST_DIR}/viewer.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/ux-window.h"
@@ -23,6 +25,8 @@ set(COMMON_SRC
         "${CMAKE_CURRENT_LIST_DIR}/fw-update-helper.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/metadata-helper.h"
         "${CMAKE_CURRENT_LIST_DIR}/metadata-helper.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/output-model.h"
+        "${CMAKE_CURRENT_LIST_DIR}/output-model.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/skybox.h"
         "${CMAKE_CURRENT_LIST_DIR}/skybox.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/measurement.h"
diff --git a/common/calibration-model.cpp b/common/calibration-model.cpp
new file mode 100644
index 0000000000..385cd2b4f3
--- /dev/null
+++ b/common/calibration-model.cpp
@@ -0,0 +1,498 @@
+#include <glad/glad.h>
+#include "calibration-model.h"
+#include "model-views.h"
+#include "os.h"
+
+#include "../src/ds5/ds5-private.h"
+
+using namespace rs2;
+
+bool calibration_model::supports()
+{
+    bool is_d400 = dev.supports(RS2_CAMERA_INFO_PRODUCT_LINE) ?
+        std::string(dev.get_info(RS2_CAMERA_INFO_PRODUCT_LINE)) == "D400" : false;
+
+    return dev.is<rs2::auto_calibrated_device>() && is_d400;
+}
+
+calibration_model::calibration_model(rs2::device dev) : dev(dev) 
+{
+    _accept = config_file::instance().get_or_default(configurations::calibration::enable_writing, false);
+}
+
+void calibration_model::draw_float(std::string name, float& x, const float& orig, bool& changed)
+{
+    if (abs(x - orig) > 0.00001) ImGui::PushStyleColor(ImGuiCol_FrameBg, regular_blue);
+    else ImGui::PushStyleColor(ImGuiCol_FrameBg, black);
+    if (ImGui::DragFloat(std::string(to_string() << "##" << name).c_str(), &x, 0.001f))
+    {
+        changed = true;
+    }
+    ImGui::PopStyleColor();
+}
+
+void calibration_model::draw_float4x4(std::string name, librealsense::float3x3& feild, 
+                                      const librealsense::float3x3& original, bool& changed)
+{
+    ImGui::SetCursorPosX(10);
+    ImGui::Text("%s:", name.c_str()); ImGui::SameLine();
+    ImGui::SetCursorPosX(200);
+
+    ImGui::PushItemWidth(120);
+    ImGui::SetCursorPosX(200);
+    draw_float(name + "_XX", feild.x.x, original.x.x, changed);
+    ImGui::SameLine();
+    draw_float(name + "_XY", feild.x.y, original.x.y, changed);
+    ImGui::SameLine();
+    draw_float(name + "_XZ", feild.x.z, original.x.z, changed);
+    
+    ImGui::SetCursorPosX(200);
+    draw_float(name + "_YX", feild.y.x, original.y.x, changed);
+    ImGui::SameLine();
+    draw_float(name + "_YY", feild.y.y, original.y.y, changed);
+    ImGui::SameLine();
+    draw_float(name + "_YZ", feild.y.z, original.y.z, changed);
+
+    ImGui::SetCursorPosX(200);
+    draw_float(name + "_ZX", feild.z.x, original.z.x, changed);
+    ImGui::SameLine();
+    draw_float(name + "_ZY", feild.z.y, original.z.y, changed);
+    ImGui::SameLine();
+    draw_float(name + "_ZZ", feild.z.z, original.z.z, changed);
+
+    ImGui::PopItemWidth();
+
+    ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
+}
+
+namespace helpers
+{
+    #define UPDC32(octet, crc) (crc_32_tab[((crc) ^ (octet)) & 0xff] ^ ((crc) >> 8))
+
+    static const uint32_t crc_32_tab[] = { /* CRC polynomial 0xedb88320 */
+        0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f,
+        0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
+        0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2,
+        0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+        0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9,
+        0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
+        0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c,
+        0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+        0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423,
+        0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
+        0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106,
+        0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+        0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d,
+        0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
+        0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950,
+        0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+        0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7,
+        0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
+        0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa,
+        0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+        0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81,
+        0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
+        0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84,
+        0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+        0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb,
+        0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
+        0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e,
+        0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+        0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55,
+        0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
+        0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28,
+        0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+        0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f,
+        0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
+        0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242,
+        0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+        0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69,
+        0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
+        0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc,
+        0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+        0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693,
+        0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
+        0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
+    };
+
+    /// Calculate CRC code for arbitrary characters buffer
+    uint32_t calc_crc32(const uint8_t *buf, size_t bufsize)
+    {
+        uint32_t oldcrc32 = 0xFFFFFFFF;
+        for (; bufsize; --bufsize, ++buf)
+            oldcrc32 = UPDC32(*buf, oldcrc32);
+        return ~oldcrc32;
+    }
+};
+
+void calibration_model::update(ux_window& window, std::string& error_message)
+{
+    const auto window_name = "Calibration Window";
+
+    if (to_open)
+    {
+        try
+        {
+            _calibration = dev.as<rs2::auto_calibrated_device>().get_calibration_table();
+            _original = _calibration;
+            ImGui::OpenPopup(window_name);
+        }
+        catch(std::exception e)
+        {
+            error_message = e.what();
+        }
+        to_open = false;
+    }
+
+    auto table = (librealsense::ds::coefficients_table*)_calibration.data();
+    auto orig_table = (librealsense::ds::coefficients_table*)_original.data();
+    bool changed = false;
+    
+    const float w = 620;
+    const float h = 500;
+    const float x0 = std::max(window.width() - w, 0.f) / 2;
+    const float y0 = std::max(window.height() - h, 0.f) / 2;
+    ImGui::SetNextWindowPos({ x0, y0 });
+    ImGui::SetNextWindowSize({ w, h });
+
+    auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoTitleBar |
+        ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings;
+
+    ImGui::PushStyleColor(ImGuiCol_PopupBg, sensor_bg);
+    ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
+    ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
+    ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5, 5));
+    ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 1);
+
+    if (ImGui::BeginPopupModal(window_name, nullptr, flags))
+    {
+        if (error_message != "") ImGui::CloseCurrentPopup();
+
+        std::string title_message = "CAMERA CALIBRATION";
+        auto title_size = ImGui::CalcTextSize(title_message.c_str());
+        ImGui::SetCursorPosX(w / 2 - title_size.x / 2);
+        ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
+        ImGui::PushFont(window.get_large_font());
+        ImGui::PushStyleColor(ImGuiCol_Text, white);
+        ImGui::Text("%s", title_message.c_str());
+        ImGui::PopStyleColor();
+        ImGui::PopFont();
+        ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
+
+        ImGui::SetCursorPosX(w / 2 - 260 / 2);
+        if (ImGui::Button(u8"\uF07C Load...", ImVec2(70, 30)))
+        {
+            try
+            {
+                if (auto fn = file_dialog_open(file_dialog_mode::open_file, "Calibration JSON\0*.json\0", nullptr, nullptr))
+                {
+                    config_file cf(fn);
+                    table->baseline = cf.get("baseline");
+
+                    auto load_float3x4 = [&](std::string name, librealsense::float3x3& m){
+                        m.x.x = cf.get(std::string(to_string() << name << ".x.x").c_str());
+                        m.x.y = cf.get(std::string(to_string() << name << ".x.y").c_str());
+                        m.x.z = cf.get(std::string(to_string() << name << ".x.z").c_str());
+
+                        m.y.x = cf.get(std::string(to_string() << name << ".y.x").c_str());
+                        m.y.y = cf.get(std::string(to_string() << name << ".y.y").c_str());
+                        m.y.z = cf.get(std::string(to_string() << name << ".y.z").c_str());
+
+                        m.z.x = cf.get(std::string(to_string() << name << ".z.x").c_str());
+                        m.z.y = cf.get(std::string(to_string() << name << ".z.y").c_str());
+                        m.z.z = cf.get(std::string(to_string() << name << ".z.z").c_str());
+                    };
+
+                    load_float3x4("intrinsic_left", table->intrinsic_left);
+                    load_float3x4("intrinsic_right", table->intrinsic_right);
+                    load_float3x4("world2left_rot", table->world2left_rot);
+                    load_float3x4("world2right_rot", table->world2right_rot);
+                    
+                    for (int i = 0; i < librealsense::ds::max_ds5_rect_resolutions; i++)
+                    {
+                        auto xy = librealsense::ds::resolutions_list[(librealsense::ds::ds5_rect_resolutions)i];
+                        int w = xy.x; int h = xy.y;
+
+                        table->rect_params[i].x = cf.get(std::string(to_string() << "rectified." << i << ".fx").c_str());
+                        table->rect_params[i].y = cf.get(std::string(to_string() << "rectified." << i << ".fy").c_str());
+                        
+                        table->rect_params[i].z = cf.get(std::string(to_string() << "rectified." << i << ".ppx").c_str());
+                        table->rect_params[i].w = cf.get(std::string(to_string() << "rectified." << i << ".ppy").c_str());
+                    }
+                }
+
+                changed = true;
+            }
+            catch (const std::exception& ex)
+            {
+                error_message = ex.what();
+                ImGui::CloseCurrentPopup();
+            }
+        }
+        if (ImGui::IsItemHovered())
+        {
+            window.link_hovered();
+            ImGui::SetTooltip("%s", "Load calibration from file");
+        }
+        ImGui::SameLine();
+        if (ImGui::Button(u8"\uF0C7 Save As...", ImVec2(100, 30)))
+        {
+            try 
+            {
+                if (auto fn = file_dialog_open(file_dialog_mode::save_file, "Calibration JSON\0*.json\0", nullptr, nullptr))
+                {
+                    config_file cf(fn);
+                    cf.set("baseline", table->baseline);
+
+                    auto save_float3x4 = [&](std::string name, librealsense::float3x3& m){
+                        cf.set(std::string(to_string() << name << ".x.x").c_str(), m.x.x);
+                        cf.set(std::string(to_string() << name << ".x.y").c_str(), m.x.y);
+                        cf.set(std::string(to_string() << name << ".x.z").c_str(), m.x.z);
+
+                        cf.set(std::string(to_string() << name << ".y.x").c_str(), m.y.x);
+                        cf.set(std::string(to_string() << name << ".y.y").c_str(), m.y.y);
+                        cf.set(std::string(to_string() << name << ".y.z").c_str(), m.y.z);
+
+                        cf.set(std::string(to_string() << name << ".z.x").c_str(), m.z.x);
+                        cf.set(std::string(to_string() << name << ".z.y").c_str(), m.z.y);
+                        cf.set(std::string(to_string() << name << ".z.z").c_str(), m.z.z);
+                    };
+
+                    save_float3x4("intrinsic_left", table->intrinsic_left);
+                    save_float3x4("intrinsic_right", table->intrinsic_right);
+                    save_float3x4("world2left_rot", table->world2left_rot);
+                    save_float3x4("world2right_rot", table->world2right_rot);
+                    
+                    for (int i = 0; i < librealsense::ds::max_ds5_rect_resolutions; i++)
+                    {
+                        auto xy = librealsense::ds::resolutions_list[(librealsense::ds::ds5_rect_resolutions)i];
+                        int w = xy.x; int h = xy.y;
+
+                        cf.set(std::string(to_string() << "rectified." << i << ".width").c_str(), w);
+                        cf.set(std::string(to_string() << "rectified." << i << ".height").c_str(), h);
+
+                        cf.set(std::string(to_string() << "rectified." << i << ".fx").c_str(), table->rect_params[i].x);
+                        cf.set(std::string(to_string() << "rectified." << i << ".fy").c_str(), table->rect_params[i].y);
+
+                        cf.set(std::string(to_string() << "rectified." << i << ".ppx").c_str(), table->rect_params[i].z);
+                        cf.set(std::string(to_string() << "rectified." << i << ".ppy").c_str(), table->rect_params[i].w);
+                    }
+                }
+            }
+            catch (const std::exception& ex)
+            {
+                error_message = ex.what();
+                ImGui::CloseCurrentPopup();
+            }
+        }
+        if (ImGui::IsItemHovered())
+        {
+            window.link_hovered();
+            ImGui::SetTooltip("%s", "Save calibration image to file");
+        }
+        ImGui::SameLine();
+        if (_accept)
+        {
+            if (ImGui::Button(u8"\uF275 Restore Factory", ImVec2(115, 30)))
+            {
+                try
+                {
+                    dev.as<rs2::auto_calibrated_device>().reset_to_factory_calibration();
+                    _calibration = dev.as<rs2::auto_calibrated_device>().get_calibration_table();
+                    _original = _calibration;
+                    changed = true;
+                }
+                catch(const std::exception& ex)
+                {
+                    error_message = ex.what();
+                    ImGui::CloseCurrentPopup();
+                }
+            }
+            if (ImGui::IsItemHovered())
+            {
+                window.link_hovered();
+                ImGui::SetTooltip("%s", "Restore calibration in flash to factory settings");
+            }
+        }
+        else
+        {
+            ImGui::PushStyleColor(ImGuiCol_Text, grey);
+            ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, grey);
+
+            ImGui::Button(u8"\uF275 Restore Factory", ImVec2(115, 30));
+            if (ImGui::IsItemHovered())
+            {
+                ImGui::SetTooltip("%s", "Write selected calibration table to the device. For advanced users");
+            }
+
+            ImGui::PopStyleColor(2);
+        }
+
+        ImGui::PushStyleColor(ImGuiCol_ChildWindowBg, dark_sensor_bg);
+
+        ImGui::BeginChild("##CalibData",ImVec2(w - 15, h - 110), true);
+
+        ImGui::SetCursorPosX(10);
+        ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
+        
+        ImGui::Text("Stereo Baseline(mm):"); ImGui::SameLine();
+        ImGui::SetCursorPosX(200);
+
+        ImGui::PushItemWidth(120);
+        draw_float("Baseline", table->baseline, orig_table->baseline, changed);
+        ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
+        ImGui::PopItemWidth();
+
+        draw_float4x4("Left Intrinsics", table->intrinsic_left, orig_table->intrinsic_left, changed);
+        draw_float4x4("Right Intrinsics", table->intrinsic_right, orig_table->intrinsic_right, changed);
+        draw_float4x4("World to Left Rotation", table->world2left_rot, orig_table->world2left_rot, changed);
+        draw_float4x4("World to Right Rotation", table->world2right_rot, orig_table->world2right_rot, changed);
+
+        ImGui::SetCursorPosX(10);
+        ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
+        
+        ImGui::Text("Rectified Resolution:"); ImGui::SameLine();
+        ImGui::SetCursorPosX(200);
+
+        std::vector<std::string> resolution_names;
+        std::vector<const char*> resolution_names_char;
+        std::vector<int> resolution_offset;
+        for (int i = 0; i < librealsense::ds::max_ds5_rect_resolutions; i++)
+        {
+            auto xy = librealsense::ds::resolutions_list[(librealsense::ds::ds5_rect_resolutions)i];
+            int w = xy.x; int h = xy.y;
+            if (w != 0) {
+                resolution_offset.push_back(i);
+                std::string name = to_string() << w <<" x "<<h;
+                resolution_names.push_back(name);
+            }
+        }
+        for (int i = 0; i < resolution_offset.size(); i++)
+        {
+            resolution_names_char.push_back(resolution_names[i].c_str());
+        }
+
+        ImGui::PushItemWidth(120);
+        ImGui::Combo("##RectifiedResolutions", &selected_resolution, resolution_names_char.data(), resolution_names_char.size());
+
+        ImGui::SetCursorPosX(10);
+        ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
+        
+        ImGui::Text("Focal Length:"); ImGui::SameLine();
+        ImGui::SetCursorPosX(200);
+
+        draw_float("FocalX", table->rect_params[selected_resolution].x, orig_table->rect_params[selected_resolution].x, changed);
+        ImGui::SameLine();
+        draw_float("FocalY", table->rect_params[selected_resolution].y, orig_table->rect_params[selected_resolution].y, changed);
+
+        ImGui::SetCursorPosX(10);
+        ImGui::Text("Principal Point:"); ImGui::SameLine();
+        ImGui::SetCursorPosX(200);
+
+        draw_float("PPX", table->rect_params[selected_resolution].z, orig_table->rect_params[selected_resolution].z, changed);
+        ImGui::SameLine();
+        draw_float("PPY", table->rect_params[selected_resolution].w, orig_table->rect_params[selected_resolution].w, changed);
+
+        ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
+
+        ImGui::PopItemWidth();
+
+        if (ImGui::IsWindowHovered()) window.set_hovered_over_input();
+
+        ImGui::EndChild();
+        ImGui::PopStyleColor();
+
+        ImGui::SetCursorScreenPos({ (float)(x0 + 10), (float)(y0 + h - 30) });
+        if (ImGui::Checkbox("I know what I'm doing", &_accept))
+        {
+            config_file::instance().set(configurations::calibration::enable_writing, _accept);
+        }
+        if (ImGui::IsItemHovered())
+        {
+            ImGui::SetTooltip("%s", "Changing calibration will affect depth quality. Changes are persistent.\nThere is an option to get back to factory calibration, but it maybe worse than current calibration\nBefore writing to flash, we strongly recommend to make a file backup");
+        }
+
+        ImGui::SetCursorScreenPos({ (float)(x0 + w - 230), (float)(y0 + h - 30) });
+
+        if (ImGui::Button("Cancel", ImVec2(100, 25)))
+        {
+            ImGui::CloseCurrentPopup();
+        }
+        if (ImGui::IsItemHovered())
+        {
+            window.link_hovered();
+            ImGui::SetTooltip("%s", "Close without saving any changes");
+        }
+        ImGui::SameLine();
+
+        auto streams = dev.query_sensors()[0].get_active_streams();
+        if (_accept && streams.size())
+        {
+            if (ImGui::Button(u8"\uF2DB  Write Table", ImVec2(120, 25)))
+            {
+                try
+                {
+                    auto actual_data = _calibration.data() + sizeof(librealsense::ds::table_header);
+                    auto actual_data_size = _calibration.size() - sizeof(librealsense::ds::table_header);
+                    auto crc = helpers::calc_crc32(actual_data, actual_data_size);
+                    table->header.crc32 = crc;
+                    dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
+                    dev.as<rs2::auto_calibrated_device>().write_calibration();
+                    _original = _calibration;
+                    ImGui::CloseCurrentPopup();
+                }
+                catch (const std::exception& ex)
+                {
+                    error_message = ex.what();
+                    ImGui::CloseCurrentPopup();
+                }
+            }
+            if (ImGui::IsItemHovered())
+            {
+                window.link_hovered();
+                ImGui::SetTooltip("%s", "Write selected calibration table to the device");
+            }
+        }
+        else
+        {
+            ImGui::PushStyleColor(ImGuiCol_Text, grey);
+            ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, grey);
+
+            ImGui::Button(u8"\uF2DB  Write Table", ImVec2(120, 25));
+            if (ImGui::IsItemHovered())
+            {
+                ImGui::SetTooltip("%s", "Write selected calibration table to the device. For advanced users");
+            }
+
+            ImGui::PopStyleColor(2);
+        }
+
+        if (changed && streams.size())
+        {
+            try
+            {
+                dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
+            }
+            catch (const std::exception& ex)
+            {
+                try
+                {
+                    dev.query_sensors()[0].close();
+                    dev.query_sensors()[0].open(streams);
+                    dev.as<rs2::auto_calibrated_device>().set_calibration_table(_calibration);
+                }
+                catch (const std::exception& ex)
+                {
+                    error_message = ex.what();
+                    ImGui::CloseCurrentPopup();
+                }
+            }
+        }
+
+        if (ImGui::IsWindowHovered()) window.set_hovered_over_input();
+
+        ImGui::EndPopup();
+    }
+    ImGui::PopStyleColor(3);
+    ImGui::PopStyleVar(2);
+}
\ No newline at end of file
diff --git a/common/calibration-model.h b/common/calibration-model.h
new file mode 100644
index 0000000000..d322f31a5c
--- /dev/null
+++ b/common/calibration-model.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <librealsense2/rs.hpp>
+#include "ux-window.h"
+
+namespace librealsense
+{
+    struct float3x3;
+}
+
+namespace rs2
+{
+    class calibration_model
+    {
+    public:
+        calibration_model(rs2::device dev);
+
+        bool supports();
+
+        void update(ux_window& window, std::string& error_message);
+
+        void open() { to_open = true; }
+
+    private:
+        void draw_float4x4(std::string name, librealsense::float3x3& feild, const librealsense::float3x3& original, bool& changed);
+        void draw_float(std::string name, float& x, const float& orig, bool& changed);
+
+        rs2::device dev;
+        bool to_open = false;
+        bool _accept = false;
+
+        std::vector<uint8_t> _calibration;
+        std::vector<uint8_t> _original;
+
+        int selected_resolution = 0;
+    };
+}
\ No newline at end of file
diff --git a/common/fw-update-helper.cpp b/common/fw-update-helper.cpp
index a5b08ac83d..5671f5beb7 100644
--- a/common/fw-update-helper.cpp
+++ b/common/fw-update-helper.cpp
@@ -196,7 +196,7 @@ namespace rs2
 
             auto flash = upd.create_flash_backup([&](const float progress)
             {
-                _progress = ((ceil(progress * 5) / 5) * (30 - next_progress)) + next_progress;
+                _progress = int((ceil(progress * 5) / 5) * (30 - next_progress)) + next_progress;
             });
 
             auto temp = get_folder_path(special_folder::app_data);
@@ -221,7 +221,7 @@ namespace rs2
                 if (!check_for([this, serial, &dfu]() {
                     auto devs = _ctx.query_devices();
 
-                    for (int j = 0; j < devs.size(); j++)
+                    for (uint32_t j = 0; j < devs.size(); j++)
                     {
                         try
                         {
@@ -267,7 +267,7 @@ namespace rs2
 
             dfu.update(_fw, [&](const float progress)
             {
-                _progress = (ceil(progress * 10) / 10 * (90 - next_progress)) + next_progress;
+                _progress = int((ceil(progress * 10) / 10 * (90 - next_progress)) + next_progress);
             });
 
             log("Firmware Download completed, await DFU transition event");
@@ -279,7 +279,7 @@ namespace rs2
             auto upd = _dev.as<updatable>();
             upd.update_unsigned(_fw, [&](const float progress)
             {
-                _progress = (ceil(progress * 10) / 10 * (90 - next_progress)) + next_progress;
+                _progress = int((ceil(progress * 10) / 10 * (90 - next_progress)) + next_progress);
             });
             log("Firmware Update completed, waiting for device to reconnect");
         }
@@ -287,7 +287,7 @@ namespace rs2
         if (!check_for([this, serial, &dfu]() {
             auto devs = _ctx.query_devices();
 
-            for (int j = 0; j < devs.size(); j++)
+            for (uint32_t j = 0; j < devs.size(); j++)
             {
                 try
                 {
@@ -341,7 +341,7 @@ namespace rs2
 
             ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - 67) });
 
-            ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1. - t));
+            ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1.f - t));
 
             if (update_state == RS2_FWU_STATE_INITIAL_PROMPT)
                 ImGui::Text("Firmware updates offer critical bug fixes and\nunlock new camera capabilities.");
diff --git a/common/measurement.cpp b/common/measurement.cpp
index 6c1cfd7724..99d097b4fc 100644
--- a/common/measurement.cpp
+++ b/common/measurement.cpp
@@ -85,8 +85,8 @@ void measurement::add_point(interest_point p)
             state.polygons.clear();
         }
 
-        int last = state.points.size();
-        if (current_hovered_point == -1 || 
+        int last = int(state.points.size());
+        if (current_hovered_point == -1 ||
             current_hovered_point >= state.points.size())
         {
             state.points.push_back(p);
@@ -122,7 +122,7 @@ void measurement::add_point(interest_point p)
             log_function(to_string() << "Measured distance of " << length_to_string(dist.length()));
         }
 
-        last_hovered_point = state.points.size() - 1;
+        last_hovered_point = int(state.points.size() - 1);
 
         commit_state();
     }
@@ -186,18 +186,18 @@ void draw_sphere(const float3& pos, float r, int lats, int longs)
 {
     for(int i = 0; i <= lats; i++) 
     {
-        float lat0 = M_PI * (-0.5 + (float) (i - 1) / lats);
+        float lat0 = float(M_PI) * (-0.5f + (float) (i - 1) / lats);
         float z0  = sin(lat0);
         float zr0 =  cos(lat0);
 
-        float lat1 = M_PI * (-0.5 + (float) i / lats);
+        float lat1 = float(M_PI) * (-0.5f + (float) i / lats);
         float z1 = sin(lat1);
         float zr1 = cos(lat1);
 
         glBegin(GL_QUAD_STRIP);
         for(int j = 0; j <= longs; j++) 
         {
-            float lng = 2 * M_PI * (float) (j - 1) / longs;
+            float lng = 2.f * float(M_PI) * (float) (j - 1) / longs;
             float x = cos(lng);
             float y = sin(lng);
 
@@ -305,7 +305,7 @@ void measurement::draw_ruler(ux_window& win, float3 from, float3 to, float heigh
         // calculate center of the ruler line
         float3 ctr = from + (to - from) / 2;
         float distance = (to - from).length();
-        draw_label(win, ctr, distance, height);
+        draw_label(win, ctr, distance, int(height));
     }
 }
 
@@ -352,7 +352,7 @@ void measurement::update_input(ux_window& win, const rs2::rect& viewer_rect)
             if (rect_copy.contains(win.get_mouse().cursor))
             {
                 input_ctrl.click = true;
-                input_ctrl.click_time = glfwGetTime();
+                input_ctrl.click_time = float(glfwGetTime());
             }
         }
     }
@@ -478,8 +478,8 @@ void measurement::draw(ux_window& win)
         const int segments = 50;
         for (int i = 0; i < segments; i++)
         {
-            auto t1 = 2 * M_PI * ((float)i / segments);
-            auto t2 = 2 * M_PI * ((float)(i+1) / segments);
+            auto t1 = 2.f * float(M_PI) * ((float)i / segments);
+            auto t2 = 2.f * float(M_PI) * ((float)(i+1) / segments);
             float4 xy1 { cosf(t1) * size, sinf(t1) * size, 0.f, 1.f };
             xy1 = basis * xy1;
             xy1 = float4 { _picked.x + xy1.x, _picked.y + xy1.y, _picked.z  + xy1.z, 1.f };
@@ -556,7 +556,7 @@ void measurement::draw(ux_window& win)
 
         auto area = calculate_area(points);
 
-        draw_label(win, mid, area, win.framebuf_height(), true);
+        draw_label(win, mid, area, int(win.framebuf_height()), true);
     }
 
     for (int i = 0; i < state.edges.size(); i++)
diff --git a/common/measurement.h b/common/measurement.h
index 2a5e208586..ff1b39130d 100644
--- a/common/measurement.h
+++ b/common/measurement.h
@@ -96,8 +96,8 @@ namespace rs2
             double selection_started = 0.0;
             float2 down_pos { 0.f, 0.f };
             int mouse_wheel = 0;
-            double click_time = 0.0;
-            float click_period() { return clamp((glfwGetTime() - click_time) * 10, 0.f, 1.f); }
+            float click_time = 0.f;
+            float click_period() { return clamp(float(glfwGetTime() - click_time) * 10, 0.f, 1.f); }
         };
         mouse_control input_ctrl;
         int id = 0;
diff --git a/common/metadata-helper.cpp b/common/metadata-helper.cpp
index 1f160ab542..7182b271be 100644
--- a/common/metadata-helper.cpp
+++ b/common/metadata-helper.cpp
@@ -118,7 +118,7 @@ namespace rs2
                         &cbSecurityDescriptor,   // security descriptor 
                         &ftLastWriteTime);       // last write time 
 
-                    for (int i = 0; i < cSubKeys; i++)
+                    for (auto i = 0ul; i < cSubKeys; i++)
                     {
                         TCHAR achKey[MAX_KEY_LENGTH];
                         DWORD cbName = MAX_KEY_LENGTH;
@@ -133,7 +133,8 @@ namespace rs2
                         {
                             std::wstring suffix = achKey;
                             device_id rdid;
-                            if (parse_device_id(std::string(suffix.begin(), suffix.end()), &rdid))
+                            auto a = std::string(suffix.begin(), suffix.end());
+                            if (parse_device_id(a, &rdid))
                             {
                                 for (auto&& did : kvp.second)
                                 {
@@ -223,6 +224,7 @@ namespace rs2
                         CloseHandle(sei.hProcess);
                         if (exitCode)
                             throw std::runtime_error("Failed to set metadata registry keys!");
+                        return true;
                     }
                 }
                 else
@@ -287,7 +289,7 @@ namespace rs2
 
                 rs2::context ctx;
                 auto list = ctx.query_devices();
-                for (int i = 0; i < list.size(); i++)
+                for (uint32_t i = 0; i < list.size(); i++)
                 {
                     try
                     {
diff --git a/common/model-views.cpp b/common/model-views.cpp
index 33258c871b..1df5ee9ed6 100644
--- a/common/model-views.cpp
+++ b/common/model-views.cpp
@@ -31,11 +31,12 @@
 
 #include "imgui-fonts-karla.hpp"
 #include "imgui-fonts-fontawesome.hpp"
+#include "imgui-fonts-monofont.hpp"
 
 #include "os.h"
 
 #include "metadata-helper.h"
-
+#include "calibration-model.h"
 
 using namespace rs400;
 using namespace nlohmann;
@@ -43,7 +44,9 @@ using namespace rs2::sw_update;
 
 static rs2_sensor_mode resolution_from_width_height(int width, int height)
 {
-    if ((width == 640 && height == 480) || (height == 640 && width == 480))
+    if ((width == 240 && height == 320) || (width == 320 && height == 240))
+        return RS2_SENSOR_MODE_QVGA;
+    else if ((width == 640 && height == 480) || (height == 640 && width == 480))
         return RS2_SENSOR_MODE_VGA;
     else if ((width == 1024 && height == 768) || (height == 768 && width == 1024))
         return RS2_SENSOR_MODE_XGA;
@@ -137,7 +140,7 @@ namespace rs2
         file.write((char*)bytes.data(), bytes.size());
     }
 
-    void imgui_easy_theming(ImFont*& font_14, ImFont*& font_18)
+    void imgui_easy_theming(ImFont*& font_14, ImFont*& font_18, ImFont*& monofont)
     {
         ImGuiStyle& style = ImGui::GetStyle();
 
@@ -178,6 +181,21 @@ namespace rs2
 
         }
 
+        // Load monofont
+        {
+            ImFontConfig config_words;
+            config_words.OversampleV = OVERSAMPLE;
+            config_words.OversampleH = OVERSAMPLE;
+            monofont = io.Fonts->AddFontFromMemoryCompressedTTF(monospace_compressed_data, monospace_compressed_size, 15.f);
+
+            ImFontConfig config_glyphs;
+            config_glyphs.MergeMode = true;
+            config_glyphs.OversampleV = OVERSAMPLE;
+            config_glyphs.OversampleH = OVERSAMPLE;
+            monofont = io.Fonts->AddFontFromMemoryCompressedTTF(font_awesome_compressed_data,
+                font_awesome_compressed_size, 14.f, &config_glyphs, icons_ranges);
+        }
+
         style.WindowRounding = 0.0f;
         style.ScrollbarRounding = 0.0f;
 
@@ -1129,7 +1147,7 @@ namespace rs2
                 {
                     s->set_option( RS2_OPTION_SENSOR_MODE, resolution_from_width_height( res_values[ui.selected_res_id].first, res_values[ui.selected_res_id].second ) );
                 }
-                catch( not_implemented_error const & e )
+                catch( not_implemented_error const &)
                 {
                     // Just ignore for now: need to figure out a way to write to playback sensors...
                 }
@@ -1237,8 +1255,8 @@ namespace rs2
                         auto width = res_values[ui.selected_res_id].first;
                         auto height = res_values[ui.selected_res_id].second;
                         auto res = resolution_from_width_height(width, height);
-                        if (res >= RS2_SENSOR_MODE_XGA && res < RS2_SENSOR_MODE_COUNT)
-                            s->set_option(RS2_OPTION_SENSOR_MODE, res);
+                        if (res >= RS2_SENSOR_MODE_VGA && res < RS2_SENSOR_MODE_COUNT)
+                            s->set_option(RS2_OPTION_SENSOR_MODE, float(res));
                     }
                 }
                 ImGui::PopStyleColor();
@@ -3356,6 +3374,7 @@ namespace rs2
 
     device_model::device_model(device& dev, std::string& error_message, viewer_model& viewer)
         : dev(dev),
+        _calib_model(dev),
         syncer(viewer.syncer),
         _update_readonly_options_timer(std::chrono::seconds(6))
         , _detected_objects(std::make_shared< atomic_objects_in_frame >()),
@@ -4505,6 +4524,7 @@ namespace rs2
         ImGui::PopFont();
         ImGui::PushFont(window.get_font());
         static bool keep_showing_advanced_mode_modal = false;
+        bool open_calibration_ui = false;
         if (ImGui::BeginPopup(label.c_str()))
         {
             bool something_to_show = false;
@@ -4738,6 +4758,80 @@ namespace rs2
                         ImGui::SetTooltip("Tare calibration is used to adjust camera absolute distance to flat target.\n"
                             "User needs to enter the known ground truth");
 
+                    
+                    if (_calib_model.supports())
+                    {
+                        if (ImGui::Selectable("Calibration Data"))
+                        {
+                            _calib_model.open();
+                        }
+                        if (ImGui::IsItemHovered())
+                            ImGui::SetTooltip("Access low level camera calibration parameters");
+                    }
+
+                    if (auto fwlogger = dev.as<rs2::firmware_logger>())
+                    {
+                        if (ImGui::Selectable("Recover Logs from Flash"))
+                        {
+                            try
+                            {
+                                bool has_parser = false;
+                                std::string hwlogger_xml = config_file::instance().get(configurations::viewer::hwlogger_xml);
+                                std::ifstream f(hwlogger_xml.c_str());
+                                if (f.good())
+                                {
+                                    try
+                                    {
+                                        std::string str((std::istreambuf_iterator<char>(f)),
+                                            std::istreambuf_iterator<char>());
+                                        fwlogger.init_parser(str);
+                                        has_parser = true;
+                                    }
+                                    catch (const std::exception& ex)
+                                    {
+                                        viewer.not_model->output.add_log(RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, 
+                                            to_string() << "Invalid Hardware Logger XML at '" << hwlogger_xml << "': " << ex.what() << "\nEither configure valid XML or remove it");
+                                    }
+                                }
+
+                                auto message = fwlogger.create_message();
+                                
+                                while (fwlogger.get_flash_log(message))
+                                {
+                                    auto parsed = fwlogger.create_parsed_message();
+                                    auto parsed_ok = false;
+                                    
+                                    if (has_parser)
+                                    {
+                                        if (fwlogger.parse_log(message, parsed))
+                                        {
+                                            parsed_ok = true;
+
+                                            viewer.not_model->output.add_log(message.get_severity(), 
+                                                parsed.file_name(), parsed.line(), to_string() 
+                                                    << "FW-LOG [" << parsed.thread_name() << "] " << parsed.message());
+                                        }
+                                    }
+
+                                    if (!parsed_ok)
+                                    {
+                                        std::stringstream ss; 
+                                        for (auto& elem : message.data())
+                                            ss << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(elem) << " ";
+                                        viewer.not_model->output.add_log(message.get_severity(), __FILE__, 0, ss.str());
+                                    }                            
+                                }
+                            }
+                            catch(const std::exception& ex)
+                            {
+                                viewer.not_model->output.add_log(RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, 
+                                    to_string() << "Failed to fetch firmware logs: " << ex.what());
+                            }
+                        }
+                        if (ImGui::IsItemHovered())
+                            ImGui::SetTooltip("Recovers last set of firmware logs prior to camera shutdown / disconnect");
+                    }
+
                     has_autocalib = true;
                 }
             }
@@ -4764,6 +4858,10 @@ namespace rs2
             std::string msg = to_string() << "\t\tAre you sure you want to " << (is_advanced_mode_enabled ? "turn off Advanced mode" : "turn on Advanced mode") << "\t\t";
             keep_showing_advanced_mode_modal = prompt_toggle_advanced_mode(!is_advanced_mode_enabled, msg, restarting_device_info, viewer, window);
         }
+
+        _calib_model.update(window, error_message);
+
+            
         ////////////////////////////////////////
         // Draw icons names
         ////////////////////////////////////////
diff --git a/common/model-views.h b/common/model-views.h
index 3ade00fb50..e79f6e9c60 100644
--- a/common/model-views.h
+++ b/common/model-views.h
@@ -26,6 +26,7 @@
 #include "realsense-ui-advanced-mode.h"
 #include "fw-update-helper.h"
 #include "updates-model.h"
+#include "calibration-model.h"
 
 ImVec4 from_rgba(uint8_t r, uint8_t g, uint8_t b, uint8_t a, bool consistent_color = false);
 ImVec4 operator+(const ImVec4& c, float v);
@@ -57,7 +58,8 @@ static const ImVec4 yellowish = from_rgba(255, 253, 191, 255, true);
 static const ImVec4 green = from_rgba(0x20, 0xe0, 0x20, 0xff, true);
 static const ImVec4 dark_sensor_bg = from_rgba(0x1b, 0x21, 0x25, 170);
 static const ImVec4 red = from_rgba(233, 0, 0, 255, true);
-static const ImVec4 greenish = from_rgba(33, 104, 0, 255);
+static const ImVec4 greenish = from_rgba(67, 163, 97, 255);
+static const ImVec4 orange = from_rgba(255, 157, 0, 255, true);
 
 inline ImVec4 operator*(const ImVec4& color, float t)
 {
@@ -68,44 +70,6 @@ inline ImVec4 operator+(const ImVec4& a, const ImVec4& b)
     return ImVec4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
 }
 
-// Helper class that lets smoothly animate between its values
-template<class T>
-class animated
-{
-private:
-    T _old, _new;
-    std::chrono::system_clock::time_point _last_update;
-    std::chrono::system_clock::duration _duration;
-public:
-    animated(T def, std::chrono::system_clock::duration duration = std::chrono::milliseconds(200))
-        : _duration(duration)
-    {
-        _last_update = std::chrono::system_clock::now();
-    }
-    animated& operator=(const T& other)
-    {
-        if (other != _new)
-        {
-            _old = get();
-            _new = other;
-            _last_update = std::chrono::system_clock::now();
-        }
-        return *this;
-    }
-    T get() const
-    {
-        auto now = std::chrono::system_clock::now();
-        auto ms = std::chrono::duration_cast<std::chrono::microseconds>(now - _last_update).count();
-        auto duration_ms = std::chrono::duration_cast<std::chrono::microseconds>(_duration).count();
-        auto t = (float)ms / duration_ms;
-        t = std::max(0.f, std::min(rs2::smoothstep(t, 0.f, 1.f), 1.f));
-        return _old * (1.f - t) + _new * t;
-    }
-    operator T() const { return get(); }
-    T value() const { return _new; }
-};
-
-
 inline ImVec4 blend(const ImVec4& c, float a)
 {
     return{ c.x, c.y, c.z, a * c.w };
@@ -166,6 +130,10 @@ namespace rs2
             static const char* sw_updates_url               { "update.sw_update_url" };
             static const char* sw_updates_official_server   { "update.sw_update_official_server" };
         }
+        namespace calibration
+        {
+            static const char* enable_writing      { "calibration.enable_writing" };
+        }
         namespace viewer
         {
             static const char* is_3d_view          { "viewer_model.is_3d_view" };
@@ -176,6 +144,8 @@ namespace rs2
             static const char* sdk_version         { "viewer_model.sdk_version" };
             static const char* last_calib_notice   { "viewer_model.last_calib_notice" };
             static const char* is_measuring        { "viewer_model.is_measuring" };
+            static const char* output_open         { "viewer_model.output_open" };
+            static const char* search_term         { "viewer_model.search_term" };
 
             static const char* log_to_console      { "viewer_model.log_to_console" };
             static const char* log_to_file         { "viewer_model.log_to_file" };
@@ -186,6 +156,8 @@ namespace rs2
             static const char* show_stream_details { "viewer_model.show_stream_details" };
             static const char* metric_system       { "viewer_model.metric_system" };
             static const char* shading_mode        { "viewer_model.shading_mode" };
+            static const char* commands_xml        { "viewer_model.commands_xml" };
+            static const char* hwlogger_xml        { "viewer_model.hwlogger_xml" };
 
             static const char* last_ip             { "viewer_model.last_ip" };
         }
@@ -284,7 +256,7 @@ namespace rs2
     class subdevice_model;
     struct notifications_model;
 
-    void imgui_easy_theming(ImFont*& font_14, ImFont*& font_18);
+    void imgui_easy_theming(ImFont*& font_14, ImFont*& font_18, ImFont*& monofont);
 
     // avoid display the following options
     bool static skip_option(rs2_option opt)
@@ -860,6 +832,7 @@ namespace rs2
         std::shared_ptr< atomic_objects_in_frame > _detected_objects;
         std::shared_ptr<updates_model> _updates;
         sw_update::dev_updates_profile::update_profile _updates_profile;
+        calibration_model _calib_model;
     };
 
     class viewer_model;
diff --git a/common/notifications.cpp b/common/notifications.cpp
index 8e0e3a8136..9fa64e1fb3 100644
--- a/common/notifications.cpp
+++ b/common/notifications.cpp
@@ -135,7 +135,7 @@ namespace rs2
                 auto a = curr_progress_value / 100.f;
                 ImGui::GetWindowDrawList()->AddRectFilled({ float(pos.x + 3 - i), float(pos.y + 3 - i) },
                 { float(pos.x + filled_w + i), float(pos.y + 17 + i) },
-                    ImColor(alpha(light_blue, sqrt(a) * 0.02f)), i);
+                    ImColor(alpha(light_blue, sqrt(a) * 0.02f)), float(i));
             }
 
             ImGui::GetWindowDrawList()->AddRectFilled({ float(pos.x + 3), float(pos.y + 3) },
@@ -170,9 +170,9 @@ namespace rs2
     {
         ImVec4 c;
 
-        ImGui::PushStyleColor(ImGuiCol_Button, saturate(c, 1.3));
-        ImGui::PushStyleColor(ImGuiCol_ButtonActive, saturate(c, 0.9));
-        ImGui::PushStyleColor(ImGuiCol_ButtonHovered, saturate(c, 1.5));
+        ImGui::PushStyleColor(ImGuiCol_Button, saturate(c, 1.3f));
+        ImGui::PushStyleColor(ImGuiCol_ButtonActive, saturate(c, 0.9f));
+        ImGui::PushStyleColor(ImGuiCol_ButtonHovered, saturate(c, 1.5f));
         ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
         c = alpha(white, 1 - t);
         ImGui::PushStyleColor(ImGuiCol_Text, c);
@@ -198,7 +198,7 @@ namespace rs2
     void notification_model::draw_text(const char* msg, int x, int y, int h)
     {
         std::string text_name = to_string() << "##notification_text_" << index;
-        ImGui::PushTextWrapPos(x + width - 100);
+        ImGui::PushTextWrapPos(x + width - 100.f);
         ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent);
         ImGui::PushStyleColor(ImGuiCol_ScrollbarBg, transparent);
         ImGui::PushStyleColor(ImGuiCol_ScrollbarGrab, transparent);
@@ -232,7 +232,7 @@ namespace rs2
     {
         auto title = get_title();
         auto lines = static_cast<int>(std::count(title.begin(), title.end(), '\n') + 1);
-        return (lines + 1) * ImGui::GetTextLineHeight() + 5;
+        return int((lines + 1) * ImGui::GetTextLineHeight() + 5);
     }
 
     void process_notification_model::draw_pre_effect(int x, int y)
@@ -333,8 +333,8 @@ namespace rs2
             {
                 if (last_x > 100000)
                 {
-                    last_x = x + 500;
-                    last_y = y;
+                    last_x = x + 500.f;
+                    last_y = float(y);
                 }
                 last_moved = system_clock::now();
                 animating = true;
@@ -345,12 +345,12 @@ namespace rs2
 
             if (s < 1.f)
             {
-                x = s * x + (1 - s) * last_x;
-                y = s * y + (1 - s) * last_y;
+                x = int(s * x + (1 - s) * last_x);
+                y = int(s * y + (1 - s) * last_y);
             }
             else
             {
-                last_x = x; last_y = y;
+                last_x = float(x); last_y = float(y);
                 animating = false;
                 if (dismissed && !expanded) to_close = true;
             }
@@ -511,7 +511,7 @@ namespace rs2
             }
         }
 
-        add_log(n.get_description());
+        output.add_log(n.get_severity(), __FILE__, __LINE__, n.get_description());
         return result;
     }
 
@@ -538,55 +538,7 @@ namespace rs2
             }
         }
 
-        add_log(model->get_title());
-    }
-
-    void notifications_model::draw_snoozed_button()
-    {
-        auto has_snoozed = snoozed_notifications.size();
-        ImGui::PushStyleColor(ImGuiCol_Text, !has_snoozed ? sensor_bg : light_grey);
-        ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, !has_snoozed ? sensor_bg : light_blue);
-
-        const auto width = 50.f;
-
-        using namespace std;
-        using namespace chrono;
-
-        if (!has_snoozed) 
-        {
-            ImGui::ButtonEx(textual_icons::mail, { width, width }, ImGuiButtonFlags_Disabled);
-
-            if (ImGui::IsItemActive())
-                ImGui::SetTooltip("No pending notifications at this point");
-        }
-        else
-        {
-            auto k = duration_cast<milliseconds>(system_clock::now() - last_snoozed).count() / 500.f;
-            if (k <= 1.f)
-            {
-                auto size = 50.f;
-
-                ImGui::PopStyleColor();
-                ImGui::PushStyleColor(ImGuiCol_Text, saturate(white, smoothstep(static_cast<float>(k), 0.f, 1.f)));
-            }
-
-            if (ImGui::Button(textual_icons::mail, { width, width }))
-            {
-                for (auto&& n : snoozed_notifications)
-                {
-                    n->forced = true;
-                    n->snoozed = false;
-                    n->last_y -= 500;
-                    pending_notifications.push_back(n);
-                }
-                snoozed_notifications.clear();
-            }
-
-            if (ImGui::IsItemActive())
-                ImGui::SetTooltip("Pending notifications available. Click to review");
-        }
-
-        ImGui::PopStyleColor(2);
+        output.add_log(model->severity, __FILE__, __LINE__, model->get_title());
     }
 
     void notifications_model::draw(ux_window& win, int w, int h, std::string& error_message)
@@ -600,13 +552,6 @@ namespace rs2
             std::lock_guard<std::recursive_mutex> lock(m);
             if (pending_notifications.size() > 0)
             {
-                snoozed_notifications.erase(std::remove_if(std::begin(snoozed_notifications),
-                    std::end(snoozed_notifications),
-                    [&](std::shared_ptr<notification_model>& n)
-                {
-                    return n->dismissed;
-                }), end(snoozed_notifications));
-
                 // loop over all notifications, remove "old" ones
                 pending_notifications.erase(std::remove_if(std::begin(pending_notifications),
                     std::end(pending_notifications),
@@ -616,8 +561,6 @@ namespace rs2
                     {
                         n->dismissed = false;
                         n->to_close = false;
-                        snoozed_notifications.push_back(n);
-                        last_snoozed = std::chrono::system_clock::now();
                         return true;
                     }
                     return ((n->get_age_in_ms() > n->get_max_lifetime_ms() && 
@@ -727,45 +670,6 @@ namespace rs2
         ImGui::PopFont();
     }
 
-    void notifications_model::foreach_log(std::function<void(const std::string& line)> action)
-    {
-        std::lock_guard<std::recursive_mutex> lock(m);
-
-        // Process only the messages that are available upon invocation
-        std::string log_entry;
-        for (size_t len = 0; len < incoming_log_queue.size(); len++)
-        {
-            if (incoming_log_queue.try_dequeue(&log_entry))
-                notification_logs.push_back(log_entry);
-        }
-
-        // Limit the notification window
-        while (notification_logs.size() > 200)
-            notification_logs.pop_front();
-
-        for (auto&& l : notification_logs)
-            action(l);
-
-        auto rc = ImGui::GetCursorPos();
-        ImGui::SetCursorPos({ rc.x, rc.y + 5 });
-
-        if (new_log)
-        {
-            ImGui::SetScrollPosHere();
-            new_log = false;
-        }
-    }
-
-    // Callback function must not include mutex
-    void notifications_model::add_log(std::string line)
-    {
-        if (!line.size()) return;
-
-        if (line[line.size() - 1] != '\n') line += "\n";
-        incoming_log_queue.enqueue(std::move(line));
-        new_log = true;
-    }
-
     version_upgrade_model::version_upgrade_model(int version) 
         : process_notification_model(nullptr), _version(version)
     {
@@ -939,7 +843,7 @@ namespace rs2
 
             ImGui::SetCursorScreenPos({ float(x + 10), float(y + 35) });
 
-            ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1. - t));
+            ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1.f - t));
 
             std::string s = to_string() << "Saving 3D view to " <<
                 get_file_name(get_manager().get_filename());
diff --git a/common/notifications.h b/common/notifications.h
index 4482747485..2aa1e5574e 100644
--- a/common/notifications.h
+++ b/common/notifications.h
@@ -9,7 +9,8 @@
 #include <chrono>
 
 #include "ux-window.h"
-#include "../src/concurrency.h"
+
+#include "output-model.h"
 
 namespace rs2
 {
@@ -195,25 +196,22 @@ namespace rs2
         void add_notification(std::shared_ptr<notification_model> model);
         void draw(ux_window& win, int w, int h, std::string& error_message);
 
-        void foreach_log(std::function<void(const std::string& line)> action);
-        void add_log(std::string line);
+        notifications_model() {}
 
-        void draw_snoozed_button();
+        void add_log(std::string message) 
+        {            
+            output.add_log(RS2_LOG_SEVERITY_INFO, "", 0, message); 
+        }
 
-        notifications_model() : last_snoozed(std::chrono::system_clock::now()) {}
+        output_model output;
         
     private:
         std::vector<std::shared_ptr<notification_model>> pending_notifications;
-        std::vector<std::shared_ptr<notification_model>> snoozed_notifications;
         int index = 1;
         const int MAX_SIZE = 6;
         std::recursive_mutex m;
-        bool new_log = false;
 
-        single_consumer_queue<std::string> incoming_log_queue;
-        std::deque<std::string> notification_logs;
         std::shared_ptr<notification_model> selected;
-        std::chrono::system_clock::time_point last_snoozed;
     };
 
     inline ImVec4 saturate(const ImVec4& a, float f)
diff --git a/common/on-chip-calib.cpp b/common/on-chip-calib.cpp
index 63a1c8d192..b97979b97d 100644
--- a/common/on-chip-calib.cpp
+++ b/common/on-chip-calib.cpp
@@ -320,9 +320,9 @@ namespace rs2
 
         auto calib_dev = _dev.as<auto_calibrated_device>();
         if (tare)
-            _new_calib = calib_dev.run_tare_calibration(ground_truth, json, [&](const float progress) {_progress = progress;}, 5000);
+            _new_calib = calib_dev.run_tare_calibration(ground_truth, json, [&](const float progress) {_progress = int(progress);}, 5000);
         else
-            _new_calib = calib_dev.run_on_chip_calibration(json, &_health, [&](const float progress) {_progress = progress;}, 5000);
+            _new_calib = calib_dev.run_on_chip_calibration(json, &_health, [&](const float progress) {_progress = int(progress);}, 5000);
     }
 
     void on_chip_calib_manager::process_flow(std::function<void()> cleanup, 
@@ -393,7 +393,7 @@ namespace rs2
 
             _viewer.is_3d_view = _in_3d_view;
 
-            _viewer.ground_truth_r = ground_truth;
+            _viewer.ground_truth_r = uint32_t(ground_truth);
             config_file::instance().set(configurations::viewer::ground_truth_r, ground_truth);
 
             _viewer.synchronization_enable = _synchronized;
@@ -516,7 +516,7 @@ namespace rs2
             else
                 ImGui::SetCursorScreenPos({ float(x + 9), float(y + 27) });
 
-            ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1. - t));
+            ImGui::PushStyleColor(ImGuiCol_Text, alpha(light_grey, 1.f - t));
 
             if (update_state == RS2_CALIB_STATE_INITIAL_PROMPT)
             {
@@ -570,7 +570,7 @@ namespace rs2
                     ImGui::SetCursorScreenPos({ float(x + 135), float(y + 30) });
 
                     std::string id = to_string() << "##avg_step_count_" << index;
-                    ImGui::PushItemWidth(width - 145);
+                    ImGui::PushItemWidth(width - 145.f);
                     ImGui::SliderInt(id.c_str(), &get_manager().average_step_count, 1, 30);
                     ImGui::PopItemWidth();
 
@@ -586,7 +586,7 @@ namespace rs2
 
                     id = to_string() << "##step_count_" << index;
 
-                    ImGui::PushItemWidth(width - 145);
+                    ImGui::PushItemWidth(width - 145.f);
                     ImGui::SliderInt(id.c_str(), &get_manager().step_count, 1, 30);
                     ImGui::PopItemWidth();
 
@@ -607,14 +607,14 @@ namespace rs2
                     std::vector<const char*> vals_cstr;
                     for (auto&& s : vals) vals_cstr.push_back(s.c_str());
 
-                    ImGui::PushItemWidth(width - 145);
-                    ImGui::Combo(id.c_str(), &get_manager().accuracy, vals_cstr.data(), vals.size());
-                   
+                    ImGui::PushItemWidth(width - 145.f);
+                    ImGui::Combo(id.c_str(), &get_manager().accuracy, vals_cstr.data(), int(vals.size()));
+
                     ImGui::SetCursorScreenPos({ float(x + 135), float(y + 35 + ImGui::GetTextLineHeightWithSpacing()) });
 
                     ImGui::PopItemWidth();
 
-                    draw_intrinsic_extrinsic(x, y + 3 * ImGui::GetTextLineHeightWithSpacing() - 10);
+                    draw_intrinsic_extrinsic(x, y + 3 * int(ImGui::GetTextLineHeightWithSpacing()) - 10);
 
                     ImGui::SetCursorScreenPos({ float(x + 9), float(y + 52 + 4 * ImGui::GetTextLineHeightWithSpacing()) });
                     id = to_string() << "Apply High-Accuracy Preset##apply_preset_" << index;
@@ -651,7 +651,7 @@ namespace rs2
                 char buff[MAX_SIZE];
                 memcpy(buff, gt.c_str(), gt.size() + 1);
 
-                ImGui::PushItemWidth(width - 145);
+                ImGui::PushItemWidth(width - 145.f);
                 if (ImGui::InputText(id.c_str(), buff, std::max((int)gt.size() + 1, 10)))
                 {
                     std::stringstream ss;
@@ -704,9 +704,9 @@ namespace rs2
                 std::vector<const char*> vals_cstr;
                 for (auto&& s : vals) vals_cstr.push_back(s.c_str());
 
-                ImGui::PushItemWidth(width - 145);
+                ImGui::PushItemWidth(width - 145.f);
 
-                ImGui::Combo(id.c_str(), &get_manager().speed, vals_cstr.data(), vals.size());
+                ImGui::Combo(id.c_str(), &get_manager().speed, vals_cstr.data(), int(vals.size()));
                 ImGui::PopItemWidth();
 
                 draw_intrinsic_extrinsic(x, y);
diff --git a/common/on-chip-calib.h b/common/on-chip-calib.h
index 41ab6de8a9..c2e24e27b3 100644
--- a/common/on-chip-calib.h
+++ b/common/on-chip-calib.h
@@ -49,7 +49,7 @@ namespace rs2
 
         void update_last_used();
 
-        uint32_t ground_truth = 2500;
+        float ground_truth = 2500;
         int average_step_count = 20;
         int step_count = 20;
         int accuracy = 2;
diff --git a/common/output-model.cpp b/common/output-model.cpp
new file mode 100644
index 0000000000..13199aa320
--- /dev/null
+++ b/common/output-model.cpp
@@ -0,0 +1,1101 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2020 Intel Corporation. All Rights Reserved.
+
+#include <glad/glad.h>
+#include "output-model.h"
+
+#include "model-views.h"
+#include "os.h"
+
+#include <imgui_internal.h>
+#include <librealsense2/hpp/rs_internal.hpp>
+
+using namespace rs2;
+
+void output_model::thread_loop()
+{
+    while (!to_stop)
+    {
+        std::vector<rs2::device> dev_copy;
+        {
+            std::lock_guard<std::mutex> lock(devices_mutex);
+            dev_copy = devices;
+        }
+        if (enable_firmware_logs)
+            for (auto&& dev : devices)
+            {
+                try
+                {
+                    if (auto fwlogger = dev.as<rs2::firmware_logger>())
+                    {
+                        bool has_parser = false;
+                        std::string hwlogger_xml = config_file::instance().get(configurations::viewer::hwlogger_xml);
+                        std::ifstream f(hwlogger_xml.c_str());
+                        if (f.good())
+                        {
+                            try
+                            {
+                                std::string str((std::istreambuf_iterator<char>(f)),
+                                    std::istreambuf_iterator<char>());
+                                fwlogger.init_parser(str);
+                                has_parser = true;
+                            }
+                            catch (const std::exception& ex)
+                            {
+                                add_log(RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, 
+                                    to_string() << "Invalid Hardware Logger XML at '" << hwlogger_xml << "': " << ex.what() << "\nEither configure valid XML or remove it");
+                            }
+                        }
+
+                        auto message = fwlogger.create_message();
+                        while (fwlogger.get_firmware_log(message))
+                        {
+                            auto parsed = fwlogger.create_parsed_message();
+                            auto parsed_ok = false;
+                            
+                            if (has_parser)
+                            {
+                                if (fwlogger.parse_log(message, parsed))
+                                {
+                                    parsed_ok = true;
+
+                                    add_log(message.get_severity(), 
+                                        parsed.file_name(), parsed.line(), to_string() 
+                                            << "FW-LOG [" << parsed.thread_name() << "] " << parsed.message());
+                                }
+                            }
+
+                            if (!parsed_ok)
+                            {
+                                std::stringstream ss; 
+                                for (auto& elem : message.data())
+                                    ss << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(elem) << " ";
+                                add_log(message.get_severity(), __FILE__, 0, ss.str());
+                            }                            
+                        }
+                    }
+                }
+                catch(const std::exception& ex)
+                {
+                    add_log(RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, 
+                        to_string() << "Failed to fetch firmware logs: " << ex.what());
+                }
+            }
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+output_model::~output_model()
+{
+    to_stop = 1;
+    fw_logger.join();
+}
+
+output_model::output_model() : fw_logger([this](){ thread_loop(); })
+{
+    is_output_open = config_file::instance().get_or_default(
+            configurations::viewer::output_open, false);
+    search_line = config_file::instance().get_or_default(
+            configurations::viewer::search_term, std::string(""));
+    if (search_line != "") search_open = true;
+
+    available_dashboards["Frame Drops per Second"] = [&](std::string name){
+        return std::make_shared<frame_drops_dashboard>(name, &number_of_drops, &total_frames);
+    };
+
+    auto front = available_dashboards.begin();
+    dashboards.push_back(front->second(front->first));
+}
+
+bool output_model::round_indicator(ux_window& win, std::string icon,
+    int count, ImVec4 color, std::string tooltip, bool& highlighted, std::string suffix)
+{
+    std::stringstream ss;
+    ss << icon;
+    if (count > 0) ss << " " << count << suffix;
+    auto size = ImGui::CalcTextSize(ss.str().c_str());
+
+    if (count == 0 || (!is_output_open && !highlighted)) {
+        color = dark_sensor_bg;
+        ImGui::PushStyleColor(ImGuiCol_Text, header_color);
+        ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, header_color);
+    }
+    else
+    {
+        if (!highlighted)
+        {
+            color = saturate(color, 0.3f);
+            ImGui::PushStyleColor(ImGuiCol_Text, white);
+        }
+        else
+            ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
+        ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
+    }
+
+    auto pos = ImGui::GetCursorScreenPos();
+    ImGui::GetWindowDrawList()->AddRectFilled({ pos.x, pos.y + 3 },
+                { pos.x + size.x + 15, pos.y + 27 }, ImColor(color), 12, 15);
+
+    auto res = ImGui::Button(ss.str().c_str(), ImVec2(size.x + 15, 28));
+    if (count > 0 && ImGui::IsItemHovered())
+    {
+        highlighted = true;
+        win.link_hovered();
+        ImGui::SetTooltip("%s", tooltip.c_str());
+    }
+    else highlighted = false;
+
+    ImGui::PopStyleColor(2);
+
+    return res;
+}
+
+void output_model::open(ux_window& win)
+{
+    is_output_open = true;
+    config_file::instance().set(configurations::viewer::output_open, true);
+    default_log_h = (win.height() - 100) / 2;
+    new_log = true;
+}
+
+void output_model::draw(ux_window& win, rect view_rect, std::vector<rs2::device> devices)
+{
+    ImGui::PushStyleColor(ImGuiCol_FrameBg, scrollbar_bg);
+
+    auto x = view_rect.x;
+    auto y = view_rect.y;
+    auto w = view_rect.w;
+    auto h = view_rect.h;
+
+    auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoTitleBar |
+        ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoSavedSettings;
+
+    ImGui::PushStyleColor(ImGuiCol_WindowBg, sensor_bg);
+    ImGui::PushStyleColor(ImGuiCol_Button, transparent);
+    ImGui::PushStyleColor(ImGuiCol_ButtonActive, transparent);
+    ImGui::PushStyleColor(ImGuiCol_ButtonHovered, transparent);
+    ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
+    ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
+
+    ImGui::PushFont(win.get_font());
+    ImGui::SetNextWindowPos({ x, y });
+    ImGui::SetNextWindowSize({ w, h });
+    ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(3, 3));
+
+    ImGui::Begin("Output", nullptr, flags);
+
+    ImGui::SetCursorPosX(w - 31);
+    if (!is_output_open)
+    {
+        if (ImGui::Button(u8"\uF139", ImVec2(28, 28)))
+        {
+            open(win);
+        }
+        if (ImGui::IsItemHovered())
+        {
+            win.link_hovered();
+            ImGui::SetTooltip("%s", "Open Debug Console Window");
+        }
+
+        if (default_log_h.value() != 36)
+            default_log_h = 36;
+    }
+    else
+    {
+        if (ImGui::Button(u8"\uF13A", ImVec2(28, 28)))
+        {
+            is_output_open = false;
+            config_file::instance().set(configurations::viewer::output_open, false);
+            default_log_h = 36;
+            search_open = false;
+        }
+        if (ImGui::IsItemHovered())
+        {
+            win.link_hovered();
+            ImGui::SetTooltip("%s", "Collapse Debug Console Window");
+        }
+
+        if (default_log_h.value() != (win.height() - 100) / 2)
+            default_log_h = (win.height() - 100) / 2;
+    }
+
+    ImGui::SameLine();
+    ImGui::SetCursorPosX(5);
+
+    if (errors_selected) errors_highlighted = true;
+    if (round_indicator(win, u8"\uF057", number_of_errors, redish, "Instances of logged errors", errors_highlighted))
+    {
+        errors_selected = !errors_selected;
+        open(win);
+    }
+    ImGui::SameLine();
+
+    if (warnings_selected) warnings_highlighted = true;
+    if (round_indicator(win, u8"\uF071", number_of_warnings, orange, "Instances of logged warnings", warnings_highlighted))
+    {
+        warnings_selected = !warnings_selected;
+        open(win);
+    }
+    ImGui::SameLine();
+
+    if (info_selected) info_highlighted = true;
+    if (round_indicator(win, u8"\uF05A", number_of_info, greenish, "Instances of logged info messages", info_highlighted))
+    {
+        info_selected = !info_selected;
+        open(win);
+    }
+    ImGui::SameLine();
+
+    if (!is_output_open || search_open)
+    {
+        ImGui::PushStyleColor(ImGuiCol_Text, header_color);
+    }
+    else
+    {
+        ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
+    }
+    bool focus_search = false;
+    if (ImGui::Button(u8"\uF002", ImVec2(28, 28)))
+    {
+        focus_search = true;
+        search_open = true;
+        open(win);
+    }
+    if (ImGui::IsItemHovered())
+    {
+        win.link_hovered();
+        ImGui::SetTooltip("%s", "Search through logs");
+    }
+    ImGui::PopStyleColor(1);
+    ImGui::SameLine();
+
+    auto curr_x = ImGui::GetCursorPosX();
+    ImGui::SetCursorPosX(curr_x - 5);
+
+
+    int percent = total_frames ? 100 * ((double)number_of_drops / (total_frames)) : 0;
+
+    std::stringstream ss;
+    ss << u8"\uF043";
+    if (percent) ss << " " << percent << "%";
+    auto size = ImGui::CalcTextSize(ss.str().c_str());
+
+    char buff[1024];
+    memcpy(buff, search_line.c_str(), search_line.size());
+    buff[search_line.size()] = 0;
+
+    auto actual_search_width = w - size.x - 100 - curr_x;
+    if (focus_search) search_width = actual_search_width;
+
+    if (search_open && search_width.value() != actual_search_width)
+        search_width = actual_search_width;
+
+    // if (is_output_open && search_width < 1)
+    // {
+    //     search_open = true;
+    // }
+
+    if (search_open)
+    {
+        ImGui::PushFont(win.get_monofont());
+        ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 4);
+        ImGui::PushItemWidth(search_width);
+        ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue);
+        if (ImGui::InputText("##SearchInLogs",buff, 1023))
+        {
+            search_line = buff;
+            config_file::instance().set(configurations::viewer::search_term, search_line);
+        }
+        if (focus_search) ImGui::SetKeyboardFocusHere();
+        ImGui::PopItemWidth();
+        ImGui::SameLine();
+        ImGui::PopStyleColor();
+        ImGui::SetCursorPosY(ImGui::GetCursorPosY() - 4);
+        ImGui::PopFont();
+    }
+
+    ImGui::SetCursorPosX(w - size.x - 3 * 30);
+
+    if (enable_firmware_logs)
+    {
+        ImGui::PushStyleColor(ImGuiCol_Text, light_blue);
+        ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue);
+    }
+    else
+    {
+        if (is_output_open)
+            ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
+        else
+            ImGui::PushStyleColor(ImGuiCol_Text, header_color);
+        ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
+    }
+
+    if (ImGui::Button(u8"\uF2DB", ImVec2(28, 28)))
+    {
+        enable_firmware_logs = !enable_firmware_logs;
+    }
+    ImGui::PopStyleColor(2);
+    if (ImGui::IsItemHovered())
+    {
+        win.link_hovered();
+        if (enable_firmware_logs) ImGui::SetTooltip("%s", "Disable Firmware Logs");
+        else ImGui::SetTooltip("%s", "Enable Firmware Logs");
+    }
+    ImGui::SameLine();
+
+
+    if (round_indicator(win, u8"\uF043", percent, regular_blue, "Frame drops", drops_highlighted, "%"))
+    {
+        open(win);
+    }
+
+    if (is_output_open)
+    {
+        ImGui::SetCursorPos(ImVec2(3, 35));
+
+
+        ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0,0));
+        ImGui::PushStyleColor(ImGuiCol_ChildWindowBg, dark_sensor_bg);
+
+        ImGui::BeginChild("##LogArea",
+            ImVec2(0.7f * w - 4, h - 38 - ImGui::GetTextLineHeightWithSpacing() - 1), true,
+            ImGuiWindowFlags_AlwaysVerticalScrollbar);
+
+        const auto log_area_width = 0.7f * w - 4;
+
+        bool copy_all = false;
+        bool save_all = false;
+        std::vector<std::string> output_strings;
+
+        auto time_now = glfwGetTime();
+
+        int i = 0;
+        foreach_log([&](log_entry& log) 
+        {
+            auto line = log.line;
+            if (log.line_number)
+            {
+                line = log.filename.substr(log.filename.find_last_of("/\\") + 1) + ":";
+                line += std::string(to_string() << log.line_number) + " - ";
+                line += log.line;
+            }
+
+            bool ok = false;
+            if (info_selected || warnings_selected || errors_selected)
+            {
+                if (info_selected && log.severity <= RS2_LOG_SEVERITY_INFO) ok = true;
+                if (warnings_selected && log.severity == RS2_LOG_SEVERITY_WARN) ok = true;
+                if (errors_selected && log.severity >= RS2_LOG_SEVERITY_ERROR) ok = true;
+            }
+            else ok = true;
+
+            if (search_line != "" && to_lower(line).find(to_lower(search_line)) == std::string::npos) ok = false;
+
+            if (!ok) return;
+
+            std::stringstream ss; ss << log.timestamp << " [" << rs2_log_severity_to_string(log.severity) << "] ";
+            if (log.line_number) ss << log.filename << ":" << log.line_number;
+            ss << " - " << log.line;
+            std::string full = ss.str();
+
+            ImGui::PushFont(win.get_monofont());
+            ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue);
+            ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
+            ImGui::PushStyleColor(ImGuiCol_FrameBg, transparent);
+
+            ImVec4 color = redish;
+            if (log.severity >= RS2_LOG_SEVERITY_ERROR)
+            {
+                color = redish;
+            } 
+            else if (log.severity >= RS2_LOG_SEVERITY_WARN)
+            {
+                color = orange;
+            } 
+            else
+            {
+                color = greenish;
+            }
+
+            auto margin = ImGui::GetTextLineHeightWithSpacing() - ImGui::GetTextLineHeight();
+            auto size = ImGui::CalcTextSize(line.c_str());
+            
+            auto t = single_wave(time_now - log.time_added + 0.3f) * 0.2f;
+            if (log.selected) t = 0.2f;
+
+            auto pos = ImGui::GetCursorScreenPos();
+            ImGui::GetWindowDrawList()->AddRectFilled({ pos.x, pos.y },
+                        { pos.x + log_area_width, pos.y + size.y + 2 * margin }, 
+                        ImColor(alpha(saturate(color, 0.3f + t), 0.7f + t)));
+            ImGui::GetWindowDrawList()->AddLine({ pos.x, pos.y + size.y + 2 * margin },
+                        { pos.x + log_area_width, pos.y + size.y + 2 * margin }, ImColor(alpha(color, 0.5f)));
+
+            ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 4);
+            ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 4);
+            ImGui::Text("%s", log.timestamp.c_str()); ImGui::SameLine();
+            ImGui::SetCursorPosX(ImGui::GetCursorPosX() - 4);
+            ImGui::SetCursorPosY(ImGui::GetCursorPosY() - 4);
+
+            std::string label = to_string() << "##log_entry" << i++;
+            ImGui::InputTextEx(label.c_str(),
+                        (char*)line.data(),
+                        static_cast<int>(line.size() + 1),
+                        ImVec2(-1, size.y + margin),
+                        ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly);
+
+            ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg);
+            ImGui::PushStyleColor(ImGuiCol_Text, black);
+            ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue);
+            ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
+            ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5,5));
+            label = to_string() << "##log_entry" << i << "_context_menu";
+            if (ImGui::BeginPopupContextItem(label.c_str())) 
+            {
+                log.selected = true;
+                ImGui::PushFont(win.get_font());
+                if (ImGui::Selectable("Copy Line")) {
+                    glfwSetClipboardString(win, full.c_str());
+                }
+                if (ImGui::Selectable("Copy All")) {
+                    copy_all = true;
+                }
+                if (ImGui::Selectable("Save As...")) {
+                    save_all = true;
+                }
+                ImGui::PopFont();
+                ImGui::EndPopup();
+            }
+            else log.selected = false;
+            ImGui::PopStyleVar();
+            ImGui::PopStyleColor(4);
+
+            ImGui::PopStyleColor(3);
+            ImGui::PopFont();
+            
+            ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 1);
+
+            output_strings.push_back(full);
+        });
+
+        std::stringstream ss;
+        for (auto&& s : output_strings) ss << s << "\n";
+        if (copy_all)
+            glfwSetClipboardString(win, ss.str().c_str());
+
+        if (save_all)
+        {
+            if (auto fn = file_dialog_open(file_dialog_mode::save_file, "Log File\0*.log\0", nullptr, nullptr))
+            {
+                std::ofstream out(fn);
+                if (out.good())
+                {
+                    out << ss.str();
+                }
+                out.close();
+            }
+        }
+
+        ImGui::EndChild();
+        ImGui::PopStyleVar();
+
+
+        ImGui::SetCursorPos(ImVec2(7, h - ImGui::GetTextLineHeightWithSpacing() - 2));
+        ImGui::Text("%s", u8"\uF120"); ImGui::SameLine();
+        ImGui::SetCursorPos(ImVec2(30, h - ImGui::GetTextLineHeightWithSpacing() - 4));
+
+
+        ImGui::PushFont(win.get_monofont());
+        ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, regular_blue);
+        ImGui::PushItemWidth(0.7f * w - 32);
+
+        bool force_refresh = false;
+
+        if (ImGui::IsKeyPressed(GLFW_KEY_UP) || ImGui::IsKeyPressed(GLFW_KEY_DOWN))
+        {
+            if (commands_histroy.size())
+            {
+                if (ImGui::IsKeyPressed(GLFW_KEY_UP)) history_offset = (history_offset + 1) % commands_histroy.size();
+                if (ImGui::IsKeyPressed(GLFW_KEY_DOWN)) history_offset = (history_offset - 1 + commands_histroy.size()) % commands_histroy.size();
+                command_line = commands_histroy[history_offset];
+
+                force_refresh = true;
+            }
+        }
+
+        if (ImGui::IsKeyPressed(GLFW_KEY_TAB))
+        {
+            if (!autocomplete.size() || !starts_with(to_lower(autocomplete.front()), to_lower(command_line)))
+            {
+                std::string commands_xml = config_file::instance().get(configurations::viewer::commands_xml);
+                std::ifstream f(commands_xml.c_str());
+                if (f.good())
+                {
+                    std::string str((std::istreambuf_iterator<char>(f)),
+                        std::istreambuf_iterator<char>());
+
+                    autocomplete.clear();
+                    std::regex exp("Command Name=\"(\\w+)\"");
+                    std::smatch res;
+                    std::string::const_iterator searchStart(str.cbegin());
+                    while (regex_search(searchStart, str.cend(), res, exp))
+                    {
+                        if (starts_with(to_lower(res[1]), to_lower(command_line)))
+                            autocomplete.push_back(res[1]);
+                        searchStart = res.suffix().first;
+                    }
+                }
+            }
+            if (autocomplete.size())
+            {
+                auto temp = autocomplete.front();
+                autocomplete.pop_front();
+                autocomplete.push_back(temp);
+
+                if (starts_with(to_lower(temp), command_line))
+                    command_line = to_lower(autocomplete.front());
+                else
+                    command_line = autocomplete.front();
+                force_refresh = true;
+            }
+        }
+
+        memcpy(buff, command_line.c_str(), command_line.size());
+        buff[command_line.size()] = 0;
+
+        int flags = ImGuiInputTextFlags_EnterReturnsTrue;
+        if (force_refresh) 
+        {
+            flags = ImGuiInputTextFlags_ReadOnly;
+        }
+
+        ImGui::PushStyleColor(ImGuiCol_FrameBg, scrollbar_bg);
+        if (ImGui::InputText("##TerminalCommand", buff, 1023, flags))
+        {
+            
+        }
+        if (!command_focus && !new_log) command_line = buff;
+        ImGui::PopStyleColor();
+        if (command_focus || new_log) ImGui::SetKeyboardFocusHere();
+        ImGui::PopFont();
+        ImGui::PopStyleColor();
+
+        if (ImGui::IsKeyPressed(GLFW_KEY_ENTER) || ImGui::IsKeyPressed(GLFW_KEY_KP_ENTER))
+        {
+            if (commands_histroy.size() > 100) commands_histroy.pop_back();
+            commands_histroy.push_front(command_line);
+            run_command(command_line, devices);
+            command_line = "";
+            command_focus = true;
+        }
+        else command_focus = false;
+
+        if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
+        {
+            command_line = "";
+        }
+
+        ImGui::SetCursorPos(ImVec2(0.7f * w - 2, 35));
+        ImGui::BeginChild("##StatsArea",ImVec2(0.3f * w - 2, h - 38), true);
+
+        auto top = 0;
+        for(auto&& dash : dashboards)
+        {   
+            auto h = dash->get_height();
+            auto r = rect { 0.f, (float)top, 0.3f * w - 2, (float)h };
+            dash->draw(win, r);
+            top += h;
+        }
+
+        dashboards.erase(std::remove_if(dashboards.begin(), dashboards.end(), 
+        [](std::shared_ptr<stream_dashboard> p){
+            return p->closing();
+        }), dashboards.end());
+
+        bool can_add = false;
+        for (auto&& kvp : available_dashboards)
+        {
+            auto name = kvp.first;
+            auto it = std::find_if(dashboards.begin(), dashboards.end(),
+            [name](std::shared_ptr<stream_dashboard> p){
+                return p->get_name() == name;
+            });
+            if (it == dashboards.end()) can_add = true;
+        }
+
+        if (can_add)
+        {
+            ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 5);
+            const auto new_dashboard_name = "new_dashaborad";
+            if (ImGui::Button(u8"\uF0D0 Add Dashboard", ImVec2(-1, 25)))
+            {
+                ImGui::OpenPopup(new_dashboard_name);
+            }
+
+            if (ImGui::IsItemHovered())
+            {
+                ImGui::SetTooltip("Add one of the available stream dashboards to view");
+                win.link_hovered();
+            }
+
+            ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg);
+            ImGui::PushStyleColor(ImGuiCol_Text, black);
+            ImGui::PushStyleColor(ImGuiCol_HeaderHovered, light_blue);
+            ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
+            ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(5,5));
+            if (ImGui::BeginPopup(new_dashboard_name))
+            {
+                for (auto&& kvp : available_dashboards)
+                {
+                    auto name = kvp.first;
+                    auto it = std::find_if(dashboards.begin(), dashboards.end(),
+                    [name](std::shared_ptr<stream_dashboard> p){
+                        return p->get_name() == name;
+                    });
+                    if (it == dashboards.end())
+                    {
+                        name = name + "##New";
+                        bool selected = false;
+                        if (ImGui::Selectable(name.c_str(), &selected))
+                        {
+                            dashboards.push_back(kvp.second(kvp.first));
+                        }
+                    }
+                }
+
+                ImGui::EndPopup();
+            }
+
+            ImGui::PopStyleColor(4);
+            ImGui::PopStyleVar();
+        }
+        
+
+        ImGui::EndChild();
+
+
+        ImGui::PopStyleColor();
+    }
+    else foreach_log([&](log_entry& log) {});
+    
+
+    ImGui::End();
+    ImGui::PopStyleColor(7);
+    ImGui::PopStyleVar();
+    ImGui::PopFont();
+
+    {
+        std::lock_guard<std::mutex> lock(devices_mutex);
+        this->devices = devices;
+    }
+}
+
+void output_model::foreach_log(std::function<void(log_entry& line)> action)
+{
+    std::lock_guard<std::recursive_mutex> lock(m);
+
+    // Process only the messages that are available upon invocation
+    log_entry le;
+    for (size_t len = 0; len < incoming_log_queue.size(); len++)
+    {
+        if (incoming_log_queue.try_dequeue(&le))
+        {
+            if (le.severity >= RS2_LOG_SEVERITY_ERROR) number_of_errors++;
+            else if (le.severity >= RS2_LOG_SEVERITY_WARN) number_of_warnings++;
+            else number_of_info++;
+
+            notification_logs.push_back(le);
+        }
+    }
+
+    // Limit the notification window
+    while (notification_logs.size() > 1000)
+    {
+        auto&& le = notification_logs.front();
+        if (le.severity >= RS2_LOG_SEVERITY_ERROR) number_of_errors--;
+        else if (le.severity >= RS2_LOG_SEVERITY_WARN) number_of_warnings--;
+        else number_of_info--;
+        notification_logs.pop_front();
+    }
+
+    for (auto&& l : notification_logs)
+        action(l);
+
+    if (new_log)
+    {
+        ImGui::SetScrollPosHere();
+        new_log = false;
+    }
+}
+
+// Callback function must not include mutex
+void output_model::add_log(rs2_log_severity severity, std::string filename, int line_number, std::string line)
+{
+    if (!line.size()) return;
+
+    time_t rawtime;
+    struct tm * timeinfo;
+    char buffer[80];
+    time (&rawtime);
+    timeinfo = localtime(&rawtime);
+    strftime(buffer,sizeof(buffer),"%H:%M:%S",timeinfo);
+
+    log_entry e;
+    e.line = line;
+    e.line_number = line_number;
+    e.filename = filename;
+    e.severity = severity;
+    e.timestamp = buffer;
+    e.time_added = glfwGetTime();
+
+    incoming_log_queue.enqueue(std::move(e));
+    new_log = true;
+}
+
+void output_model::run_command(std::string command, std::vector<rs2::device> devices)
+{
+    try
+    {
+        if (to_lower(command) == "clear")
+        {
+            while (notification_logs.size() > 0)
+            {
+                auto&& le = notification_logs.front();
+                if (le.severity >= RS2_LOG_SEVERITY_ERROR) number_of_errors--;
+                else if (le.severity >= RS2_LOG_SEVERITY_WARN) number_of_warnings--;
+                else number_of_info--;
+                notification_logs.pop_front();
+                for (auto& d : dashboards)
+                    d->clear(true);
+            }
+
+            return;
+        }
+
+        std::regex e("([0-9A-Fa-f]{2}\\s)+");
+
+        if (std::regex_match(command, e))
+        {
+            add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, to_string() << "Trying to send " << command << "...");
+
+            std::vector<uint8_t> raw_data;
+            std::stringstream ss(command);
+            std::string word;
+            while (ss >> word)
+            {
+                std::stringstream converter;
+                int temp;
+                converter << std::hex << word;
+                converter >> temp;
+                raw_data.push_back(temp);
+            }
+            if (raw_data.empty())
+                throw std::runtime_error("Invalid input!");
+
+            bool found = false;
+            for (auto&& dev : devices)
+            {
+                if (auto dbg = dev.as<rs2::debug_protocol>())
+                {
+                    found = true;
+                    auto res = dbg.send_and_receive_raw_data(raw_data);
+
+                    std::stringstream ss; 
+                    int i = 0;
+                    for (auto& elem : res)
+                    {
+                        ss << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(elem) << " ";
+                        i++;
+                        if (i > 80) 
+                        {
+                            ss << "\n";
+                            i = 0;
+                        }
+                    }
+                    add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, ss.str());
+
+                    return;
+                }
+            }
+
+            if (!found)
+            {
+                add_log(RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, "No device is available to receive the command");
+                return;
+            }
+        }
+
+        std::string commands_xml = config_file::instance().get(configurations::viewer::commands_xml);
+        std::ifstream f(commands_xml.c_str());
+        if (f.good())
+        {
+            std::string str((std::istreambuf_iterator<char>(f)),
+                             std::istreambuf_iterator<char>());
+            auto terminal_parser = rs2::terminal_parser(str);
+
+            auto buffer = terminal_parser.parse_command(to_lower(command));
+
+            std::stringstream ss; ss << command << " = ";
+            for (auto& elem : buffer)
+                 ss << std::setfill('0') << std::setw(2) << std::hex << static_cast<int>(elem) << " ";
+
+            add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, ss.str());
+
+            bool found = false;
+            for (auto&& dev : devices)
+            {
+                if (auto dbg = dev.as<rs2::debug_protocol>())
+                {
+                    found = true;
+                    auto res = dbg.send_and_receive_raw_data(buffer);
+
+                    std::string response = to_string() << "\n" << terminal_parser.parse_response(to_lower(command), res);
+                    add_log(RS2_LOG_SEVERITY_INFO, __FILE__, 0, response);
+                }
+            }
+
+            if (!found)
+                add_log(RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, "No device is available to receive the command");
+
+            return;
+        }
+
+        add_log(RS2_LOG_SEVERITY_WARN, __FILE__, __LINE__, to_string() << "Unrecognized command '" << command << "'");
+    } 
+    catch(const std::exception& ex)
+    {
+        add_log(RS2_LOG_SEVERITY_ERROR, __FILE__, __LINE__, ex.what());
+    }
+}
+
+void output_model::update_dashboards(rs2::frame f)
+{
+    for (auto&& d : dashboards)
+        d->add_frame(f);
+}
+
+void stream_dashboard::draw_dashboard(ux_window& win, rect& r)
+{
+    auto min_x = 0.f;
+    auto max_x = 1.f;
+    auto min_y = 0.f;
+    auto max_y = 1.f;
+
+    if (xy.size())
+    {
+        min_x = xy[0].first;
+        max_x = xy[0].first;
+        min_y = xy[0].second;
+        max_y = xy[0].second;
+        for (auto&& p : xy)
+        {
+            min_x = std::min(min_x, p.first);
+            min_y = std::min(min_y, p.second);
+            max_x = std::max(max_x, p.first);
+            max_y = std::max(max_y, p.second);
+        }
+    }
+
+    auto gap_y = max_y - min_y;
+    auto gap_x = max_x - min_x;
+    auto height_y = r.h - 2 * ImGui::GetTextLineHeight() - 10;
+    auto ticks_y = ceil(height_y / ImGui::GetTextLineHeight());
+
+    auto max_y_label_width = 0.f;
+    for (int i = 0; i <= ticks_y; i++)
+    {
+        auto y = max_y - i * (gap_y / ticks_y);
+        std::string y_label = to_string() << std::fixed << std::setprecision(2) << y;
+        auto size = ImGui::CalcTextSize(y_label.c_str());
+        max_y_label_width = std::max(max_y_label_width, 
+            size.x);
+    }
+
+    auto pos = ImGui::GetCursorScreenPos();
+
+    ImGui::PushStyleColor(ImGuiCol_Text, white);
+
+    ImGui::GetWindowDrawList()->AddRectFilled({ pos.x, pos.y },
+                { pos.x + r.w - 1, pos.y + get_height() - 1 }, ImColor(header_color));
+    ImGui::GetWindowDrawList()->AddRect({ pos.x, pos.y },
+                { pos.x + r.w, pos.y + get_height() }, ImColor(dark_sensor_bg));
+
+    auto size = ImGui::CalcTextSize(name.c_str());
+    ImGui::SetCursorPos(ImVec2( r.w / 2 - size.x / 2, 5 ));
+    ImGui::Text("%s", name.c_str());
+    ImGui::SameLine();
+
+    ImGui::PushStyleColor(ImGuiCol_Text, grey);
+    ImGui::SetCursorPosX(r.w - 25);
+    ImGui::SetCursorPosY(3);
+    std::string id = to_string() << u8"\uF00D##Close_" << name;
+    if (ImGui::Button(id.c_str(),ImVec2(22,22)))
+    {
+        close();
+    }
+    if (ImGui::IsItemHovered())
+    {
+        ImGui::SetTooltip("Remove Dashboard from View");
+        win.link_hovered();
+    }
+    ImGui::PopStyleColor();
+
+    ImGui::GetWindowDrawList()->AddRectFilled({ pos.x + max_y_label_width + 15, pos.y + ImGui::GetTextLineHeight() + 5 },
+                 { pos.x + r.w - 10, pos.y + r.h - ImGui::GetTextLineHeight() - 5 }, ImColor(almost_white_bg));
+
+    //ImGui::PushFont(win.get_monofont());
+    for (int i = 0; i <= ticks_y; i++)
+    {
+        auto y = max_y - i * (gap_y / ticks_y);
+        std::string y_label = to_string() << std::fixed << std::setprecision(2) << y;
+        auto y_pixel = ImGui::GetTextLineHeight() + i * (height_y / ticks_y);
+        ImGui::SetCursorPos(ImVec2( 10, y_pixel ));
+        ImGui::Text("%s", y_label.c_str());
+
+        ImGui::GetWindowDrawList()->AddLine({ pos.x + max_y_label_width + 15, pos.y + y_pixel + 5 },
+                 { pos.x + r.w - 10, pos.y + y_pixel + 5 }, ImColor(light_grey));
+    }
+
+    auto graph_width = r.w - max_y_label_width - 25;
+
+    int ticks_x = 2;
+    bool has_room = true;
+    while (has_room)
+    {
+        auto total = 0;
+        for (int i = 0; i <= ticks_x; i++)
+        {
+            auto x = min_x + i * (gap_x / ticks_x);
+            std::string x_label = to_string() << std::fixed << std::setprecision(2) << x;
+            auto size = ImGui::CalcTextSize(x_label.c_str());
+            total += size.x;
+        }
+        if (total < graph_width) ticks_x++;
+        else has_room = false;
+    }
+    ticks_x -= 3;
+    
+    auto total = 0;
+    for (int i = 0; i < ticks_x; i++)
+    {
+        auto x = min_x + i * (gap_x / ticks_x);
+        std::string x_label = to_string() << std::fixed << std::setprecision(2) << x;
+        auto y_pixel = ImGui::GetTextLineHeight() + i * (height_y / ticks_y);
+        ImGui::SetCursorPos(ImVec2( 15 + max_y_label_width+ i * (graph_width / ticks_x), r.h - ImGui::GetTextLineHeight() ));
+        ImGui::Text("%s", x_label.c_str());
+
+        ImGui::GetWindowDrawList()->AddLine({ pos.x + 15 + max_y_label_width + i * (graph_width / ticks_x), pos.y + ImGui::GetTextLineHeight() + 5 },
+                 { pos.x + max_y_label_width + 15 + i * (graph_width / ticks_x), pos.y + ImGui::GetTextLineHeight() + 5 + height_y }, ImColor(light_grey));
+    }
+
+    std::sort(xy.begin(), xy.end(), [](const std::pair<float, float>& a, const std::pair<float, float>& b) { return a.first < b.first; });
+
+    for (int i = 0; i + 1 < xy.size(); i++)
+    {
+        auto x0 = xy[i].first;
+        auto y0 = xy[i].second;
+
+        auto x1 = xy[i+1].first;
+        auto y1 = xy[i+1].second;
+
+        x0 = (x0 - min_x) / (max_x - min_x);
+        x1 = (x1 - min_x) / (max_x - min_x);
+
+        y0 = (y0 - min_y) / (max_y - min_y);
+        y1 = (y1 - min_y) / (max_y - min_y);
+
+        ImGui::GetWindowDrawList()->AddLine({ pos.x + 15 + max_y_label_width + x0 * graph_width, pos.y + ImGui::GetTextLineHeight() + 5 + height_y * (1.f - y0) },
+                 { pos.x + 15 + max_y_label_width + x1 * graph_width, pos.y + ImGui::GetTextLineHeight() + 5 + height_y * (1.f - y1) }, ImColor(black));
+    }
+
+    //ImGui::PopFont();
+    ImGui::PopStyleColor();
+
+    xy.clear();
+}
+
+void frame_drops_dashboard::process_frame(rs2::frame f)
+{
+    write_shared_data([&](){
+        double ts = glfwGetTime();
+        if (method == 1) ts = f.get_timestamp() / 1000.f;
+        auto it = stream_to_time.find(f.get_profile().unique_id());
+        if (it != stream_to_time.end())
+        {
+            auto last = stream_to_time[f.get_profile().unique_id()];
+
+            auto fps = f.get_profile().fps();
+
+            if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
+                fps = f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS);
+
+            if (1000.f * (ts - last) > 1.5f * (1000.f / fps)) {
+                drops++;
+            }
+        }
+
+        counter++;
+
+        if (ts - last_time > 1.f)
+        {
+            if (drops_history.size() > 100) drops_history.pop_front();
+            drops_history.push_back(drops);
+            *total = counter;
+            *frame_drop_count = drops;
+            drops = 0;
+            last_time = ts;
+            counter = 0;
+        }
+
+        stream_to_time[f.get_profile().unique_id()] = ts;
+    });
+}
+
+void frame_drops_dashboard::draw(ux_window& win, rect r)
+{
+    auto hist = read_shared_data<std::deque<int>>([&](){ return drops_history; });
+    for (int i = 0; i < hist.size(); i++)
+    {
+        add_point(i, hist[i]);
+    }
+    r.h -= ImGui::GetTextLineHeightWithSpacing() + 10;
+    draw_dashboard(win, r);
+
+    ImGui::SetCursorPosX(ImGui::GetCursorPosX() + 40);
+    ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 3);
+    ImGui::Text("%s", "Measurement Metric:"); ImGui::SameLine();
+    ImGui::SetCursorPosY(ImGui::GetCursorPosY() - 3);
+
+    ImGui::SetCursorPosX(200);
+
+    std::vector<const char*> methods;
+    methods.push_back("Viewer Processing Rate");
+    methods.push_back("Camera Timestamp Rate");
+
+    ImGui::PushItemWidth(r.w - 207);
+    if (ImGui::Combo("##fps_method", &method, methods.data(), methods.size()))
+    {
+        clear(false);
+    }
+    ImGui::PopItemWidth();
+}
+
+int frame_drops_dashboard::get_height() const 
+{ 
+    return 160.f + ImGui::GetTextLineHeightWithSpacing(); 
+}
+
+void frame_drops_dashboard::clear(bool full) 
+{ 
+    write_shared_data([&](){
+        stream_to_time.clear();
+        last_time = 0;
+        *total = 0;
+        *frame_drop_count = 0;
+        if (full)
+        {
+            drops_history.clear();
+            for (int i = 0; i < 100; i++)
+                drops_history.push_back(0);
+        }
+    });
+}
\ No newline at end of file
diff --git a/common/output-model.h b/common/output-model.h
new file mode 100644
index 0000000000..345c95b9ab
--- /dev/null
+++ b/common/output-model.h
@@ -0,0 +1,190 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2020 Intel Corporation. All Rights Reserved.
+
+#pragma once
+
+#include <functional>
+#include <string>
+
+#include "ux-window.h"
+#include "rendering.h"
+
+#include "../src/concurrency.h"
+
+namespace rs2
+{
+    class stream_dashboard
+    {
+    public:
+        stream_dashboard(std::string name, int size) : q(size), name(name), t([this](){ thread_function(); }) {}
+        virtual ~stream_dashboard()
+        {
+            stop = true;
+            t.join();
+        }
+
+        std::string get_name() const { return name; }
+
+        void add_frame(rs2::frame f) { q.enqueue(f); }
+
+        virtual void draw(ux_window& win, rect r) = 0;
+
+        virtual int get_height() const { return 150.f; }
+
+        virtual void clear(bool full = false) {}
+
+        void close() { to_close = true; }
+        bool closing() const { return to_close; }
+
+    protected:
+        virtual void process_frame(rs2::frame f) = 0;
+
+        void write_shared_data(std::function<void()> action)
+        {
+            std::lock_guard<std::mutex> lock(m);
+            action();
+        }
+
+        template<class T>
+        T read_shared_data(std::function<T()> action)
+        {
+            std::lock_guard<std::mutex> lock(m);
+            T res = action();
+            return res;
+        }
+
+        void add_point(float x, float y) { xy.push_back(std::make_pair(x, y)); }
+        
+        void draw_dashboard(ux_window& win, rect& r);
+
+    private:
+        void thread_function()
+        {
+            while(!stop)
+            {
+                rs2::frame f;
+                if (q.try_wait_for_frame(&f, 100))
+                    process_frame(f);
+            }
+        }
+        std::string name;
+        rs2::frame_queue q;
+        std::mutex m;
+        std::atomic<int> stop { false };
+        std::thread t;
+        std::vector<std::pair<float, float>> xy;
+        bool to_close = false;
+    };
+
+    class frame_drops_dashboard : public stream_dashboard
+    {
+    public:
+        frame_drops_dashboard(std::string name, int* frame_drop_count, int* total) 
+            : stream_dashboard(name, 30), 
+              last_time(glfwGetTime()), frame_drop_count(frame_drop_count), total(total) 
+        {
+            clear(true);
+        }
+
+        void process_frame(rs2::frame f) override;
+        void draw(ux_window& win, rect r) override;
+        int get_height() const override;
+
+        void clear(bool full) override;
+
+    private:
+        std::map<int, double> stream_to_time;
+        int drops = 0;
+        double last_time;
+        std::deque<int> drops_history;
+        int *frame_drop_count, *total;
+        int counter = 0;
+        int method = 0;
+    };
+
+    class output_model
+    {
+    public:
+        struct log_entry
+        {
+            std::string line = "";
+            std::string filename = "";
+            rs2_log_severity severity = RS2_LOG_SEVERITY_FATAL;
+            int line_number = 0;
+            double time_added = 0.0;
+            std::string timestamp = "";
+            bool selected = false;
+        };
+
+        void update_dashboards(rs2::frame f);
+
+        output_model();
+        ~output_model();
+
+        void add_log(rs2_log_severity severity, std::string filename, int line_number, std::string line);
+
+        void draw(ux_window& win, rect view_rect, std::vector<rs2::device> devices);
+
+        int get_output_height() const { return default_log_h; }
+
+        void run_command(std::string command, std::vector<rs2::device> devices);
+
+    private:
+        void open(ux_window& win);
+
+        void foreach_log(std::function<void(log_entry& line)> action);
+        bool round_indicator(ux_window& win, std::string icon, int count, 
+            ImVec4 color, std::string tooltip, bool& highlighted, std::string suffix = "");
+
+        bool new_log = false;
+        std::recursive_mutex m;
+
+        single_consumer_queue<log_entry> incoming_log_queue;
+        std::deque<log_entry> notification_logs;
+
+        animated<int> default_log_h { 36 };
+        bool is_output_open = true;
+
+        bool enable_firmware_logs = false;
+
+        bool errors_selected = false;
+        bool warnings_selected = false;
+        bool info_selected = false;
+
+        bool errors_highlighted = false;
+        bool warnings_highlighted = false;
+        bool info_highlighted = false;
+        bool drops_highlighted = false;
+
+        rs2_log_severity min_severity = RS2_LOG_SEVERITY_DEBUG;
+        rs2_log_severity max_severity = RS2_LOG_SEVERITY_FATAL;
+
+        int number_of_errors = 0;
+        int number_of_warnings = 0;
+        int number_of_info = 0;
+        int number_of_drops = 0;
+        int total_frames = 0;
+
+        animated<int> search_width { 0, std::chrono::milliseconds(400) };
+        bool search_open = false;
+
+        std::deque<std::string> autocomplete;
+
+        std::mutex devices_mutex;
+        std::vector<rs2::device> devices;
+
+        std::string search_line { "" };
+        std::string command_line { "" };
+        std::deque<std::string> commands_histroy;
+        int history_offset = 0;
+        bool command_focus = true;
+
+        std::vector<std::shared_ptr<stream_dashboard>> dashboards;
+        std::map<std::string, std::function<std::shared_ptr<stream_dashboard>(std::string)>> available_dashboards;
+
+        std::atomic<int> to_stop { 0 };
+        std::thread fw_logger;
+
+        void thread_loop();
+    };
+}
\ No newline at end of file
diff --git a/common/rendering.h b/common/rendering.h
index 59d5bedad4..ee77f5cd44 100644
--- a/common/rendering.h
+++ b/common/rendering.h
@@ -1581,6 +1581,43 @@ namespace rs2
         }
     };
 
+    // Helper class that lets smoothly animate between its values
+    template<class T>
+    class animated
+    {
+    private:
+        T _old, _new;
+        std::chrono::system_clock::time_point _last_update;
+        std::chrono::system_clock::duration _duration;
+    public:
+        animated(T def, std::chrono::system_clock::duration duration = std::chrono::milliseconds(200))
+            : _duration(duration), _old(def), _new(def)
+        {
+            _last_update = std::chrono::system_clock::now();
+        }
+        animated& operator=(const T& other)
+        {
+            if (other != _new)
+            {
+                _old = get();
+                _new = other;
+                _last_update = std::chrono::system_clock::now();
+            }
+            return *this;
+        }
+        T get() const
+        {
+            auto now = std::chrono::system_clock::now();
+            auto ms = std::chrono::duration_cast<std::chrono::microseconds>(now - _last_update).count();
+            auto duration_ms = std::chrono::duration_cast<std::chrono::microseconds>(_duration).count();
+            auto t = (float)ms / duration_ms;
+            t = std::max(0.f, std::min(rs2::smoothstep(t, 0.f, 1.f), 1.f));
+            return _old * (1.f - t) + _new * t;
+        }
+        operator T() const { return get(); }
+        T value() const { return _new; }
+    };
+
     inline bool is_integer(float f)
     {
         return (fabs(fmod(f, 1)) < std::numeric_limits<float>::min());
@@ -1656,7 +1693,7 @@ namespace rs2
     inline float single_wave(float x)
     {
         auto c = clamp(x, 0.f, 1.f);
-        return 0.5f * (sinf(2.f * M_PI * c - M_PI_2) + 1.f);
+        return 0.5f * (sinf(2.f * float(M_PI) * c - float(M_PI_2)) + 1.f);
     }
 
     // convert 3d points into 2d viewport coordinates
@@ -1737,8 +1774,8 @@ namespace rs2
         p2d.z = clamp(p2d.z, -1.0, 1.0);
 
         // viewport coordinates
-        float x_vp = round((p2d.x + 1.0) / 2.0 * vp[2]) + vp[0];
-        float y_vp = round((p2d.y + 1.0) / 2.0 * vp[3]) + vp[1];
+        float x_vp = round((p2d.x + 1.f) / 2.f * vp[2]) + vp[0];
+        float y_vp = round((p2d.y + 1.f) / 2.f * vp[3]) + vp[1];
 
         float2 p_w;
         p_w.x = x_vp;
diff --git a/common/ux-window.cpp b/common/ux-window.cpp
index 295373bbd7..4c0dfbf0e2 100644
--- a/common/ux-window.cpp
+++ b/common/ux-window.cpp
@@ -71,6 +71,9 @@ namespace rs2
         config_file::instance().set_default(configurations::ply::use_normals, false);
         config_file::instance().set_default(configurations::ply::encoding, configurations::ply::binary);
 
+        config_file::instance().set_default(configurations::viewer::commands_xml, "./Commands.xml");
+        config_file::instance().set_default(configurations::viewer::hwlogger_xml, "./HWLoggerEvents.xml");
+
 #ifdef __APPLE__
         config_file::instance().set_default(configurations::performance::font_oversample, 8);
         config_file::instance().set_default(configurations::performance::enable_msaa, true);
@@ -342,7 +345,7 @@ namespace rs2
             _2d_vis = std::make_shared<visualizer_2d>(std::make_shared<splash_screen_shader>());
 
         // Load fonts to be used with the ImGui - TODO move to RAII
-        imgui_easy_theming(_font_14, _font_18);
+        imgui_easy_theming(_font_14, _font_18, _monofont);
 
         // Register for UI-controller events
         glfwSetWindowUserPointer(_win, this);
@@ -397,7 +400,7 @@ namespace rs2
 
     ux_window::ux_window(const char* title, context &ctx) :
         _win(nullptr), _width(0), _height(0), _output_height(0),
-        _font_14(nullptr), _font_18(nullptr), _app_ready(false),
+        _font_14(nullptr), _font_18(nullptr), _monofont(nullptr), _app_ready(false),
         _first_frame(true), _query_devices(true), _missing_device(false),
         _hourglass_index(0), _dev_stat_message{}, _keep_alive(true), _title(title), _ctx(ctx)
     {
@@ -597,6 +600,7 @@ namespace rs2
             glfwSetCursor(_win, nullptr);
         _cross_hovered = false;
         _link_hovered = false;
+        _hovers_any_input_window = false;
 
         return res;
     }
diff --git a/common/ux-window.h b/common/ux-window.h
index 1ad2394911..9244e58e3a 100644
--- a/common/ux-window.h
+++ b/common/ux-window.h
@@ -60,6 +60,7 @@ namespace rs2
         void reset();
 
         ImFont* get_large_font() const { return _font_18; }
+        ImFont* get_monofont() const { return _monofont; }
         ImFont* get_font() const { return _font_14; }
 
         rs2::mouse_info& get_mouse() { return _mouse; }
@@ -78,6 +79,9 @@ namespace rs2
         void link_hovered();
         void cross_hovered();
 
+        void set_hovered_over_input() { _hovers_any_input_window = true; }
+        bool get_hovered_over_input() const { return _hovers_any_input_window; }
+
         double time() const { return glfwGetTime(); }
     private:
         void open_window();
@@ -93,7 +97,7 @@ namespace rs2
         int                     _fb_height = 0;
         rs2::rect                _viewer_rect;
 
-        ImFont                   *_font_14, *_font_18;
+        ImFont                   *_font_14, *_font_18, *_monofont;
         rs2::mouse_info          _mouse{};
         std::string              _error_message;
         float                    _scale_factor;
@@ -108,6 +112,7 @@ namespace rs2
         std::vector<std::string> _on_load_message;
         std::mutex               _on_load_message_mtx;
 
+        bool                     _hovers_any_input_window = false;
         bool                     _query_devices = true;
         bool                     _missing_device = false;
         int                      _hourglass_index = 0;
diff --git a/common/viewer.cpp b/common/viewer.cpp
index 49497171da..eb521106f8 100644
--- a/common/viewer.cpp
+++ b/common/viewer.cpp
@@ -328,8 +328,8 @@ namespace rs2
         }
         else
         {
-            ImGui::PushStyleColor(ImGuiCol_Text, grey);
-            ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, grey);
+            ImGui::PushStyleColor(ImGuiCol_Text, header_color);
+            ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, header_color);
         }
         
         ImGui::SetCursorPos({float(x), float(y)});
@@ -611,7 +611,7 @@ namespace rs2
 
         // ------------ Texture Selection --------------
 
-        auto t = single_wave((glfwGetTime() - texture_update_time) * 2.f);
+        auto t = single_wave(float(glfwGetTime() - texture_update_time) * 2);
         ImVec4 text_color = light_grey * (1.f - t) + light_blue * t;
 
         const auto tex_selection_popup = "Tex Selection";
@@ -979,52 +979,6 @@ namespace rs2
         }
     }
 
-    void viewer_model::show_event_log(ImFont* font_14, float x, float y, float w, float h)
-    {
-        auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
-            ImGuiWindowFlags_NoCollapse | ImGuiWindowFlags_NoTitleBar |
-            ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_AlwaysVerticalScrollbar;
-
-        ImGui::PushFont(font_14);
-        ImGui::SetNextWindowPos({ x, y });
-        ImGui::SetNextWindowSize({ w, h });
-        ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0, 0));
-
-        is_output_collapsed = ImGui::Begin("Output", nullptr, ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
-            ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_ShowBorders);
-
-        int i = 0;
-        not_model->foreach_log([&](const std::string& line) {
-            ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue);
-            ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
-
-            auto rc = ImGui::GetCursorPos();
-            ImGui::SetCursorPos({ rc.x + 10, rc.y + 4 });
-
-            ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
-            ImGui::Icon(textual_icons::minus); ImGui::SameLine();
-            ImGui::PopStyleColor();
-
-            rc = ImGui::GetCursorPos();
-            ImGui::SetCursorPos({ rc.x, rc.y - 4 });
-
-            std::string label = to_string() << "##log_entry" << i++;
-            ImGui::InputTextEx(label.c_str(),
-                        (char*)line.data(),
-                        static_cast<int>(line.size() + 1),
-                        ImVec2(-1, ImGui::GetTextLineHeight() * 1.5f * float(std::max(1,(int)std::count(line.begin(),line.end(), '\n')))),
-                        ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_ReadOnly);
-            ImGui::PopStyleColor(2);
-
-            rc = ImGui::GetCursorPos();
-            ImGui::SetCursorPos({ rc.x, rc.y - 6 });
-        });
-
-        ImGui::End();
-        ImGui::PopStyleVar();
-        ImGui::PopFont();
-    }
-
     void rs2::viewer_model::show_popup(const ux_window& window, const popup& p)
     {
         auto flags = ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
@@ -1345,6 +1299,9 @@ namespace rs2
                 last_frames[f.get_profile().unique_id()] = f;
             }
 
+            for(auto&& f : last_frames)
+                not_model->output.update_dashboards(f.second);
+
             for(auto&& frame : last_frames)
             {
                 auto f = frame.second;
@@ -2464,6 +2421,8 @@ namespace rs2
 
             if (ImGui::BeginPopupModal(settings, nullptr, flags))
             {
+                if (ImGui::IsWindowHovered()) window.set_hovered_over_input();
+
                 ImGui::SetCursorScreenPos({ (float)(x0 + w / 2 - 280), (float)(y0 + 27) });
                 ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg);
                 ImGui::PushStyleColor(ImGuiCol_ButtonHovered, sensor_bg);
@@ -2739,6 +2698,38 @@ namespace rs2
                     }
 
 
+                    ImGui::Separator();
+
+                    {
+                        ImGui::Text("Commands.xml Path:");
+                        ImGui::SameLine();
+                        static char logpath[256];
+                        memset(logpath, 0, 256);
+                        std::string path_str = temp_cfg.get(configurations::viewer::commands_xml);
+                        memcpy(logpath, path_str.c_str(), std::min(255, (int)path_str.size()));
+
+                        if (ImGui::InputText("##commands_xml_path", logpath, 255))
+                        {
+                            path_str = logpath;
+                            temp_cfg.set(configurations::viewer::commands_xml, path_str);
+                        }
+                    }
+
+                    {
+                        ImGui::Text("HWLoggerEvents.xml Path:");
+                        ImGui::SameLine();
+                        static char logpath[256];
+                        memset(logpath, 0, 256);
+                        std::string path_str = temp_cfg.get(configurations::viewer::hwlogger_xml);
+                        memcpy(logpath, path_str.c_str(), std::min(255, (int)path_str.size()));
+
+                        if (ImGui::InputText("##fw_log_xml_path", logpath, 255))
+                        {
+                            path_str = logpath;
+                            temp_cfg.set(configurations::viewer::hwlogger_xml, path_str);
+                        }
+                    }
+                    
                     ImGui::Separator();
 
                     ImGui::Text("RealSense tools settings capture the state of UI, and not of the hardware:");
@@ -3003,6 +2994,7 @@ namespace rs2
         const rect& viewer_rect, bool force)
     {
         if (_measurements.manipulating()) return;
+        if (win.get_hovered_over_input()) return;
 
         mouse_info& mouse = win.get_mouse();
         auto now = std::chrono::high_resolution_clock::now();
diff --git a/common/viewer.h b/common/viewer.h
index c8c392d01b..de10a18dbf 100644
--- a/common/viewer.h
+++ b/common/viewer.h
@@ -62,9 +62,8 @@ namespace rs2
 
         const float panel_width = 340.f;
         const float panel_y = 50.f;
-        const float default_log_h = 110.f;
 
-        float get_output_height() const { return (is_output_collapsed ? default_log_h : 15); }
+        float get_output_height() const { return not_model->output.get_output_height(); }
 
         rs2::frame handle_ready_frames(const rect& viewer_rect, ux_window& window, int devices, std::string& error_message);
 
@@ -103,8 +102,6 @@ namespace rs2
 
         void popup_firmware_update_progress(const ux_window& window, const float progress);
 
-        void show_event_log(ImFont* font_14, float x, float y, float w, float h);
-
         void render_pose(rs2::rect stream_rect, float buttons_heights);
         void try_select_pointcloud(ux_window& win);
 
@@ -132,7 +129,6 @@ namespace rs2
 
         context &ctx;
         std::shared_ptr<notifications_model> not_model = std::make_shared<notifications_model>();
-        bool is_output_collapsed = false;
         bool is_3d_view = false;
         bool paused = false;
         bool metric_system = true;
diff --git a/examples/post-processing/readme.md b/examples/post-processing/readme.md
index bea240c828..2818e65c73 100644
--- a/examples/post-processing/readme.md
+++ b/examples/post-processing/readme.md
@@ -14,6 +14,7 @@ This example demonstrates usage of the following processing blocks:
 * Temporal
   * Filters depth data by looking into previous frames.
 
+For further infomration please refer to [Depth Post-Processing for Intel® RealSense™ Depth Camera D400 Series](https://dev.intelrealsense.com/docs/depth-post-processing)
 
 ## Expected Output
 ![expected output](https://user-images.githubusercontent.com/22654243/35924136-dd9cd1b6-0c2a-11e8-925a-84a52c0a5b96.gif)
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 9ace5a5d02..81d8cdc93c 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -16,7 +16,6 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/h/rs_internal.h"
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/h/rs_pipeline.h"
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/h/rs_config.h"
-        "${CMAKE_CURRENT_LIST_DIR}/librealsense2/h/rs_terminal_parser.h"
 
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/hpp/rs_types.hpp"
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/hpp/rs_context.hpp"
@@ -30,7 +29,6 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/hpp/rs_options.hpp"
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/hpp/rs_internal.hpp"
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/hpp/rs_pipeline.hpp"
-        "${CMAKE_CURRENT_LIST_DIR}/librealsense2/hpp/rs_terminal_parser.hpp"
 
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/rsutil.h"
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/rs_advanced_mode.h"
diff --git a/include/librealsense2/h/rs_internal.h b/include/librealsense2/h/rs_internal.h
index 3fe6bdcbb0..5691c63727 100644
--- a/include/librealsense2/h/rs_internal.h
+++ b/include/librealsense2/h/rs_internal.h
@@ -347,6 +347,201 @@ void rs2_software_sensor_add_option(rs2_sensor* sensor, rs2_option option, float
 */
 void rs2_software_sensor_detach(rs2_sensor* sensor, rs2_error** error);
 
+
+/**
+* \brief Creates RealSense firmware log message.
+* \param[in] dev            Device from which the FW log will be taken using the created message
+* \param[out] error         If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                   pointer to created empty firmware log message
+*/
+rs2_firmware_log_message* rs2_create_fw_log_message(rs2_device* dev, rs2_error** error);
+
+/**
+* \brief Gets RealSense firmware log.
+* \param[in] dev            Device from which the FW log should be taken
+* \param[in] fw_log_msg     Firmware log message object to be filled
+* \param[out] error         If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                   true for success, false for failure - failure happens if no firmware log was sent by the hardware monitor
+*/
+int rs2_get_fw_log(rs2_device* dev, rs2_firmware_log_message** fw_log_msg, rs2_error** error);
+
+/**
+* \brief Gets RealSense flash log - this is a fw log that has been written in the device during the previous shutdown of the device
+* \param[in] dev            Device from which the FW log should be taken
+* \param[in] fw_log_msg     Firmware log message object to be filled
+* \param[out] error         If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                   true for success, false for failure - failure happens if no firmware log was sent by the hardware monitor
+*/
+int rs2_get_flash_log(rs2_device* dev, rs2_firmware_log_message** fw_log_msg, rs2_error** error);
+
+/**
+* Delete RealSense firmware log message
+* \param[in]  device    Realsense firmware log message to delete
+*/
+void rs2_delete_fw_log_message(rs2_firmware_log_message* msg);
+
+/**
+* \brief Gets RealSense firmware log message data.
+* \param[in] msg        firmware log message object
+* \param[out] error     If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return               pointer to start of the firmware log message data
+*/
+const unsigned char* rs2_fw_log_message_data(rs2_firmware_log_message* msg, rs2_error** error);
+
+/**
+* \brief Gets RealSense firmware log message size.
+* \param[in] msg        firmware log message object
+* \param[out] error     If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return               size of the firmware log message data
+*/
+int rs2_fw_log_message_size(rs2_firmware_log_message* msg, rs2_error** error);
+
+
+/**
+* \brief Gets RealSense firmware log message timestamp.
+* \param[in] msg        firmware log message object
+* \param[out] error     If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return               timestamp of the firmware log message
+*/
+unsigned int rs2_fw_log_message_timestamp(rs2_firmware_log_message* msg, rs2_error** error);
+
+/**
+* \brief Gets RealSense firmware log message severity.
+* \param[in] msg        firmware log message object
+* \param[out] error     If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return               severity of the firmware log message data
+*/
+rs2_log_severity rs2_fw_log_message_severity(const rs2_firmware_log_message* msg, rs2_error** error);
+
+/**
+* \brief Initializes RealSense firmware logs parser in device.
+* \param[in] dev            Device from which the FW log will be taken
+* \param[in] xml_content    content of the xml file needed for parsing
+* \param[out] error         If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                   true for success, false for failure - failure happens if opening the xml from the xml_path input fails
+*/
+int rs2_init_fw_log_parser(rs2_device* dev, const char* xml_content, rs2_error** error);
+
+
+/**
+* \brief Creates RealSense firmware log parsed message.
+* \param[in] dev            Device from which the FW log will be taken using the created message
+* \param[out] error         If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                   pointer to created empty firmware log message
+*/
+rs2_firmware_log_parsed_message* rs2_create_fw_log_parsed_message(rs2_device* dev, rs2_error** error);
+
+/**
+* \brief Deletes RealSense firmware log parsed message.
+* \param[in] msg            message to be deleted
+*/
+void rs2_delete_fw_log_parsed_message(rs2_firmware_log_parsed_message* fw_log_parsed_msg);
+
+
+/**
+* \brief Gets RealSense firmware log parser
+* \param[in] dev                Device from which the FW log will be taken
+* \param[in] fw_log_msg         firmware log message to be parsed
+* \param[in] parsed_msg         firmware log parsed message - place holder for the resulting parsed message
+* \param[out] error             If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                       true for success, false for failure - failure happens if message could not be parsed
+*/
+int rs2_parse_firmware_log(rs2_device* dev, rs2_firmware_log_message* fw_log_msg, rs2_firmware_log_parsed_message* parsed_msg, rs2_error** error);
+
+/**
+* Delete RealSense firmware log parsed message
+* \param[in]  device    Realsense firmware log parsed message to delete
+*/
+void rs2_delete_fw_log_parsed_message(rs2_firmware_log_parsed_message* fw_log_parsed_msg);
+
+/**
+* \brief Gets RealSense firmware log parsed message.
+* \param[in] fw_log_parsed_msg      firmware log parsed message object
+* \param[out] error     If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return               message of the firmware log parsed message
+*/
+const char* rs2_get_fw_log_parsed_message(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error);
+
+/**
+* \brief Gets RealSense firmware log parsed message file name.
+* \param[in] fw_log_parsed_msg      firmware log parsed message object
+* \param[out] error     If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return               file name of the firmware log parsed message
+*/
+const char* rs2_get_fw_log_parsed_file_name(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error);
+
+/**
+* \brief Gets RealSense firmware log parsed message thread name.
+* \param[in] fw_log_parsed_msg      firmware log parsed message object
+* \param[out] error                 If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                           thread name of the firmware log parsed message
+*/
+const char* rs2_get_fw_log_parsed_thread_name(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error);
+
+/**
+* \brief Gets RealSense firmware log parsed message severity.
+* \param[in] fw_log_parsed_msg      firmware log parsed message object
+* \param[out] error                 If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                           severity of the firmware log parsed message
+*/
+rs2_log_severity rs2_get_fw_log_parsed_severity(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error);
+
+/**
+* \brief Gets RealSense firmware log parsed message relevant line (in the file that is returned by rs2_get_fw_log_parsed_file_name).
+* \param[in] fw_log_parsed_msg      firmware log parsed message object
+* \param[out] error                 If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                           line number of the firmware log parsed message
+*/
+unsigned int rs2_get_fw_log_parsed_line(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error);
+
+/**
+* \brief Gets RealSense firmware log parsed message timestamp
+* \param[in] fw_log_parsed_msg      firmware log parsed message object
+* \param[out] error                 If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                           timestamp of the firmware log parsed message
+*/
+unsigned int rs2_get_fw_log_parsed_timestamp(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error);
+
+/**
+* \brief Creates RealSense terminal parser.
+* \param[in] xml_content    content of the xml file needed for parsing
+* \param[out] error         If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                   pointer to created terminal parser object
+*/
+rs2_terminal_parser* rs2_create_terminal_parser(const char* xml_content, rs2_error** error);
+
+/**
+* \brief Deletes RealSense terminal parser.
+* \param[in] terminal_parser            terminal parser to be deleted
+*/
+void rs2_delete_terminal_parser(rs2_terminal_parser* terminal_parser);
+
+/**
+* \brief Parses terminal command via RealSense terminal parser
+* \param[in] terminal_parser        Terminal parser object
+* \param[in] command                command to be sent to the hw monitor of the device
+* \param[in] size_of_command        size of command to be sent to the hw monitor of the device
+* \param[out] error                 If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                           command to hw monitor, in hex
+*/
+rs2_raw_data_buffer* rs2_terminal_parse_command(rs2_terminal_parser* terminal_parser,
+    const char* command, unsigned int size_of_command, rs2_error** error);
+
+/**
+* \brief Parses terminal response via RealSense terminal parser
+* \param[in] terminal_parser        Terminal parser object
+* \param[in] command                command sent to the hw monitor of the device
+* \param[in] size_of_command        size of the command to sent to the hw monitor of the device
+* \param[in] response               response received by the hw monitor of the device
+* \param[in] size_of_response       size of the response received by the hw monitor of the device
+* \param[out] error                 If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
+* \return                           answer parsed
+*/
+rs2_raw_data_buffer* rs2_terminal_parse_response(rs2_terminal_parser* terminal_parser,
+    const char* command, unsigned int size_of_command,
+    const void* response, unsigned int size_of_response, rs2_error** error);
+
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/include/librealsense2/h/rs_option.h b/include/librealsense2/h/rs_option.h
index cbe36f4f96..ad6e5a2df1 100644
--- a/include/librealsense2/h/rs_option.h
+++ b/include/librealsense2/h/rs_option.h
@@ -152,6 +152,7 @@ extern "C" {
     {
         RS2_SENSOR_MODE_VGA,
         RS2_SENSOR_MODE_XGA,
+        RS2_SENSOR_MODE_QVGA,
         RS2_SENSOR_MODE_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
     } rs2_sensor_mode;
     const char* rs2_sensor_mode_to_string(rs2_sensor_mode preset);
diff --git a/include/librealsense2/h/rs_types.h b/include/librealsense2/h/rs_types.h
index cfc70ea5e7..4097e17611 100644
--- a/include/librealsense2/h/rs_types.h
+++ b/include/librealsense2/h/rs_types.h
@@ -205,6 +205,7 @@ typedef enum rs2_extension
     RS2_EXTENSION_FISHEYE_SENSOR,
     RS2_EXTENSION_DEPTH_HUFFMAN_DECODER,
     RS2_EXTENSION_SERIALIZABLE,
+    RS2_EXTENSION_FW_LOGGER,
     RS2_EXTENSION_AUTO_CALIBRATION_FILTER,
     RS2_EXTENSION_DEVICE_CALIBRATION,
     RS2_EXTENSION_CALIBRATED_SENSOR,
@@ -272,6 +273,9 @@ typedef struct rs2_options_list rs2_options_list;
 typedef struct rs2_devices_changed_callback rs2_devices_changed_callback;
 typedef struct rs2_notification rs2_notification;
 typedef struct rs2_notifications_callback rs2_notifications_callback;
+typedef struct rs2_firmware_log_message rs2_firmware_log_message;
+typedef struct rs2_firmware_log_parsed_message rs2_firmware_log_parsed_message;
+typedef struct rs2_firmware_log_parser rs2_firmware_log_parser;
 typedef struct rs2_terminal_parser rs2_terminal_parser;
 typedef void (*rs2_log_callback_ptr)(rs2_log_severity, rs2_log_message const *, void * arg);
 typedef void (*rs2_notification_callback_ptr)(rs2_notification*, void*);
diff --git a/include/librealsense2/hpp/rs_device.hpp b/include/librealsense2/hpp/rs_device.hpp
index 79252a82a6..b23f177573 100644
--- a/include/librealsense2/hpp/rs_device.hpp
+++ b/include/librealsense2/hpp/rs_device.hpp
@@ -226,7 +226,7 @@ namespace rs2
 
             results.insert(results.begin(), start, start + size);
 
-return results;
+            return results;
         }
 
         // Update an updatable device to the provided unsigned firmware. This call is executed on the caller's thread.
@@ -242,7 +242,7 @@ return results;
         void update_unsigned(const std::vector<uint8_t>& image, T callback, int update_mode = RS2_UNSIGNED_UPDATE_MODE_UPDATE) const
         {
             rs2_error* e = nullptr;
-            rs2_update_firmware_unsigned_cpp(_dev.get(), image.data(), image.size(), new update_progress_callback<T>(std::move(callback)), update_mode, &e);
+            rs2_update_firmware_unsigned_cpp(_dev.get(), image.data(), int(image.size()), new update_progress_callback<T>(std::move(callback)), update_mode, &e);
             error::handle(e);
         }
     };
@@ -277,7 +277,7 @@ return results;
         void update(const std::vector<uint8_t>& fw_image, T callback) const
         {
             rs2_error* e = nullptr;
-            rs2_update_firmware_cpp(_dev.get(), fw_image.data(), fw_image.size(), new update_progress_callback<T>(std::move(callback)), &e);
+            rs2_update_firmware_cpp(_dev.get(), fw_image.data(), int(fw_image.size()), new update_progress_callback<T>(std::move(callback)), &e);
             error::handle(e);
         }
     };
@@ -353,7 +353,7 @@ return results;
 
             rs2_error* e = nullptr;
             std::shared_ptr<const rs2_raw_data_buffer> list(
-                rs2_run_on_chip_calibration_cpp(_dev.get(), json_content.data(), json_content.size(), health, new update_progress_callback<T>(std::move(callback)), timeout_ms, &e),
+                rs2_run_on_chip_calibration_cpp(_dev.get(), json_content.data(), int(json_content.size()), health, new update_progress_callback<T>(std::move(callback)), timeout_ms, &e),
                 rs2_delete_raw_data);
             error::handle(e);
 
@@ -434,7 +434,7 @@ return results;
 
             rs2_error* e = nullptr;
             std::shared_ptr<const rs2_raw_data_buffer> list(
-                rs2_run_tare_calibration_cpp(_dev.get(), ground_truth_mm, json_content.data(), json_content.size(), new update_progress_callback<T>(std::move(callback)), timeout_ms, &e),
+                rs2_run_tare_calibration_cpp(_dev.get(), ground_truth_mm, json_content.data(), int(json_content.size()), new update_progress_callback<T>(std::move(callback)), timeout_ms, &e),
                 rs2_delete_raw_data);
             error::handle(e);
 
diff --git a/include/librealsense2/hpp/rs_export.hpp b/include/librealsense2/hpp/rs_export.hpp
index 19eff98110..55f52f0257 100644
--- a/include/librealsense2/hpp/rs_export.hpp
+++ b/include/librealsense2/hpp/rs_export.hpp
@@ -99,7 +99,7 @@ namespace rs2
                 if (fabs(verts[i].x) >= min_distance || fabs(verts[i].y) >= min_distance ||
                     fabs(verts[i].z) >= min_distance)
                 {
-                    idx_map[i] = new_verts.size();
+                    idx_map[int(i)] = int(new_verts.size());
                     new_verts.push_back({ verts[i].x, -1 * verts[i].y, -1 * verts[i].z });
                     if (use_texcoords)
                     {
diff --git a/include/librealsense2/hpp/rs_internal.hpp b/include/librealsense2/hpp/rs_internal.hpp
index 076a49c6a0..116449b2c9 100644
--- a/include/librealsense2/hpp/rs_internal.hpp
+++ b/include/librealsense2/hpp/rs_internal.hpp
@@ -363,5 +363,252 @@ namespace rs2
         }
     };
 
+    class firmware_log_message
+    {
+    public:
+        explicit firmware_log_message(std::shared_ptr<rs2_firmware_log_message> msg) :
+            _fw_log_message(msg) {}
+
+        rs2_log_severity get_severity() const {
+            rs2_error* e = nullptr;
+            rs2_log_severity severity = rs2_fw_log_message_severity(_fw_log_message.get(), &e);
+            error::handle(e);
+            return severity;
+        }
+        std::string get_severity_str() const {
+            return rs2_log_severity_to_string(get_severity());
+        }
+
+        uint32_t get_timestamp() const
+        {
+            rs2_error* e = nullptr;
+            uint32_t timestamp = rs2_fw_log_message_timestamp(_fw_log_message.get(), &e);
+            error::handle(e);
+            return timestamp;
+        }
+
+        int size() const
+        {
+            rs2_error* e = nullptr;
+            int size = rs2_fw_log_message_size(_fw_log_message.get(), &e);
+            error::handle(e);
+            return size;
+        }
+
+        std::vector<uint8_t> data() const
+        {
+            rs2_error* e = nullptr;
+            auto size = rs2_fw_log_message_size(_fw_log_message.get(), &e);
+            error::handle(e);
+            std::vector<uint8_t> result;
+            if (size > 0)
+            {
+                auto start = rs2_fw_log_message_data(_fw_log_message.get(), &e);
+                error::handle(e);
+                result.insert(result.begin(), start, start + size);
+            }
+            return result;
+        }
+
+        const std::shared_ptr<rs2_firmware_log_message> get_message() const { return _fw_log_message; }
+
+    private:
+        std::shared_ptr<rs2_firmware_log_message> _fw_log_message;
+    };
+
+    class firmware_log_parsed_message
+    {
+    public:
+        explicit firmware_log_parsed_message(std::shared_ptr<rs2_firmware_log_parsed_message> msg) :
+            _parsed_fw_log(msg) {}
+
+        std::string message() const
+        {
+            rs2_error* e = nullptr;
+            std::string msg(rs2_get_fw_log_parsed_message(_parsed_fw_log.get(), &e));
+            error::handle(e);
+            return msg;
+        }
+        std::string file_name() const
+        {
+            rs2_error* e = nullptr;
+            std::string file_name(rs2_get_fw_log_parsed_file_name(_parsed_fw_log.get(), &e));
+            error::handle(e);
+            return file_name;
+        }
+        std::string thread_name() const
+        {
+            rs2_error* e = nullptr;
+            std::string thread_name(rs2_get_fw_log_parsed_thread_name(_parsed_fw_log.get(), &e));
+            error::handle(e);
+            return thread_name;
+        }
+        std::string severity() const
+        {
+            rs2_error* e = nullptr;
+            rs2_log_severity sev = rs2_get_fw_log_parsed_severity(_parsed_fw_log.get(), &e);
+            error::handle(e);
+            return std::string(rs2_log_severity_to_string(sev));
+        }
+        uint32_t line() const
+        {
+            rs2_error* e = nullptr;
+            uint32_t line(rs2_get_fw_log_parsed_line(_parsed_fw_log.get(), &e));
+            error::handle(e);
+            return line;
+        }
+        uint32_t timestamp() const
+        {
+            rs2_error* e = nullptr;
+            uint32_t timestamp(rs2_get_fw_log_parsed_timestamp(_parsed_fw_log.get(), &e));
+            error::handle(e);
+            return timestamp;
+        }
+
+        const std::shared_ptr<rs2_firmware_log_parsed_message> get_message() const { return _parsed_fw_log; }
+
+    private:
+        std::shared_ptr<rs2_firmware_log_parsed_message> _parsed_fw_log;
+    };
+
+    class firmware_logger : public device
+    {
+    public:
+        firmware_logger(device d)
+            : device(d.get())
+        {
+            rs2_error* e = nullptr;
+            if (rs2_is_device_extendable_to(_dev.get(), RS2_EXTENSION_FW_LOGGER, &e) == 0 && !e)
+            {
+                _dev.reset();
+            }
+            error::handle(e);
+        }
+
+        rs2::firmware_log_message create_message()
+        {
+            rs2_error* e = nullptr;
+            std::shared_ptr<rs2_firmware_log_message> msg(
+                rs2_create_fw_log_message(_dev.get(), &e),
+                rs2_delete_fw_log_message);
+            error::handle(e);
+
+            return firmware_log_message(msg);
+        }
+
+        rs2::firmware_log_parsed_message create_parsed_message()
+        {
+            rs2_error* e = nullptr;
+            std::shared_ptr<rs2_firmware_log_parsed_message> msg(
+                rs2_create_fw_log_parsed_message(_dev.get(), &e),
+                rs2_delete_fw_log_parsed_message);
+            error::handle(e);
+
+            return firmware_log_parsed_message(msg);
+        }
+
+        bool get_firmware_log(rs2::firmware_log_message& msg) const
+        {
+            rs2_error* e = nullptr;
+            rs2_firmware_log_message* m = msg.get_message().get();
+            bool fw_log_pulling_status =
+                rs2_get_fw_log(_dev.get(), &(m), &e);
+
+            error::handle(e);
+
+            return fw_log_pulling_status;
+        }
+
+        bool get_flash_log(rs2::firmware_log_message& msg) const
+        {
+            rs2_error* e = nullptr;
+            rs2_firmware_log_message* m = msg.get_message().get();
+            bool flash_log_pulling_status =
+                rs2_get_flash_log(_dev.get(), &(m), &e);
+
+            error::handle(e);
+
+            return flash_log_pulling_status;
+        }
+
+        bool init_parser(const std::string& xml_content)
+        {
+            rs2_error* e = nullptr;
+
+            bool parser_initialized = rs2_init_fw_log_parser(_dev.get(), xml_content.c_str(), &e);
+            error::handle(e);
+
+            return parser_initialized;
+        }
+
+        bool parse_log(const rs2::firmware_log_message& msg, const rs2::firmware_log_parsed_message& parsed_msg)
+        {
+            rs2_error* e = nullptr;
+
+            bool parsingResult = rs2_parse_firmware_log(_dev.get(), msg.get_message().get(), parsed_msg.get_message().get(), &e);
+            error::handle(e);
+
+            return parsingResult;
+        }
+    };
+
+    class terminal_parser
+    {
+    public:
+        terminal_parser(const std::string& xml_content)
+        {
+            rs2_error* e = nullptr;
+
+            _terminal_parser = std::shared_ptr<rs2_terminal_parser>(
+                rs2_create_terminal_parser(xml_content.c_str(), &e),
+                rs2_delete_terminal_parser);
+            error::handle(e);
+        }
+
+        std::vector<uint8_t> parse_command(const std::string& command)
+        {
+            rs2_error* e = nullptr;
+
+            std::shared_ptr<const rs2_raw_data_buffer> list(
+                rs2_terminal_parse_command(_terminal_parser.get(), command.c_str(), command.size(), &e),
+                rs2_delete_raw_data);
+            error::handle(e);
+
+            auto size = rs2_get_raw_data_size(list.get(), &e);
+            error::handle(e);
+
+            auto start = rs2_get_raw_data(list.get(), &e);
+
+            std::vector<uint8_t> results;
+            results.insert(results.begin(), start, start + size);
+
+            return results;
+        }
+
+        std::string parse_response(const std::string& command, const std::vector<uint8_t>& response)
+        {
+            rs2_error* e = nullptr;
+
+            std::shared_ptr<const rs2_raw_data_buffer> list(
+                rs2_terminal_parse_response(_terminal_parser.get(), command.c_str(), command.size(),
+                (void*)response.data(), response.size(), &e),
+                rs2_delete_raw_data);
+            error::handle(e);
+
+            auto size = rs2_get_raw_data_size(list.get(), &e);
+            error::handle(e);
+
+            auto start = rs2_get_raw_data(list.get(), &e);
+
+            std::string results;
+            results.insert(results.begin(), start, start + size);
+
+            return results;
+        }
+
+    private:
+        std::shared_ptr<rs2_terminal_parser> _terminal_parser;
+    };
+
 }
 #endif // LIBREALSENSE_RS2_INTERNAL_HPP
diff --git a/include/librealsense2/hpp/rs_terminal_parser.hpp b/include/librealsense2/hpp/rs_terminal_parser.hpp
deleted file mode 100644
index 45ecf6c608..0000000000
--- a/include/librealsense2/hpp/rs_terminal_parser.hpp
+++ /dev/null
@@ -1,76 +0,0 @@
-// License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2020 Intel Corporation. All Rights Reserved.
-
-#ifndef LIBREALSENSE_RS2_TERMINAL_PARSER_HPP
-#define LIBREALSENSE_RS2_TERMINAL_PARSER_HPP
-
-#include "rs_types.hpp"
-#include "rs_sensor.hpp"
-#include "rs_device.hpp"
-
-#include <string>
-#include <vector>
-
-namespace rs2
-{
-    class terminal_parser
-    {
-    public:
-        terminal_parser(const std::string& xml_content)
-        {
-            rs2_error* e = nullptr;
-            
-            _terminal_parser = std::shared_ptr<rs2_terminal_parser>(
-                rs2_create_terminal_parser(xml_content.c_str(),  &e),
-                rs2_delete_terminal_parser);
-            error::handle(e);            
-        }
-
-        std::vector<uint8_t> parse_command(const std::string& command)
-        {
-            rs2_error* e = nullptr;
-
-            std::shared_ptr<const rs2_raw_data_buffer> list(
-                rs2_terminal_parse_command(_terminal_parser.get(), command.c_str(), command.size(), &e),
-                rs2_delete_raw_data);
-            error::handle(e);
-
-            auto size = rs2_get_raw_data_size(list.get(), &e);
-            error::handle(e);
-
-            auto start = rs2_get_raw_data(list.get(), &e);
-
-            std::vector<uint8_t> results;
-            results.insert(results.begin(), start, start + size);
-
-            return results;
-        }
-
-        std::string parse_response(const std::string& command, const std::vector<uint8_t>& response)
-        {
-            rs2_error* e = nullptr;
-
-            std::shared_ptr<const rs2_raw_data_buffer> list(
-                rs2_terminal_parse_response(_terminal_parser.get(), command.c_str(), command.size(),
-                    (void*)response.data(), response.size(), &e),
-                rs2_delete_raw_data);
-            error::handle(e);
-
-            auto size = rs2_get_raw_data_size(list.get(), &e);
-            error::handle(e);
-
-            auto start = rs2_get_raw_data(list.get(), &e);
-
-            std::string results;
-            results.insert(results.begin(), start, start + size);
-
-            return results;
-        }
-
-    private:
-        std::shared_ptr<rs2_terminal_parser> _terminal_parser;
-    };
-}
-
-
-#endif // LIBREALSENSE_RS2_TYPES_HPP
diff --git a/include/librealsense2/rs.h b/include/librealsense2/rs.h
index 8852105f3e..5cc362a693 100644
--- a/include/librealsense2/rs.h
+++ b/include/librealsense2/rs.h
@@ -21,7 +21,6 @@ extern "C" {
 #include "h/rs_processing.h"
 #include "h/rs_record_playback.h"
 #include "h/rs_sensor.h"
-#include "h/rs_terminal_parser.h"
 
 #define RS2_API_MAJOR_VERSION    2
 #define RS2_API_MINOR_VERSION    36
diff --git a/include/librealsense2/rs.hpp b/include/librealsense2/rs.hpp
index f84cc140a2..8922881300 100644
--- a/include/librealsense2/rs.hpp
+++ b/include/librealsense2/rs.hpp
@@ -13,7 +13,6 @@
 #include "hpp/rs_record_playback.hpp"
 #include "hpp/rs_sensor.hpp"
 #include "hpp/rs_pipeline.hpp"
-#include "hpp/rs_terminal_parser.hpp"
 
 namespace rs2
 {
diff --git a/scripts/patch-realsense-ubuntu-lts.sh b/scripts/patch-realsense-ubuntu-lts.sh
index 6330aa19c8..c849e02bcd 100755
--- a/scripts/patch-realsense-ubuntu-lts.sh
+++ b/scripts/patch-realsense-ubuntu-lts.sh
@@ -83,7 +83,7 @@ cd ${kernel_name}
 #then
 #Search the repository for the tag that matches the mmaj.min.patch-build of Ubuntu kernel
 kernel_full_num=$(echo $LINUX_BRANCH | cut -d '-' -f 1,2)
-kernel_git_tag=$(git ls-remote --tags origin | grep ${kernel_full_num} | grep '[^^{}]$' | tail -n 1 | awk -F/ '{print $NF}')
+kernel_git_tag=$(git ls-remote --tags origin | grep "${kernel_full_num}\." | grep '[^^{}]$' | tail -n 1 | awk -F/ '{print $NF}')
 echo -e "\e[32mFetching Ubuntu LTS tag \e[47m${kernel_git_tag}\e[0m \e[32m to the local kernel sources folder\e[0m"
 git fetch origin tag ${kernel_git_tag} --no-tags
 
diff --git a/scripts/patch-utils.sh b/scripts/patch-utils.sh
index e4e474188d..84dd5469f8 100755
--- a/scripts/patch-utils.sh
+++ b/scripts/patch-utils.sh
@@ -22,7 +22,7 @@ function require_package {
 
 #Based on the current kernel version select the branch name to fetch the kernel source code
 # The reference name are pulled here : http://kernel.ubuntu.com/git/ubuntu/ubuntu-xenial.git/
-# As of Jun 21, the status is 
+# As of Jun 19
 #	Branch		Commit message								Author							Age
 #	hwe			UBUNTU: Ubuntu-hwe-4.15.0-24.26~16.04.1		Andy Whitcroft					6 days
 #	hwe-edge	UBUNTU: Ubuntu-hwe-4.15.0-23.25~16.04.1		Kleber Sacilotto de Souza		4 weeks
@@ -30,11 +30,13 @@ function require_package {
 #	master		UBUNTU: Ubuntu-4.4.0-128.154				Stefan Bader					4 weeks
 #	master-next	UBUNTU: SAUCE: Redpine: fix soft-ap invisible issue	Sanjay Kumar Konduri	2 days
 
-# As of Jan  21, 2020
+# As of Jun  21, 2020
 #Ubuntu bionic repo : http://kernel.ubuntu.com/git/ubuntu/ubuntu-bionic.git/
-#	hwe	UBUNTU: Ubuntu-hwe-5.3.0-28.30~18.04.1	Sultan Alsawaf	6 days
-#	hwe-edge	UBUNTU: Ubuntu-hwe-edge-5.3.0-24.26~18.04.2	Kleber Sacilotto de Souza	8 weeks
-#	master	UBUNTU: Ubuntu-4.15.0-74.84	Khalid Elmously	5 weeks
+#   hwe	UBUNTU: Ubuntu-hwe-5.3.0-56.50~18.04.1	Kleber Sacilotto de Souza	3 weeks
+#   hwe-5.0	UBUNTU: Ubuntu-hwe-5.0-5.0.0-53.57~18.04.1	Sultan Alsawaf	7 days
+#   hwe-5.4	UBUNTU: Ubuntu-hwe-5.4-5.4.0-38.42~18.04.1	Stefan Bader	4 days
+#   hwe-edge	UBUNTU: Ubuntu-hwe-edge-5.3.0-24.26~18.04.2	Kleber Sacilotto de Souza	7 months
+#   master	UBUNTU: Ubuntu-4.15.0-106.107	Kleber Sacilotto de Souza	2 weeks
 #	master-current	UBUNTU: Ubuntu-4.15.0-66.75	Khalid Elmously	4 months
 
 function choose_kernel_branch {
@@ -80,10 +82,15 @@ function choose_kernel_branch {
 			echo Ubuntu-hwe-4.18.0-25.26_18.04.1
 			;;
 		"5.0")									# kernel 5.0 for Ubuntu 18/Bionic Beaver
-			echo 5
+			#echo hwe-5.0
+            echo 5
 			;;
 		"5.3")									# kernel 5.3
-			echo 5
+			#echo hwe
+            echo 5
+			;;
+		"5.4")									# kernel 5.4
+			echo hwe-5.4
 			;;
 		*)
 			#error message shall be redirected to stderr to be printed properly
diff --git a/scripts/realsense-camera-formats-bionic-5.patch b/scripts/realsense-camera-formats-bionic-5.patch
index 578557034e..e95d7faa78 100644
--- a/scripts/realsense-camera-formats-bionic-5.patch
+++ b/scripts/realsense-camera-formats-bionic-5.patch
@@ -15,7 +15,7 @@ diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driv
 index 33a22c016..a7b76c987 100644
 --- a/drivers/media/usb/uvc/uvc_driver.c
 +++ b/drivers/media/usb/uvc/uvc_driver.c
-@@ -219,6 +219,43 @@ static struct uvc_format_desc uvc_fmts[] = {
+@@ -219,6 +219,58 @@ static struct uvc_format_desc uvc_fmts[] = {
  		.guid		= UVC_GUID_FORMAT_CNF4,
  		.fcc		= V4L2_PIX_FMT_CNF4,
  	},
@@ -55,6 +55,21 @@ index 33a22c016..a7b76c987 100644
 +		.name		= "Z16 Huffman Compression",
 +		.guid		= UVC_GUID_FORMAT_Z16H,
 +		.fcc		= V4L2_PIX_FMT_Z16H,
++	},
++	{
++		.name		= "Frame Grabber (FG  )",
++		.guid		= UVC_GUID_FORMAT_FG,
++		.fcc		= V4L2_PIX_FMT_FG,
++	},
++	{
++		.name		= "SR300 Depth/Confidence (INZC)",
++		.guid		= UVC_GUID_FORMAT_INZC,
++		.fcc		= V4L2_PIX_FMT_INZC,
++	},
++	{
++		.name		= "Relative IR (PAIR)",
++		.guid		= UVC_GUID_FORMAT_PAIR,
++		.fcc		= V4L2_PIX_FMT_PAIR,
 +	},
  };
  
@@ -63,7 +78,7 @@ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
 index 9b41b14ce..4b88f31f5 100644
 --- a/drivers/media/usb/uvc/uvcvideo.h
 +++ b/drivers/media/usb/uvc/uvcvideo.h
-@@ -165,6 +165,28 @@
+@@ -165,6 +165,37 @@
  	{0x32, 0x00, 0x00, 0x00, 0x02, 0x00, 0x10, 0x00, \
  	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
  
@@ -89,6 +104,15 @@ index 9b41b14ce..4b88f31f5 100644
 +	#define UVC_GUID_FORMAT_Z16H \
 +	{ 'Z',  '1',  '6',  'H', 0x00, 0x00, 0x10, 0x00, \
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_FG \
++	{ 'F',  'G',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
++	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_INZC \
++	{ 'I',  'N',  'Z',  'C', 0x02, 0xb6, 0x0f, 0x48, \
++	0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
++	#define UVC_GUID_FORMAT_PAIR \
++	{ 'P',  'A',  'I',  'R', 0x36, 0x85, 0x41, 0x48, \
++	0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
  
  /* ------------------------------------------------------------------------
   * Driver specific constants.
@@ -103,7 +127,7 @@ index 90aad465f..e2d757e9a 100644
 +	/* Librealsense formats*/
 +	case V4L2_PIX_FMT_RW16:		descr = "16-bit Raw data"; break;
 +	case V4L2_PIX_FMT_W10:		descr = "10-bit packed 8888[2222]"; break;
-+	case V4L2_META_FMT_D4XX:		descr = "D4XX Payload Header metadata"; break;
++	case V4L2_META_FMT_D4XX:	descr = "D4XX Payload Header metadata"; break;
 +	case V4L2_PIX_FMT_CONFIDENCE_MAP:	descr = "Packed [44] confidence data"; break;
 +	case V4L2_PIX_FMT_FG:		descr = "Frame Grabber (FG  )"; break;
 +	case V4L2_PIX_FMT_INZC:		descr = "Planar Depth/Confidence (INZC)"; break;
@@ -122,7 +146,7 @@ index b5671ce27..8954f78be 100644
  #define V4L2_PIX_FMT_CNF4     v4l2_fourcc('C', 'N', 'F', '4') /* Intel 4-bit packed depth confidence information */
 +#define V4L2_PIX_FMT_RW16     v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */
 +#define V4L2_PIX_FMT_W10      v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */
-+#define V4L2_PIX_FMT_CONFIDENCE_MAP	v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */
++#define V4L2_PIX_FMT_CONFIDENCE_MAP    v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */
 +/*  Librealsense development*/
 +#define V4L2_PIX_FMT_FG       v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */
 +#define V4L2_PIX_FMT_INZC     v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */
diff --git a/scripts/realsense-camera-formats-bionic-Ubuntu-hwe-4.18.0-25.26_18.04.1.patch b/scripts/realsense-camera-formats-bionic-Ubuntu-hwe-4.18.0-25.26_18.04.1.patch
index e130292c60..bd6c7556c2 100644
--- a/scripts/realsense-camera-formats-bionic-Ubuntu-hwe-4.18.0-25.26_18.04.1.patch
+++ b/scripts/realsense-camera-formats-bionic-Ubuntu-hwe-4.18.0-25.26_18.04.1.patch
@@ -15,7 +15,7 @@ diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driv
 index 8e1382013..6f1dd1a9e 100644
 --- a/drivers/media/usb/uvc/uvc_driver.c
 +++ b/drivers/media/usb/uvc/uvc_driver.c
-@@ -209,6 +209,48 @@ static struct uvc_format_desc uvc_fmts[] = {
+@@ -209,6 +209,63 @@ static struct uvc_format_desc uvc_fmts[] = {
  		.guid		= UVC_GUID_FORMAT_INZI,
  		.fcc		= V4L2_PIX_FMT_INZI,
  	},
@@ -60,6 +60,21 @@ index 8e1382013..6f1dd1a9e 100644
 +		.name		= "Z16 Huffman Compression",
 +		.guid		= UVC_GUID_FORMAT_Z16H,
 +		.fcc		= V4L2_PIX_FMT_Z16H,
++	},
++	{
++		.name		= "Frame Grabber (FG  )",
++		.guid		= UVC_GUID_FORMAT_FG,
++		.fcc		= V4L2_PIX_FMT_FG,
++	},
++	{
++		.name		= "SR300 Depth/Confidence (INZC)",
++		.guid		= UVC_GUID_FORMAT_INZC,
++		.fcc		= V4L2_PIX_FMT_INZC,
++	},
++	{
++		.name		= "Relative IR (PAIR)",
++		.guid		= UVC_GUID_FORMAT_PAIR,
++		.fcc		= V4L2_PIX_FMT_PAIR,
 +	},
  };
  
@@ -68,7 +83,7 @@ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
 index be5cf1792..f405e5fe6 100644
 --- a/drivers/media/usb/uvc/uvcvideo.h
 +++ b/drivers/media/usb/uvc/uvcvideo.h
-@@ -158,6 +158,31 @@
+@@ -158,6 +158,40 @@
  	{0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \
  	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
  
@@ -96,7 +111,16 @@ index be5cf1792..f405e5fe6 100644
 +		0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
 +	#define UVC_GUID_FORMAT_Z16H \
 +	{ 'Z',  '1',  '6',  'H', 0x00, 0x00, 0x10, 0x00, \
-+	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++		0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_FG \
++	{ 'F',  'G',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
++		0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_INZC \
++	{ 'I',  'N',  'Z',  'C', 0x02, 0xb6, 0x0f, 0x48, \
++		0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
++	#define UVC_GUID_FORMAT_PAIR \
++	{ 'P',  'A',  'I',  'R', 0x36, 0x85, 0x41, 0x48, \
++		0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
  
  /* ------------------------------------------------------------------------
   * Driver specific constants.
diff --git a/scripts/realsense-camera-formats-bionic-hwe-5.4.patch b/scripts/realsense-camera-formats-bionic-hwe-5.4.patch
new file mode 100644
index 0000000000..3ee3ffeced
--- /dev/null
+++ b/scripts/realsense-camera-formats-bionic-hwe-5.4.patch
@@ -0,0 +1,159 @@
+Subject: [PATCH] Streaming formats for Ubuntu 18.04 (Bionic Beaver), Kernel 5.4
+From 120e2ef648e5f906555407ff7265ce729fc6d503 Mon Sep 17 00:00:00 2001
+From: Evgeni Raikhel <evgeni.raikhel@intel.com>
+Signed-off-by: Evgeni Raikhel <evgeni.raikhel@intel.com>
+Date: Mon, 24 Jun 2019 10:25:39 +0300
+
+---
+ drivers/media/usb/uvc/uvc_driver.c   | 37 ++++++++++++++++++++++++++++
+ drivers/media/usb/uvc/uvcvideo.h     | 22 +++++++++++++++++
+ drivers/media/v4l2-core/v4l2-ioctl.c |  8 ++++++
+ include/uapi/linux/videodev2.h       |  8 ++++++
+ 4 files changed, 75 insertions(+)
+
+diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c
+index 99883550375e..443ecea63bd8 100644
+--- a/drivers/media/usb/uvc/uvc_driver.c
++++ b/drivers/media/usb/uvc/uvc_driver.c
+@@ -214,6 +214,58 @@ static struct uvc_format_desc uvc_fmts[] = {
+ 		.guid		= UVC_GUID_FORMAT_CNF4,
+ 		.fcc		= V4L2_PIX_FMT_CNF4,
+ 	},
++	{
++		.name		= "Depth data 16-bit (D16)",
++		.guid		= UVC_GUID_FORMAT_D16,
++		.fcc		= V4L2_PIX_FMT_Z16,
++	},
++	{
++		.name		= "Packed raw data 10-bit",
++		.guid		= UVC_GUID_FORMAT_W10,
++		.fcc		= V4L2_PIX_FMT_W10,
++	},
++	{
++		.name		= "Confidence data (C   )",
++		.guid		= UVC_GUID_FORMAT_CONFIDENCE_MAP,
++		.fcc		= V4L2_PIX_FMT_CONFIDENCE_MAP,
++	},
++	/* FishEye 8-bit monochrome */
++	{
++		.name		= "Raw data 8-bit (RAW8)",
++		.guid		= UVC_GUID_FORMAT_RAW8,
++		.fcc		= V4L2_PIX_FMT_GREY,
++	},
++	/* Legacy formats for backward-compatibility*/
++	{
++		.name		= "Raw data 16-bit (RW16)",
++		.guid		= UVC_GUID_FORMAT_RW16,
++		.fcc		= V4L2_PIX_FMT_RW16,
++	},
++	{
++		.name		= "16-bit Bayer BGBG/GRGR",
++		.guid		= UVC_GUID_FORMAT_BAYER16,
++		.fcc		= V4L2_PIX_FMT_SBGGR16,
++	},
++	{
++		.name		= "Z16 Huffman Compression",
++		.guid		= UVC_GUID_FORMAT_Z16H,
++		.fcc		= V4L2_PIX_FMT_Z16H,
++	},
++	{
++		.name		= "Frame Grabber (FG  )",
++		.guid		= UVC_GUID_FORMAT_FG,
++		.fcc		= V4L2_PIX_FMT_FG,
++	},
++	{
++		.name		= "SR300 Depth/Confidence (INZC)",
++		.guid		= UVC_GUID_FORMAT_INZC,
++		.fcc		= V4L2_PIX_FMT_INZC,
++	},
++	{
++		.name		= "Relative IR (PAIR)",
++		.guid		= UVC_GUID_FORMAT_PAIR,
++		.fcc		= V4L2_PIX_FMT_PAIR,
++	},
+ };
+ 
+ /* ------------------------------------------------------------------------
+diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
+index 24e3d8c647e7..1aa8493a24d1 100644
+--- a/drivers/media/usb/uvc/uvcvideo.h
++++ b/drivers/media/usb/uvc/uvcvideo.h
+@@ -165,6 +165,37 @@
+ 	{0x32, 0x00, 0x00, 0x00, 0x02, 0x00, 0x10, 0x00, \
+ 	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+ 
++	#define UVC_GUID_FORMAT_D16 \
++	{ 'P', 0x00,  0x00,  0x00, 0x00, 0x00, 0x10, 0x00, \
++		0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_W10 \
++	{ 'W',  '1',  '0',  ' ', 0x00, 0x00, 0x10, 0x00, \
++		0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_RAW8 \
++	{ 'R',  'A',  'W',  '8', 0x66, 0x1a, 0x42, 0xa2, \
++		0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
++	#define UVC_GUID_FORMAT_CONFIDENCE_MAP \
++	{ 'C',  ' ',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
++		0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	/* Legacy formats */
++	#define UVC_GUID_FORMAT_RW16 \
++	{ 'R',  'W',  '1',  '6', 0x00, 0x00, 0x10, 0x00, \
++		0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_BAYER16 \
++	{ 'R',  'W',  '1',  '6', 0x66, 0x1a, 0x42, 0xa2, \
++		0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
++	#define UVC_GUID_FORMAT_Z16H \
++	{ 'Z',  '1',  '6',  'H', 0x00, 0x00, 0x10, 0x00, \
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_FG \
++	{ 'F',  'G',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
++	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_INZC \
++	{ 'I',  'N',  'Z',  'C', 0x02, 0xb6, 0x0f, 0x48, \
++	0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
++	#define UVC_GUID_FORMAT_PAIR \
++	{ 'P',  'A',  'I',  'R', 0x36, 0x85, 0x41, 0x48, \
++	0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
+ 
+ /* ------------------------------------------------------------------------
+  * Driver specific constants.
+diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c
+index 58868d7129eb..c29033b8439c 100644
+--- a/drivers/media/v4l2-core/v4l2-ioctl.c
++++ b/drivers/media/v4l2-core/v4l2-ioctl.c
+@@ -1330,6 +1330,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
+ 	case V4L2_META_FMT_VSP1_HGT:	descr = "R-Car VSP1 2-D Histogram"; break;
+ 	case V4L2_META_FMT_UVC:		descr = "UVC Payload Header Metadata"; break;
+ 	case V4L2_META_FMT_D4XX:	descr = "Intel D4xx UVC Metadata"; break;
++	/* Librealsense formats*/
++	case V4L2_PIX_FMT_RW16:		descr = "16-bit Raw data"; break;
++	case V4L2_PIX_FMT_W10:		descr = "10-bit packed 8888[2222]"; break;
++	case V4L2_PIX_FMT_CONFIDENCE_MAP:	descr = "Packed [44] confidence data"; break;
++	case V4L2_PIX_FMT_FG:		descr = "Frame Grabber (FG  )"; break;
++	case V4L2_PIX_FMT_INZC:		descr = "Planar Depth/Confidence (INZC)"; break;
++	case V4L2_PIX_FMT_PAIR:		descr = "Relative IR (PAIR)"; break;
++	case V4L2_PIX_FMT_Z16H:		descr = "Z16 Huffman Compression"; break;
+ 
+ 	default:
+ 		/* Compressed formats */
+diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h
+index 530638dffd93..d7c85713e32c 100644
+--- a/include/uapi/linux/videodev2.h
++++ b/include/uapi/linux/videodev2.h
+@@ -727,6 +727,14 @@ struct v4l2_pix_format {
+ #define V4L2_PIX_FMT_INZI     v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */
+ #define V4L2_PIX_FMT_SUNXI_TILED_NV12 v4l2_fourcc('S', 'T', '1', '2') /* Sunxi Tiled NV12 Format */
+ #define V4L2_PIX_FMT_CNF4     v4l2_fourcc('C', 'N', 'F', '4') /* Intel 4-bit packed depth confidence information */
++#define V4L2_PIX_FMT_RW16     v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */
++#define V4L2_PIX_FMT_W10      v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */
++#define V4L2_PIX_FMT_CONFIDENCE_MAP	v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */
++/*  Librealsense development*/
++#define V4L2_PIX_FMT_FG       v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */
++#define V4L2_PIX_FMT_INZC     v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */
++#define V4L2_PIX_FMT_PAIR     v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */
++#define V4L2_PIX_FMT_Z16H     v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/
+ 
+ /* 10bit raw bayer packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */
+ #define V4L2_PIX_FMT_IPU3_SBGGR10	v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */
+-- 
+2.17.1
+
diff --git a/scripts/realsense-camera-formats-bionic-master.patch b/scripts/realsense-camera-formats-bionic-master.patch
index 2ac38bf518..e0d81d5a62 100644
--- a/scripts/realsense-camera-formats-bionic-master.patch
+++ b/scripts/realsense-camera-formats-bionic-master.patch
@@ -27,7 +27,7 @@ diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driv
 index 28b91b7d7..f50a2b148 100644
 --- a/drivers/media/usb/uvc/uvc_driver.c
 +++ b/drivers/media/usb/uvc/uvc_driver.c
-@@ -203,6 +203,48 @@ static struct uvc_format_desc uvc_fmts[] = {
+@@ -203,6 +203,63 @@ static struct uvc_format_desc uvc_fmts[] = {
  		.guid		= UVC_GUID_FORMAT_INZI,
  		.fcc		= V4L2_PIX_FMT_INZI,
  	},
@@ -72,6 +72,21 @@ index 28b91b7d7..f50a2b148 100644
 +		.name		= "Z16 Huffman Compression",
 +		.guid		= UVC_GUID_FORMAT_Z16H,
 +		.fcc		= V4L2_PIX_FMT_Z16H,
++	},
++	{
++		.name		= "Frame Grabber (FG  )",
++		.guid		= UVC_GUID_FORMAT_FG,
++		.fcc		= V4L2_PIX_FMT_FG,
++	},
++	{
++		.name		= "SR300 Depth/Confidence (INZC)",
++		.guid		= UVC_GUID_FORMAT_INZC,
++		.fcc		= V4L2_PIX_FMT_INZC,
++	},
++	{
++		.name		= "Relative IR (PAIR)",
++		.guid		= UVC_GUID_FORMAT_PAIR,
++		.fcc		= V4L2_PIX_FMT_PAIR,
 +	},
  };
 
@@ -80,35 +95,44 @@ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
 index 05398784d..8c99aabef 100644
 --- a/drivers/media/usb/uvc/uvcvideo.h
 +++ b/drivers/media/usb/uvc/uvcvideo.h
-@@ -153,6 +153,31 @@
+@@ -153,6 +153,40 @@
  #define UVC_GUID_FORMAT_INVI \
  	{ 'I',  'N',  'V',  'I', 0xdb, 0x57, 0x49, 0x5e, \
  	 0x8e, 0x3f, 0xf4, 0x79, 0x53, 0x2b, 0x94, 0x6f}
-+#define UVC_GUID_FORMAT_L8 \
++	#define UVC_GUID_FORMAT_L8 \
 +	{ '2', 0x00,  0x00,  0x00, 0x00, 0x00, 0x10, 0x00, \
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
-+#define UVC_GUID_FORMAT_D16 \
++	#define UVC_GUID_FORMAT_D16 \
 +	{ 'P', 0x00,  0x00,  0x00, 0x00, 0x00, 0x10, 0x00, \
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
-+#define UVC_GUID_FORMAT_W10 \
++	#define UVC_GUID_FORMAT_W10 \
 +	{ 'W',  '1',  '0',  ' ', 0x00, 0x00, 0x10, 0x00, \
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
-+#define UVC_GUID_FORMAT_RAW8 \
++	#define UVC_GUID_FORMAT_RAW8 \
 +	{ 'R',  'A',  'W',  '8', 0x66, 0x1a, 0x42, 0xa2, \
 +	0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
-+#define UVC_GUID_FORMAT_CONFIDENCE_MAP \
++	#define UVC_GUID_FORMAT_CONFIDENCE_MAP \
 +	{ 'C',  ' ',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
 +	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
-+/* Legacy formats */
-+#define UVC_GUID_FORMAT_RW16 \
++	/* Legacy formats */
++	#define UVC_GUID_FORMAT_RW16 \
 +	{ 'R',  'W',  '1',  '6', 0x00, 0x00, 0x10, 0x00, \
 +	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
-+#define UVC_GUID_FORMAT_BAYER16 \
++	#define UVC_GUID_FORMAT_BAYER16 \
 +	{ 'R',  'W',  '1',  '6', 0x66, 0x1a, 0x42, 0xa2, \
 +	0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
-+#define UVC_GUID_FORMAT_Z16H \
++	#define UVC_GUID_FORMAT_Z16H \
 +	{ 'Z',  '1',  '6',  'H', 0x00, 0x00, 0x10, 0x00, \
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_FG \
++	{ 'F',  'G',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
++	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	#define UVC_GUID_FORMAT_INZC \
++	{ 'I',  'N',  'Z',  'C', 0x02, 0xb6, 0x0f, 0x48, \
++	0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
++	#define UVC_GUID_FORMAT_PAIR \
++	{ 'P',  'A',  'I',  'R', 0x36, 0x85, 0x41, 0x48, \
++	0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
 
  /* ------------------------------------------------------------------------
   * Driver specific constants.
diff --git a/scripts/realsense-camera-formats-xenial-Ubuntu-hwe-4.13.0-45.50_16.04.1.patch b/scripts/realsense-camera-formats-xenial-Ubuntu-hwe-4.13.0-45.50_16.04.1.patch
index 5de9acc02a..c9dba919b4 100644
--- a/scripts/realsense-camera-formats-xenial-Ubuntu-hwe-4.13.0-45.50_16.04.1.patch
+++ b/scripts/realsense-camera-formats-xenial-Ubuntu-hwe-4.13.0-45.50_16.04.1.patch
@@ -16,7 +16,7 @@ diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driv
 index 70842c5..2c92aa0 100644
 --- a/drivers/media/usb/uvc/uvc_driver.c
 +++ b/drivers/media/usb/uvc/uvc_driver.c
-@@ -203,6 +203,58 @@ static struct uvc_format_desc uvc_fmts[] = {
+@@ -203,6 +203,63 @@ static struct uvc_format_desc uvc_fmts[] = {
  		.guid		= UVC_GUID_FORMAT_INZI,
  		.fcc		= V4L2_PIX_FMT_INZI,
  	},
@@ -71,6 +71,11 @@ index 70842c5..2c92aa0 100644
 +		.name		= "Relative IR (PAIR)",
 +		.guid		= UVC_GUID_FORMAT_PAIR,
 +		.fcc		= V4L2_PIX_FMT_PAIR,
++	},
++	{
++		.name		= "Z16 Huffman Compression",
++		.guid		= UVC_GUID_FORMAT_Z16H,
++		.fcc		= V4L2_PIX_FMT_Z16H,
 +	},
  };
 
@@ -79,7 +84,7 @@ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
 index 15e415e..1ade6ee 100644
 --- a/drivers/media/usb/uvc/uvcvideo.h
 +++ b/drivers/media/usb/uvc/uvcvideo.h
-@@ -152,6 +152,40 @@
+@@ -152,6 +155,40 @@
  #define UVC_GUID_FORMAT_INVI \
  	{ 'I',  'N',  'V',  'I', 0xdb, 0x57, 0x49, 0x5e, \
  	 0x8e, 0x3f, 0xf4, 0x79, 0x53, 0x2b, 0x94, 0x6f}
@@ -117,6 +122,9 @@ index 15e415e..1ade6ee 100644
 +#define UVC_GUID_FORMAT_PAIR \
 +	{ 'P',  'A',  'I',  'R', 0x36, 0x85, 0x41, 0x48, \
 +	0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
++	#define UVC_GUID_FORMAT_Z16H \
++	{ 'Z',  '1',  '6',  'H', 0x00, 0x00, 0x10, 0x00, \
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
  
  /* ------------------------------------------------------------------------
   * Driver specific constants.
@@ -124,7 +132,7 @@ diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2
 index cab63bb..f9fcf13 100644
 --- a/drivers/media/v4l2-core/v4l2-ioctl.c
 +++ b/drivers/media/v4l2-core/v4l2-ioctl.c
-@@ -1239,7 +1239,13 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
+@@ -1239,7 +1239,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
  	case V4L2_TCH_FMT_TU08:		descr = "8-bit unsigned touch data"; break;
  	case V4L2_META_FMT_VSP1_HGO:	descr = "R-Car VSP1 1-D Histogram"; break;
  	case V4L2_META_FMT_VSP1_HGT:	descr = "R-Car VSP1 2-D Histogram"; break;
@@ -136,6 +144,7 @@ index cab63bb..f9fcf13 100644
 +	case V4L2_PIX_FMT_FG:		descr = "Frame Grabber (FG  )"; break;
 +	case V4L2_PIX_FMT_INZC:		descr = "Planar Depth/Confidence (INZC)"; break;
 +	case V4L2_PIX_FMT_PAIR:		descr = "Relative IR (PAIR)"; break;
++	case V4L2_PIX_FMT_Z16H:		descr = "Z16 Huffman Compression"; break;
  	default:
  		/* Compressed formats */
  		flags = V4L2_FMT_FLAG_COMPRESSED;
@@ -143,18 +152,19 @@ diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h
 index 45cf735..6944a02 100644
 --- a/include/uapi/linux/videodev2.h
 +++ b/include/uapi/linux/videodev2.h
-@@ -662,6 +662,14 @@ struct v4l2_pix_format {
+@@ -662,6 +662,15 @@ struct v4l2_pix_format {
  #define V4L2_PIX_FMT_Z16      v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */
  #define V4L2_PIX_FMT_MT21C    v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode  */
  #define V4L2_PIX_FMT_INZI     v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */
-+#define V4L2_PIX_FMT_RW16	v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */
-+#define V4L2_PIX_FMT_W10	v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */
++#define V4L2_PIX_FMT_RW16      v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */
++#define V4L2_PIX_FMT_W10       v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */
 +#define V4L2_PIX_FMT_CONFIDENCE_MAP  v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */
 +
 +/*  Librealsense development*/
-+#define V4L2_PIX_FMT_FG	v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */
-+#define V4L2_PIX_FMT_INZC	v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */
-+#define V4L2_PIX_FMT_PAIR	v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */
++#define V4L2_PIX_FMT_FG        v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */
++#define V4L2_PIX_FMT_INZC      v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */
++#define V4L2_PIX_FMT_PAIR      v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */
++#define V4L2_PIX_FMT_Z16H      v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/
  
  /* SDR formats - used only for Software Defined Radio devices */
  #define V4L2_SDR_FMT_CU8          v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */
diff --git a/scripts/realsense-camera-formats-xenial-Ubuntu-hwe-4.8.0-58.63_16.04.1.patch b/scripts/realsense-camera-formats-xenial-Ubuntu-hwe-4.8.0-58.63_16.04.1.patch
index b4d7918541..45d1a84229 100644
--- a/scripts/realsense-camera-formats-xenial-Ubuntu-hwe-4.8.0-58.63_16.04.1.patch
+++ b/scripts/realsense-camera-formats-xenial-Ubuntu-hwe-4.8.0-58.63_16.04.1.patch
@@ -28,7 +28,7 @@ diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driv
 index cde43b6..54bd175 100644
 --- a/drivers/media/usb/uvc/uvc_driver.c
 +++ b/drivers/media/usb/uvc/uvc_driver.c
-@@ -168,6 +168,103 @@ static struct uvc_format_desc uvc_fmts[] = {
+@@ -168,6 +168,108 @@ static struct uvc_format_desc uvc_fmts[] = {
  		.guid		= UVC_GUID_FORMAT_RW10,
  		.fcc		= V4L2_PIX_FMT_SRGGB10P,
  	},
@@ -128,6 +128,11 @@ index cde43b6..54bd175 100644
 +		.name		= "Relative IR (PAIR)",
 +		.guid		= UVC_GUID_FORMAT_PAIR,
 +		.fcc		= V4L2_PIX_FMT_PAIR,
++	},
++	{
++		.name		= "Z16 Huffman Compression",
++		.guid		= UVC_GUID_FORMAT_Z16H,
++		.fcc		= V4L2_PIX_FMT_Z16H,
 +	},
  };
  
@@ -136,16 +141,16 @@ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
 index 7e4d3ee..e517d8f 100644
 --- a/drivers/media/usb/uvc/uvcvideo.h
 +++ b/drivers/media/usb/uvc/uvcvideo.h
-@@ -131,6 +131,57 @@
+@@ -131,6 +131,60 @@
  #define UVC_GUID_FORMAT_RW10 \
  	{ 'R',  'W',  '1',  '0', 0x00, 0x00, 0x10, 0x00, \
  	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_RAW8 \
-+    { 'R',  'A',  'W',  '8', 0x66, 0x1a, 0x42, 0xa2, \
-+     0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
++	{ 'R',  'A',  'W',  '8', 0x66, 0x1a, 0x42, 0xa2, \
++	 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
 +#define UVC_GUID_FORMAT_RW16 \
-+    { 'R',  'W',  '1',  '6', 0x00, 0x00, 0x10, 0x00, \
-+     0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	{ 'R',  'W',  '1',  '6', 0x00, 0x00, 0x10, 0x00, \
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_INVZ \
 +	{ 'I',  'N',  'V',  'Z', 0x90, 0x2d, 0x58, 0x4a, \
 +	 0x92, 0x0b, 0x77, 0x3f, 0x1f, 0x2c, 0x55, 0x6b}
@@ -174,23 +179,26 @@ index 7e4d3ee..e517d8f 100644
 +	{ 'P', 0x00,  0x00,  0x00, 0x00, 0x00, 0x10, 0x00, \
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_BAYER16 \
-+    { 'R',  'W',  '1',  '6', 0x66, 0x1a, 0x42, 0xa2, \
-+     0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
++	{ 'R',  'W',  '1',  '6', 0x66, 0x1a, 0x42, 0xa2, \
++	 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
 +#define UVC_GUID_FORMAT_W10 \
-+    { 'W',  '1',  '0',  ' ', 0x00, 0x00, 0x10, 0x00, \
++	{ 'W',  '1',  '0',  ' ', 0x00, 0x00, 0x10, 0x00, \
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_CONFIDENCE_MAP \
 +	{ 'C',  ' ',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
-+	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_FG \
 +	{ 'F',  'G',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
-+	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_INZC \
 +	{ 'I',  'N',  'Z',  'C', 0x02, 0xb6, 0x0f, 0x48, \
-+	0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
++	 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
 +#define UVC_GUID_FORMAT_PAIR \
 +	{ 'P',  'A',  'I',  'R', 0x36, 0x85, 0x41, 0x48, \
-+	0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
++	 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
++#define UVC_GUID_FORMAT_Z16H \
++	{ 'Z',  '1',  '6',  'H', 0x00, 0x00, 0x10, 0x00, \
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
  
  /* ------------------------------------------------------------------------
   * Driver specific constants.
@@ -198,7 +206,7 @@ diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2
 index 51a0fa1..391c2b3 100644
 --- a/drivers/media/v4l2-core/v4l2-ioctl.c
 +++ b/drivers/media/v4l2-core/v4l2-ioctl.c
-@@ -1243,6 +1243,16 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
+@@ -1243,6 +1243,17 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
  	case V4L2_SDR_FMT_CS8:		descr = "Complex S8"; break;
  	case V4L2_SDR_FMT_CS14LE:	descr = "Complex S14LE"; break;
  	case V4L2_SDR_FMT_RU12LE:	descr = "Real U12LE"; break;
@@ -212,6 +220,7 @@ index 51a0fa1..391c2b3 100644
 +	case V4L2_PIX_FMT_FG:		descr = "Frame Grabber (FG  )"; break;
 +	case V4L2_PIX_FMT_INZC:		descr = "Planar Depth/Confidence (INZC)"; break;
 +	case V4L2_PIX_FMT_PAIR:		descr = "Relative IR (PAIR)"; break;
++	case V4L2_PIX_FMT_Z16H:		descr = "Z16 Huffman Compression"; break;
  
  	default:
  		/* Compressed formats */
@@ -219,7 +228,7 @@ diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h
 index 724f43e..29bcba5 100644
 --- a/include/uapi/linux/videodev2.h
 +++ b/include/uapi/linux/videodev2.h
-@@ -627,6 +627,18 @@ struct v4l2_pix_format {
+@@ -627,6 +627,19 @@ struct v4l2_pix_format {
  #define V4L2_PIX_FMT_Y8I      v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */
  #define V4L2_PIX_FMT_Y12I     v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */
  #define V4L2_PIX_FMT_Z16      v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */
@@ -232,9 +241,10 @@ index 724f43e..29bcba5 100644
 +#define V4L2_PIX_FMT_W10      v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */
 +#define V4L2_PIX_FMT_CONFIDENCE_MAP  v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */
 +/*  Librealsense development*/
-+#define V4L2_PIX_FMT_FG	v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */
-+#define V4L2_PIX_FMT_INZC	v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */
-+#define V4L2_PIX_FMT_PAIR	v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */
++#define V4L2_PIX_FMT_FG        v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */
++#define V4L2_PIX_FMT_INZC      v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */
++#define V4L2_PIX_FMT_PAIR      v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */
++#define V4L2_PIX_FMT_Z16H      v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/
  
  /* SDR formats - used only for Software Defined Radio devices */
  #define V4L2_SDR_FMT_CU8          v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */
diff --git a/scripts/realsense-camera-formats-xenial-hwe-zesty.patch b/scripts/realsense-camera-formats-xenial-hwe-zesty.patch
index 4c6307cd3b..2ad52d861e 100644
--- a/scripts/realsense-camera-formats-xenial-hwe-zesty.patch
+++ b/scripts/realsense-camera-formats-xenial-hwe-zesty.patch
@@ -16,7 +16,7 @@ diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driv
 index 04bf350..bb8fefb 100644
 --- a/drivers/media/usb/uvc/uvc_driver.c
 +++ b/drivers/media/usb/uvc/uvc_driver.c
-@@ -188,6 +188,88 @@ static struct uvc_format_desc uvc_fmts[] = {
+@@ -188,6 +188,93 @@ static struct uvc_format_desc uvc_fmts[] = {
  		.guid		= UVC_GUID_FORMAT_GR16,
  		.fcc		= V4L2_PIX_FMT_SGRBG16,
  	},
@@ -101,6 +101,11 @@ index 04bf350..bb8fefb 100644
 +		.name		= "Relative IR (PAIR)",
 +		.guid		= UVC_GUID_FORMAT_PAIR,
 +		.fcc		= V4L2_PIX_FMT_PAIR,
++	},
++	{
++		.name		= "Z16 Huffman Compression",
++		.guid		= UVC_GUID_FORMAT_Z16H,
++		.fcc		= V4L2_PIX_FMT_Z16H,
 +	},
  };
  
@@ -109,16 +114,16 @@ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
 index 3d6cc62..6ffdc0e 100644
 --- a/drivers/media/usb/uvc/uvcvideo.h
 +++ b/drivers/media/usb/uvc/uvcvideo.h
-@@ -143,6 +143,48 @@
+@@ -143,6 +143,51 @@
  #define UVC_GUID_FORMAT_RW10 \
  	{ 'R',  'W',  '1',  '0', 0x00, 0x00, 0x10, 0x00, \
  	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_RAW8 \
-+    { 'R',  'A',  'W',  '8', 0x66, 0x1a, 0x42, 0xa2, \
-+     0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
++   { 'R',  'A',  'W',  '8', 0x66, 0x1a, 0x42, 0xa2, \
++    0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
 +#define UVC_GUID_FORMAT_RW16 \
-+    { 'R',  'W',  '1',  '6', 0x00, 0x00, 0x10, 0x00, \
-+     0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++   { 'R',  'W',  '1',  '6', 0x00, 0x00, 0x10, 0x00, \
++    0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_INVZ \
 +	{ 'I',  'N',  'V',  'Z', 0x90, 0x2d, 0x58, 0x4a, \
 +	 0x92, 0x0b, 0x77, 0x3f, 0x1f, 0x2c, 0x55, 0x6b}
@@ -138,23 +143,26 @@ index 3d6cc62..6ffdc0e 100644
 +	{ 'P', 0x00,  0x00,  0x00, 0x00, 0x00, 0x10, 0x00, \
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_BAYER16 \
-+    { 'R',  'W',  '1',  '6', 0x66, 0x1a, 0x42, 0xa2, \
-+     0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
++	{ 'R',  'W',  '1',  '6', 0x66, 0x1a, 0x42, 0xa2, \
++	 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
 +#define UVC_GUID_FORMAT_W10 \
-+    { 'W',  '1',  '0',  ' ', 0x00, 0x00, 0x10, 0x00, \
++	{ 'W',  '1',  '0',  ' ', 0x00, 0x00, 0x10, 0x00, \
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_CONFIDENCE_MAP \
 +	{ 'C',  ' ',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
-+	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_FG \
 +	{ 'F',  'G',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
-+	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_INZC \
 +	{ 'I',  'N',  'Z',  'C', 0x02, 0xb6, 0x0f, 0x48, \
-+	0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
++	 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
 +#define UVC_GUID_FORMAT_PAIR \
 +	{ 'P',  'A',  'I',  'R', 0x36, 0x85, 0x41, 0x48, \
-+	0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
++	 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
++#define UVC_GUID_FORMAT_Z16H \
++	{ 'Z',  '1',  '6',  'H', 0x00, 0x00, 0x10, 0x00, \
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
  
  /* ------------------------------------------------------------------------
   * Driver specific constants.
@@ -162,7 +170,7 @@ diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2
 index 0c3f238..5347286 100644
 --- a/drivers/media/v4l2-core/v4l2-ioctl.c
 +++ b/drivers/media/v4l2-core/v4l2-ioctl.c
-@@ -1217,7 +1217,13 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
+@@ -1217,7 +1217,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
  	case V4L2_TCH_FMT_DELTA_TD08:	descr = "8-bit signed deltas"; break;
  	case V4L2_TCH_FMT_TU16:		descr = "16-bit unsigned touch data"; break;
  	case V4L2_TCH_FMT_TU08:		descr = "8-bit unsigned touch data"; break;
@@ -174,6 +182,7 @@ index 0c3f238..5347286 100644
 +	case V4L2_PIX_FMT_FG:		descr = "Frame Grabber (FG  )"; break;
 +	case V4L2_PIX_FMT_INZC:		descr = "Planar Depth/Confidence (INZC)"; break;
 +	case V4L2_PIX_FMT_PAIR:		descr = "Relative IR (PAIR)"; break;
++	case V4L2_PIX_FMT_Z16H:		descr = "Z16 Huffman Compression"; break;
  	default:
  		/* Compressed formats */
  		flags = V4L2_FMT_FLAG_COMPRESSED;
@@ -181,7 +190,7 @@ diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h
 index 45184a2..e7f6029 100644
 --- a/include/uapi/linux/videodev2.h
 +++ b/include/uapi/linux/videodev2.h
-@@ -661,7 +661,16 @@ struct v4l2_pix_format {
+@@ -661,7 +661,17 @@ struct v4l2_pix_format {
  #define V4L2_PIX_FMT_Y12I     v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */
  #define V4L2_PIX_FMT_Z16      v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */
  #define V4L2_PIX_FMT_MT21C    v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode  */
@@ -196,6 +205,7 @@ index 45184a2..e7f6029 100644
 +#define V4L2_PIX_FMT_FG	v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */
 +#define V4L2_PIX_FMT_INZC	v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */
 +#define V4L2_PIX_FMT_PAIR	v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */
++#define V4L2_PIX_FMT_Z16H     v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/
  /* SDR formats - used only for Software Defined Radio devices */
  #define V4L2_SDR_FMT_CU8          v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */
  #define V4L2_SDR_FMT_CU16LE       v4l2_fourcc('C', 'U', '1', '6') /* IQ u16le */
diff --git a/scripts/realsense-camera-formats-xenial-hwe.patch b/scripts/realsense-camera-formats-xenial-hwe.patch
index 684af469a3..40b1f0d844 100644
--- a/scripts/realsense-camera-formats-xenial-hwe.patch
+++ b/scripts/realsense-camera-formats-xenial-hwe.patch
@@ -110,29 +110,29 @@ index 0539878..401882d 100644
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_RAW8 \
 +	{ 'R',  'A',  'W',  '8', 0x66, 0x1a, 0x42, 0xa2, \
-+	0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
++	 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
 +#define UVC_GUID_FORMAT_CONFIDENCE_MAP \
 +	{ 'C',  ' ',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
-+	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +/* Legacy/Development formats */
 +#define UVC_GUID_FORMAT_RW16 \
 +	{ 'R',  'W',  '1',  '6', 0x00, 0x00, 0x10, 0x00, \
-+	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_BAYER16 \
 +	{ 'R',  'W',  '1',  '6', 0x66, 0x1a, 0x42, 0xa2, \
-+	0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
++	 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
 +#define UVC_GUID_FORMAT_BAYER16 \
 +	{ 'R',  'W',  '1',  '6', 0x66, 0x1a, 0x42, 0xa2, \
-+	0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
++	 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
 +#define UVC_GUID_FORMAT_FG \
 +	{ 'F',  'G',  ' ',  ' ', 0x00, 0x00, 0x10, 0x00, \
-+	0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
 +#define UVC_GUID_FORMAT_INZC \
 +	{ 'I',  'N',  'Z',  'C', 0x02, 0xb6, 0x0f, 0x48, \
-+	0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
++	 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
 +#define UVC_GUID_FORMAT_PAIR \
 +	{ 'P',  'A',  'I',  'R', 0x36, 0x85, 0x41, 0x48, \
-+	0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
++	 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
 +#define UVC_GUID_FORMAT_Z16H \
 +	{ 'Z',  '1',  '6',  'H', 0x00, 0x00, 0x10, 0x00, \
 +	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
@@ -167,15 +167,15 @@ index 1c095b5..959bf0b 100644
  #define V4L2_PIX_FMT_Z16      v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */
  #define V4L2_PIX_FMT_MT21C    v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode  */
  #define V4L2_PIX_FMT_INZI     v4l2_fourcc('I', 'N', 'Z', 'I') /* Intel Planar Greyscale 10-bit and Depth 16-bit */
-+#define V4L2_PIX_FMT_RW16	v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */
-+#define V4L2_PIX_FMT_W10	v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */
++#define V4L2_PIX_FMT_RW16      v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */
++#define V4L2_PIX_FMT_W10       v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */
 +#define V4L2_PIX_FMT_CONFIDENCE_MAP  v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */
 +
 +/*  Librealsense development*/
-+#define V4L2_PIX_FMT_FG	v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */
-+#define V4L2_PIX_FMT_INZC	v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */
-+#define V4L2_PIX_FMT_PAIR	v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */
-+#define V4L2_PIX_FMT_Z16H	v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/
++#define V4L2_PIX_FMT_FG        v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */
++#define V4L2_PIX_FMT_INZC      v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */
++#define V4L2_PIX_FMT_PAIR      v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */
++#define V4L2_PIX_FMT_Z16H      v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/
  
  /* SDR formats - used only for Software Defined Radio devices */
  #define V4L2_SDR_FMT_CU8          v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */
diff --git a/scripts/realsense-hid-bionic-hwe-5.4.patch b/scripts/realsense-hid-bionic-hwe-5.4.patch
new file mode 100644
index 0000000000..a83a885e1d
--- /dev/null
+++ b/scripts/realsense-hid-bionic-hwe-5.4.patch
@@ -0,0 +1,108 @@
+Signed-off-by: Evgeni <evgeni.raikhel@intel.com>
+From 001649b143e1a4e0924ac6fc47883a45ba28ff63 Mon Sep 17 00:00:00 2001
+Date: Fri, 19 Jun 2020 12:38:24 +0300
+Subject: [PATCH] Adding missing HID timestamp patch for Gyro sensor.
+         Ubuntu 18.04 Bionic Beaver with Kernel 5.4
+	A symmetric patch for Accelerator was already upstreamed,
+	this patch was skipped from upstream
+	The patch was written by Srinivas Pandruvada <srinivas.pandruvada@intel.com>
+	Additionally, timestamp conversion is fixed
+
+---
+ drivers/iio/accel/hid-sensor-accel-3d.c |  1 +
+ drivers/iio/gyro/hid-sensor-gyro-3d.c   | 31 ++++++++++++++++++-------
+ 2 files changed, 24 insertions(+), 8 deletions(-)
+
+diff --git a/drivers/iio/accel/hid-sensor-accel-3d.c b/drivers/iio/accel/hid-sensor-accel-3d.c
+index 0d9e2def2b25..ad90203c87c1 100644
+--- a/drivers/iio/accel/hid-sensor-accel-3d.c
++++ b/drivers/iio/accel/hid-sensor-accel-3d.c
+@@ -276,6 +276,7 @@ static int accel_3d_capture_sample(struct hid_sensor_hub_device *hsdev,
+ 			hid_sensor_convert_timestamp(
+ 					&accel_state->common_attributes,
+ 					*(int64_t *)raw_data);
++		ret = 0;
+ 	break;
+ 	default:
+ 		break;
+diff --git a/drivers/iio/gyro/hid-sensor-gyro-3d.c b/drivers/iio/gyro/hid-sensor-gyro-3d.c
+index 08cacbbf31e6..f6e88eecd145 100644
+--- a/drivers/iio/gyro/hid-sensor-gyro-3d.c
++++ b/drivers/iio/gyro/hid-sensor-gyro-3d.c
+@@ -29,11 +29,13 @@ struct gyro_3d_state {
+ 	struct hid_sensor_hub_callbacks callbacks;
+ 	struct hid_sensor_common common_attributes;
+ 	struct hid_sensor_hub_attribute_info gyro[GYRO_3D_CHANNEL_MAX];
+-	u32 gyro_val[GYRO_3D_CHANNEL_MAX];
++	/* Reserve for 3 channels + padding + timestamp */
++	u32 gyro_val[GYRO_3D_CHANNEL_MAX + 3];
+ 	int scale_pre_decml;
+ 	int scale_post_decml;
+ 	int scale_precision;
+ 	int value_offset;
++	int64_t timestamp;
+ };
+ 
+ static const u32 gyro_3d_addresses[GYRO_3D_CHANNEL_MAX] = {
+@@ -74,7 +76,8 @@ static const struct iio_chan_spec gyro_3d_channels[] = {
+ 		BIT(IIO_CHAN_INFO_SAMP_FREQ) |
+ 		BIT(IIO_CHAN_INFO_HYSTERESIS),
+ 		.scan_index = CHANNEL_SCAN_INDEX_Z,
+-	}
++	},
++	IIO_CHAN_SOFT_TIMESTAMP(3)
+ };
+ 
+ /* Adjust channel real bits based on report descriptor */
+@@ -181,11 +184,11 @@ static const struct iio_info gyro_3d_info = {
+ };
+ 
+ /* Function to push data to buffer */
+-static void hid_sensor_push_data(struct iio_dev *indio_dev, const void *data,
+-	int len)
++static void hid_sensor_push_data(struct iio_dev *indio_dev, void *data,
++	int len, int64_t timestamp)
+ {
+ 	dev_dbg(&indio_dev->dev, "hid_sensor_push_data\n");
+-	iio_push_to_buffers(indio_dev, data);
++	iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp);
+ }
+ 
+ /* Callback handler to send event after all samples are received and captured */
+@@ -197,11 +200,16 @@ static int gyro_3d_proc_event(struct hid_sensor_hub_device *hsdev,
+ 	struct gyro_3d_state *gyro_state = iio_priv(indio_dev);
+ 
+ 	dev_dbg(&indio_dev->dev, "gyro_3d_proc_event\n");
+-	if (atomic_read(&gyro_state->common_attributes.data_ready))
++	if (atomic_read(&gyro_state->common_attributes.data_ready)) {
++		if (!gyro_state->timestamp)
++			gyro_state->timestamp = iio_get_time_ns(indio_dev);
++
+ 		hid_sensor_push_data(indio_dev,
+ 				gyro_state->gyro_val,
+-				sizeof(gyro_state->gyro_val));
+-
++				sizeof(gyro_state->gyro_val),
++				gyro_state->timestamp);
++		gyro_state->timestamp = 0;
++	}
+ 	return 0;
+ }
+ 
+@@ -225,6 +233,13 @@ static int gyro_3d_capture_sample(struct hid_sensor_hub_device *hsdev,
+ 						*(u32 *)raw_data;
+ 		ret = 0;
+ 	break;
++	case HID_USAGE_SENSOR_TIME_TIMESTAMP:
++		gyro_state->timestamp =
++			hid_sensor_convert_timestamp(
++					&gyro_state->common_attributes,
++					*(int64_t *)raw_data);
++		ret = 0;
++	break;
+ 	default:
+ 		break;
+ 	}
+-- 
+2.17.1
+
diff --git a/scripts/realsense-metadata-bionic-Ubuntu-hwe-4.18.0-25.26_18.04.1.patch b/scripts/realsense-metadata-bionic-Ubuntu-hwe-4.18.0-25.26_18.04.1.patch
index 39736d5524..3a0b0cd1f5 100644
--- a/scripts/realsense-metadata-bionic-Ubuntu-hwe-4.18.0-25.26_18.04.1.patch
+++ b/scripts/realsense-metadata-bionic-Ubuntu-hwe-4.18.0-25.26_18.04.1.patch
@@ -1,20 +1,19 @@
-From 2be737f3c795751dcab548e0d8dbd7b1c2c89a49 Mon Sep 17 00:00:00 2001
-From: Evgeni <evgeni.raikhel@intel.com>
-Date: Mon, 1 Apr 2019 15:54:03 +0300
-Subject: [PATCH] Enabling UVC Metadata attributes with Ubuntu 18.04. Kernel 4.18
-
 Signed-off-by: Evgeni <evgeni.raikhel@intel.com>
+From 90588aff339a66dde0462042729692b8fa44373e Mon Sep 17 00:00:00 2001
+From: Evgeni Raikhel <evgeni.raikhel@intel.com>
+Date: Sat, 20 Jun 2020 14:55:57 +0300
+Subject: [PATCH] Enabling UVC Metadata attributes with Ubuntu 18.04. Kernel 5.18
 ---
- drivers/media/usb/uvc/uvc_driver.c | 172 +++++++++++++++++++++++++++++
+ drivers/media/usb/uvc/uvc_driver.c | 236 +++++++++++++++++++++++++++++
  drivers/media/usb/uvc/uvcvideo.h   |   2 +-
  include/uapi/linux/videodev2.h     |   1 +
- 3 files changed, 174 insertions(+), 1 deletion(-)
+ 3 files changed, 238 insertions(+), 1 deletion(-)
 
 diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c
-index 8e1382013..880765a5e 100644
+index d74c9a2d3b0b..ae9f847c061d 100644
 --- a/drivers/media/usb/uvc/uvc_driver.c
 +++ b/drivers/media/usb/uvc/uvc_driver.c
-@@ -2340,6 +2340,8 @@ static const struct uvc_device_info uvc_quirk_force_y8 = {
+@@ -2397,6 +2397,8 @@ static const struct uvc_device_info uvc_quirk_force_y8 = {
  };
  
  #define UVC_QUIRK_INFO(q) (kernel_ulong_t)&(struct uvc_device_info){.quirks = q}
@@ -23,10 +22,19 @@ index 8e1382013..880765a5e 100644
  
  /*
   * The Logitech cameras listed below have their interface class set to
-@@ -2813,6 +2815,240 @@ static const struct usb_device_id uvc_ids[] = {
+@@ -2870,6 +2872,240 @@ static const struct usb_device_id uvc_ids[] = {
  	  .bInterfaceSubClass	= 1,
  	  .bInterfaceProtocol	= 0,
  	  .driver_info		= (kernel_ulong_t)&uvc_quirk_force_y8 },
++	  /* Intel SR300 depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0aa5,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_QUIRK_META(V4L2_META_FMT_D4XX) },
 +	/* Intel D400/PSR depth camera*/
 +	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
 +				| USB_DEVICE_ID_MATCH_INT_INFO,
@@ -153,15 +161,6 @@ index 8e1382013..880765a5e 100644
 +	  .bInterfaceSubClass	= 1,
 +	  .bInterfaceProtocol	= 0,
 +	  .driver_info		= UVC_QUIRK_META(V4L2_META_FMT_D4XX) },
-+	  /* Intel SR300 depth camera */
-+	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
-+				| USB_DEVICE_ID_MATCH_INT_INFO,
-+	  .idVendor			= 0x8086,
-+	  .idProduct		= 0x0aa5,
-+	  .bInterfaceClass	= USB_CLASS_VIDEO,
-+	  .bInterfaceSubClass	= 1,
-+	  .bInterfaceProtocol	= 0,
-+	  .driver_info		= UVC_QUIRK_META(V4L2_META_FMT_D4XX) },
 +	  /* Intel D405 S depth camera */
 +	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
 +				| USB_DEVICE_ID_MATCH_INT_INFO,
@@ -265,10 +264,10 @@ index 8e1382013..880765a5e 100644
  	{ USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) },
  	{ USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_15) },
 diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
-index be5cf1792..42c82f3d3 100644
+index 3edb18288ab9..c86e44543b62 100644
 --- a/drivers/media/usb/uvc/uvcvideo.h
 +++ b/drivers/media/usb/uvc/uvcvideo.h
-@@ -170,7 +170,7 @@
+@@ -204,7 +204,7 @@
  /* Maximum number of packets per URB. */
  #define UVC_MAX_PACKETS		32
  /* Maximum status buffer size in bytes of interrupt URB. */
@@ -278,10 +277,10 @@ index be5cf1792..42c82f3d3 100644
  #define UVC_CTRL_CONTROL_TIMEOUT	500
  #define UVC_CTRL_STREAMING_TIMEOUT	5000
 diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h
-index 082dc1439..fab1e7a37 100644
+index 3a6656d8abc1..bc2b184eee8a 100644
 --- a/include/uapi/linux/videodev2.h
 +++ b/include/uapi/linux/videodev2.h
-@@ -707,6 +707,7 @@ struct v4l2_pix_format {
+@@ -715,6 +715,7 @@ struct v4l2_pix_format {
  #define V4L2_META_FMT_VSP1_HGO    v4l2_fourcc('V', 'S', 'P', 'H') /* R-Car VSP1 1-D Histogram */
  #define V4L2_META_FMT_VSP1_HGT    v4l2_fourcc('V', 'S', 'P', 'T') /* R-Car VSP1 2-D Histogram */
  #define V4L2_META_FMT_UVC         v4l2_fourcc('U', 'V', 'C', 'H') /* UVC Payload Header metadata */
diff --git a/scripts/realsense-metadata-bionic-hwe-5.4.patch b/scripts/realsense-metadata-bionic-hwe-5.4.patch
new file mode 100644
index 0000000000..5472adbbf9
--- /dev/null
+++ b/scripts/realsense-metadata-bionic-hwe-5.4.patch
@@ -0,0 +1,272 @@
+From 91f4e0a84b9754fd98a8b8a086fdc628bf4a6493 Mon Sep 17 00:00:00 2001
+From: ev-mp <ev_mp@yahoo.com>
+Date: Fri, 19 Jun 2020 12:34:08 +0300
+Signed-off-by: Evgeni <evgeni.raikhel@intel.com>
+Subject: [PATCH] Enabling UVC Metadata attributes with Ubuntu 18.04. Kernel 5.4
+
+---
+ drivers/media/usb/uvc/uvc_driver.c | 234 +++++++++++++++++++++++++++++
+ drivers/media/usb/uvc/uvcvideo.h   |   2 +-
+ 2 files changed, 235 insertions(+), 1 deletion(-)
+
+diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c
+index 443ecea63bd8..d3a5c5f8abb9 100644
+--- a/drivers/media/usb/uvc/uvc_driver.c
++++ b/drivers/media/usb/uvc/uvc_driver.c
+@@ -2945,6 +2945,240 @@ static const struct usb_device_id uvc_ids[] = {
+ 	  .bInterfaceSubClass	= 1,
+ 	  .bInterfaceProtocol	= 0,
+ 	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel SR300 depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0aa5,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	/* Intel D400/PSR depth camera*/
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0ad1,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D410/ASR depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0ad2,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D415/ASRC depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0ad3,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D430/AWG depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0ad4,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	/* Intel D450/AWGT depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0ad5,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	/* USB2 Descriptor, Depth Sensor */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0ad6,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D400 IMU Module */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0af2,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	/* Intel D420/PWG depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0af6,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	/* Intel D420_MM/PWGT depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0afe,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D410_MM/ASRT depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0aff,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D400_MM/PSRT depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b00,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D430_MM/AWGCT depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b01,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D460/DS5U depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b03,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D435/AWGC depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b07,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D405 S depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b0c,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel L500 depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b0d,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D435i depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b3a,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel L515 Pre-PRQ */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b3d,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel SR305 Depth Camera*/
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b48,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D416 Depth Camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b49,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D430i depth camera */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b4b,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D465 */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b4d,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D405 */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b5b,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel D455 */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b5c,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
++	  /* Intel L515 */
++	{ .match_flags		= USB_DEVICE_ID_MATCH_DEVICE
++				| USB_DEVICE_ID_MATCH_INT_INFO,
++	  .idVendor			= 0x8086,
++	  .idProduct		= 0x0b64,
++	  .bInterfaceClass	= USB_CLASS_VIDEO,
++	  .bInterfaceSubClass	= 1,
++	  .bInterfaceProtocol	= 0,
++	  .driver_info		= UVC_INFO_META(V4L2_META_FMT_D4XX) },
+ 	/* Generic USB Video Class */
+ 	{ USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) },
+ 	{ USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_15) },
+diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
+index 1aa8493a24d1..2b22379756d8 100644
+--- a/drivers/media/usb/uvc/uvcvideo.h
++++ b/drivers/media/usb/uvc/uvcvideo.h
+@@ -199,7 +199,7 @@
+ /* Maximum number of packets per URB. */
+ #define UVC_MAX_PACKETS		32
+ /* Maximum status buffer size in bytes of interrupt URB. */
+-#define UVC_MAX_STATUS_SIZE	16
++#define UVC_MAX_STATUS_SIZE	32
+ 
+ #define UVC_CTRL_CONTROL_TIMEOUT	500
+ #define UVC_CTRL_STREAMING_TIMEOUT	5000
+-- 
+2.17.1
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 94fd318ea6..24bd47b2e0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -12,6 +12,7 @@ include(${_rel_path}/proc/CMakeLists.txt)
 include(${_rel_path}/res/CMakeLists.txt)
 include(${_rel_path}/pipeline/CMakeLists.txt)
 include(${_rel_path}/usb/CMakeLists.txt)
+include(${_rel_path}/fw-logs/CMakeLists.txt)
 include(${_rel_path}/fw-update/CMakeLists.txt)
 
 message(STATUS "using ${BACKEND}")
@@ -78,6 +79,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/device_hub.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/environment.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/error-handling.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/firmware_logger_device.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/global_timestamp_reader.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/hw-monitor.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/image.cpp"
@@ -107,6 +109,7 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/environment.h"
         "${CMAKE_CURRENT_LIST_DIR}/log.h"
         "${CMAKE_CURRENT_LIST_DIR}/error-handling.h"
+        "${CMAKE_CURRENT_LIST_DIR}/firmware_logger_device.h"
         "${CMAKE_CURRENT_LIST_DIR}/frame-archive.h"
         "${CMAKE_CURRENT_LIST_DIR}/global_timestamp_reader.h"
         "${CMAKE_CURRENT_LIST_DIR}/hw-monitor.h"
diff --git a/src/concurrency.h b/src/concurrency.h
index 7dbf55d2a8..49873f4533 100644
--- a/src/concurrency.h
+++ b/src/concurrency.h
@@ -273,7 +273,7 @@ class dispatcher
 
         //wait
         std::unique_lock<std::mutex> lk(_blocking_invoke_mutex);
-        _blocking_invoke_cv.wait(lk, [&](){ return done || exit_condition(); });
+        while(_blocking_invoke_cv.wait_for(lk, std::chrono::milliseconds(10), [&](){ return !done && !exit_condition(); }));
     }
 
     void start()
@@ -443,4 +443,4 @@ class watchdog
     bool _blocker = true;
     std::function<void()> _operation;
     std::shared_ptr<active_object<>> _watcher;
-};
\ No newline at end of file
+};
diff --git a/src/ds5/advanced_mode/presets.h b/src/ds5/advanced_mode/presets.h
index eed2cbe062..63d3ae9338 100644
--- a/src/ds5/advanced_mode/presets.h
+++ b/src/ds5/advanced_mode/presets.h
@@ -6,91 +6,91 @@
 
 namespace librealsense
 {
-    typedef struct
+    typedef struct laser_power_control
     {
         float laser_power;
         bool was_set = false;
     }laser_power_control;
 
-    typedef struct
+    typedef struct laser_state_control
     {
         int laser_state;
         bool was_set = false;
     }laser_state_control;
 
-    typedef struct
+    typedef struct exposure_control
     {
         float exposure;
         bool was_set = false;
     }exposure_control;
 
-    typedef struct
+    typedef struct auto_exposure_control
     {
         int auto_exposure;
         bool was_set = false;
     }auto_exposure_control;
-
-    typedef struct
+ 
+    typedef struct gain_control
     {
         float gain;
         bool was_set = false;
     }gain_control;
 
-    typedef struct
+    typedef struct backlight_compensation_control
     {
         int backlight_compensation;
         bool was_set = false;
     }backlight_compensation_control;
 
-    typedef struct
+    typedef struct brightness_control
     {
         float brightness;
         bool was_set = false;
     }brightness_control;
 
-    typedef struct
+    typedef struct contrast_control
     {
         float contrast;
         bool was_set = false;
     }contrast_control;
 
-    typedef struct
+    typedef struct gamma_control
     {
         float gamma;
         bool was_set = false;
     }gamma_control;
 
-    typedef struct
+    typedef struct hue_control
     {
         float hue;
         bool was_set = false;
     }hue_control;
 
-    typedef struct
+    typedef struct saturation_control
     {
         float saturation;
         bool was_set = false;
     }saturation_control;
 
-    typedef struct
+    typedef struct sharpness_control
     {
         float sharpness;
         bool was_set = false;
     }sharpness_control;
 
-    typedef struct
+    typedef struct white_balance_control
     {
         float white_balance;
         bool was_set = false;
     }white_balance_control;
 
-    typedef struct
+    typedef struct auto_white_balance_control
     {
         int auto_white_balance;
         bool was_set = false;
     }auto_white_balance_control;
 
-    typedef struct
+    typedef struct power_line_frequency_control
     {
         int power_line_frequency;
         bool was_set = false;
diff --git a/src/ds5/ds5-auto-calibration.cpp b/src/ds5/ds5-auto-calibration.cpp
index de0acd0d5d..9598baf4bf 100644
--- a/src/ds5/ds5-auto-calibration.cpp
+++ b/src/ds5/ds5-auto-calibration.cpp
@@ -213,7 +213,7 @@ namespace librealsense
                 LOG_WARNING(ex.what());
             }
             if (progress_callback)
-                progress_callback->on_update_progress(count++ * (2 * speed)); //curently this number does not reflect the actual progress
+                progress_callback->on_update_progress(count++ * (2.f * speed)); //curently this number does not reflect the actual progress
 
             now = std::chrono::high_resolution_clock::now();
 
@@ -310,7 +310,7 @@ namespace librealsense
             }
 
             if (progress_callback)
-                progress_callback->on_update_progress(count++ * (2 * speed)); //curently this number does not reflect the actual progress
+                progress_callback->on_update_progress(count++ * (2.f * speed)); //curently this number does not reflect the actual progress
 
             now = std::chrono::high_resolution_clock::now();
 
@@ -356,7 +356,7 @@ namespace librealsense
                 adv->set_all(old_preset_values);
             }
             else
-                advanced_mode->_preset_opt->set(old_preset);
+                advanced_mode->_preset_opt->set(static_cast<float>(old_preset));
         });
 
         return recover_preset;
diff --git a/src/ds5/ds5-device.cpp b/src/ds5/ds5-device.cpp
index bdde330540..756a7c52e3 100644
--- a/src/ds5/ds5-device.cpp
+++ b/src/ds5/ds5-device.cpp
@@ -945,6 +945,16 @@ namespace librealsense
 #endif
     }
 
+    command ds5_device::get_firmware_logs_command() const
+    {
+        return command{ ds::GLD, 0x1f4 };
+    }
+
+    command ds5_device::get_flash_logs_command() const
+    {
+        return command{ ds::FRB, 0x17a000, 0x3f8 };
+    }
+
     std::shared_ptr<synthetic_sensor> ds5u_device::create_ds5u_depth_device(std::shared_ptr<context> ctx,
         const std::vector<platform::uvc_device_info>& all_device_infos)
     {
diff --git a/src/ds5/ds5-device.h b/src/ds5/ds5-device.h
index b4bb61dd35..edb821d1d5 100644
--- a/src/ds5/ds5-device.h
+++ b/src/ds5/ds5-device.h
@@ -75,6 +75,10 @@ namespace librealsense
 
         ds::d400_caps  parse_device_capabilities(const uint16_t pid) const;
 
+        //TODO - add these to device class as pure virtual methods
+        command get_firmware_logs_command() const;
+        command get_flash_logs_command() const;
+
         void init(std::shared_ptr<context> ctx,
             const platform::backend_device_group& group);
 
diff --git a/src/ds5/ds5-factory.cpp b/src/ds5/ds5-factory.cpp
index f039dc429d..90d84d934e 100644
--- a/src/ds5/ds5-factory.cpp
+++ b/src/ds5/ds5-factory.cpp
@@ -22,10 +22,14 @@
 #include "ds5-motion.h"
 #include "sync.h"
 
+#include "../firmware_logger_device.h"
+
 namespace librealsense
 {
     // PSR
-    class rs400_device : public ds5_nonmonochrome, public ds5_advanced_mode_base
+    class rs400_device : public ds5_nonmonochrome, 
+        public ds5_advanced_mode_base,
+        public firmware_logger_device
     {
     public:
         rs400_device(std::shared_ptr<context> ctx,
@@ -34,7 +38,10 @@ namespace librealsense
             : device(ctx, group, register_device_notifications),
               ds5_device(ctx, group),
               ds5_nonmonochrome(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()) {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                  get_firmware_logs_command(),
+                  get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -60,7 +67,8 @@ namespace librealsense
 
     // DS5U_S
     class rs405u_device : public ds5u_device,
-        public ds5_advanced_mode_base
+        public ds5_advanced_mode_base,
+        public firmware_logger_device
     {
     public:
         rs405u_device(std::shared_ptr<context> ctx,
@@ -68,7 +76,10 @@ namespace librealsense
             bool register_device_notifications)
             : device(ctx, group, register_device_notifications),
             ds5u_device(ctx, group),
-            ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()) {}
+            ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+            firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -107,7 +118,9 @@ namespace librealsense
 
     // ASR (D460)
     class rs410_device : public ds5_nonmonochrome,
-                         public ds5_active, public ds5_advanced_mode_base
+                         public ds5_active, 
+                         public ds5_advanced_mode_base,
+                         public firmware_logger_device
     {
     public:
         rs410_device(std::shared_ptr<context> ctx,
@@ -117,7 +130,10 @@ namespace librealsense
               ds5_device(ctx, group),
               ds5_nonmonochrome(ctx, group),
               ds5_active(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor())  {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+            firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -142,7 +158,8 @@ namespace librealsense
     class rs415_device : public ds5_nonmonochrome,
                          public ds5_active,
                          public ds5_color,
-                         public ds5_advanced_mode_base
+                         public ds5_advanced_mode_base,
+                         public firmware_logger_device
     {
     public:
         rs415_device(std::shared_ptr<context> ctx,
@@ -153,7 +170,10 @@ namespace librealsense
               ds5_nonmonochrome(ctx, group),
               ds5_active(ctx, group),
               ds5_color(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor())  {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+            firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -178,7 +198,9 @@ namespace librealsense
     };
 
     class rs416_device : public ds5_nonmonochrome,
-        public ds5_active, public ds5_advanced_mode_base
+        public ds5_active, 
+        public ds5_advanced_mode_base,
+        public firmware_logger_device
     {
     public:
         rs416_device(std::shared_ptr<context> ctx,
@@ -188,7 +210,10 @@ namespace librealsense
             ds5_device(ctx, group),
             ds5_nonmonochrome(ctx, group),
             ds5_active(ctx, group),
-            ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()) {}
+            ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+            firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -227,7 +252,8 @@ namespace librealsense
         public ds5_nonmonochrome,
         public ds5_active,
         public ds5_color,
-        public ds5_advanced_mode_base
+        public ds5_advanced_mode_base,
+        public firmware_logger_device
 
     {
     public:
@@ -239,7 +265,10 @@ namespace librealsense
             ds5_nonmonochrome(ctx, group),
             ds5_active(ctx, group),
             ds5_color(ctx, group),
-            ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()) {}
+            ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+            firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -277,7 +306,9 @@ namespace librealsense
     };
 
     // PWGT
-    class rs420_mm_device : public ds5_motion, public ds5_advanced_mode_base
+    class rs420_mm_device : public ds5_motion, 
+                            public ds5_advanced_mode_base,
+                            public firmware_logger_device
     {
     public:
         rs420_mm_device(std::shared_ptr<context> ctx,
@@ -286,7 +317,10 @@ namespace librealsense
             : device(ctx, group, register_device_notifications),
               ds5_device(ctx, group),
               ds5_motion(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor())  {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -319,7 +353,9 @@ namespace librealsense
     };
 
     // PWG
-    class rs420_device : public ds5_device, public ds5_advanced_mode_base
+    class rs420_device : public ds5_device, 
+                         public ds5_advanced_mode_base,
+                         public firmware_logger_device
     {
     public:
         rs420_device(std::shared_ptr<context> ctx,
@@ -327,7 +363,10 @@ namespace librealsense
                      bool register_device_notifications)
             : device(ctx, group, register_device_notifications),
               ds5_device(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()) {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -352,7 +391,9 @@ namespace librealsense
     };
 
     // AWG
-    class rs430_device : public ds5_active, public ds5_advanced_mode_base
+    class rs430_device : public ds5_active, 
+                         public ds5_advanced_mode_base,
+                         public firmware_logger_device
     {
     public:
         rs430_device(std::shared_ptr<context> ctx,
@@ -361,7 +402,10 @@ namespace librealsense
             : device(ctx, group, register_device_notifications),
               ds5_device(ctx, group),
               ds5_active(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor())  {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -385,7 +429,10 @@ namespace librealsense
         };
     };
 
-    class rs430i_device : public ds5_active, public ds5_advanced_mode_base, public ds5_motion
+    class rs430i_device : public ds5_active, 
+                          public ds5_advanced_mode_base, 
+                          public ds5_motion,
+                          public firmware_logger_device
     {
     public:
         rs430i_device(std::shared_ptr<context> ctx,
@@ -395,7 +442,10 @@ namespace librealsense
               ds5_device(ctx, group),
               ds5_active(ctx, group),
               ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
-              ds5_motion(ctx, group)
+              ds5_motion(ctx, group),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) 
         {}
 
         std::vector<tagged_profile> get_profiles_tags() const override
@@ -425,7 +475,8 @@ namespace librealsense
     // AWGT
     class rs430_mm_device : public ds5_active,
                             public ds5_motion,
-                            public ds5_advanced_mode_base
+                            public ds5_advanced_mode_base,
+                            public firmware_logger_device
     {
     public:
         rs430_mm_device(std::shared_ptr<context> ctx,
@@ -435,7 +486,10 @@ namespace librealsense
               ds5_device(ctx, group),
               ds5_active(ctx, group),
               ds5_motion(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor())  {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -471,7 +525,8 @@ namespace librealsense
     // AWGC
     class rs435_device : public ds5_active,
                          public ds5_color,
-                         public ds5_advanced_mode_base
+                         public ds5_advanced_mode_base,
+                         public firmware_logger_device
     {
     public:
         rs435_device(std::shared_ptr<context> ctx,
@@ -481,7 +536,10 @@ namespace librealsense
               ds5_device(ctx, group),
               ds5_active(ctx, group),
               ds5_color(ctx,  group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()) {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()), 
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -509,7 +567,8 @@ namespace librealsense
     class rs430_rgb_mm_device : public ds5_active,
                                 public ds5_color,
                                 public ds5_motion,
-                                public ds5_advanced_mode_base
+                                public ds5_advanced_mode_base,
+                                public firmware_logger_device
     {
     public:
         rs430_rgb_mm_device(std::shared_ptr<context> ctx,
@@ -520,7 +579,10 @@ namespace librealsense
               ds5_active(ctx, group),
               ds5_color(ctx,  group),
               ds5_motion(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()) {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -548,7 +610,8 @@ namespace librealsense
     class rs435i_device  :      public ds5_active,
                                 public ds5_color,
                                 public ds5_motion,
-                                public ds5_advanced_mode_base
+                                public ds5_advanced_mode_base,
+                                public firmware_logger_device
     {
     public:
         rs435i_device(std::shared_ptr<context> ctx,
@@ -559,7 +622,10 @@ namespace librealsense
               ds5_active(ctx, group),
               ds5_color(ctx,  group),
               ds5_motion(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()) 
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) 
         {
             check_and_restore_rgb_stream_extrinsic();
         }
@@ -763,7 +829,8 @@ namespace librealsense
                          public ds5_nonmonochrome,
                          public ds5_color,
                          public ds5_motion,
-                         public ds5_advanced_mode_base
+                         public ds5_advanced_mode_base,
+                         public firmware_logger_device
     {
     public:
         rs465_device(std::shared_ptr<context> ctx,
@@ -775,7 +842,10 @@ namespace librealsense
             ds5_color(ctx, group),
             ds5_motion(ctx, group),
             ds5_nonmonochrome(ctx, group),
-            ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()) {}
+            ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+            firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -800,7 +870,8 @@ namespace librealsense
     };
 
     class rs400_imu_device  :      public ds5_motion,
-                                public ds5_advanced_mode_base
+                                public ds5_advanced_mode_base,
+                                public firmware_logger_device
     {
     public:
         rs400_imu_device(std::shared_ptr<context> ctx,
@@ -809,7 +880,10 @@ namespace librealsense
             : device(ctx, group, register_device_notifications),
               ds5_device(ctx, group),
               ds5_motion(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()) {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -824,9 +898,10 @@ namespace librealsense
     };
 
     class rs405_device  :      public ds5_active,
-                                public ds5_color,
-                                public ds5_motion,
-                                public ds5_advanced_mode_base
+                               public ds5_color,
+                               public ds5_motion,
+                               public ds5_advanced_mode_base,
+                               public firmware_logger_device
     {
     public:
         rs405_device(std::shared_ptr<context> ctx,
@@ -837,8 +912,10 @@ namespace librealsense
               ds5_active(ctx, group),
               ds5_color(ctx,  group),
               ds5_motion(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor())
-        {}
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
 
@@ -867,9 +944,10 @@ namespace librealsense
     };
 
     class rs455_device  :      public ds5_active,
-                                public ds5_color,
-                                public ds5_motion,
-                                public ds5_advanced_mode_base
+                               public ds5_color,
+                               public ds5_motion,
+                               public ds5_advanced_mode_base,
+                               public firmware_logger_device
     {
     public:
         rs455_device(std::shared_ptr<context> ctx,
@@ -880,7 +958,10 @@ namespace librealsense
               ds5_active(ctx, group),
               ds5_color(ctx,  group),
               ds5_motion(ctx, group),
-              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor())
+              ds5_advanced_mode_base(ds5_device::_hw_monitor, get_depth_sensor()),
+              firmware_logger_device(ctx, group, ds5_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command()) 
         {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
diff --git a/src/ds5/ds5-private.h b/src/ds5/ds5-private.h
index 38f0e09881..9f51c2967d 100644
--- a/src/ds5/ds5-private.h
+++ b/src/ds5/ds5-private.h
@@ -333,7 +333,6 @@ namespace librealsense
             uint32_t                param;          // This field content is defined ny table type
             uint32_t                crc32;          // crc of all the actual table data excluding header/CRC
         };
-#pragma pack(pop)
 
         enum ds5_rect_resolutions : unsigned short
         {
@@ -380,6 +379,7 @@ namespace librealsense
             float  ppx;
             float  ppy;
         };
+#pragma pack(pop)
 
         template<class T>
         const T* check_calib(const std::vector<uint8_t>& raw_data)
diff --git a/src/firmware_logger_device.cpp b/src/firmware_logger_device.cpp
new file mode 100644
index 0000000000..63564c52cd
--- /dev/null
+++ b/src/firmware_logger_device.cpp
@@ -0,0 +1,133 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2020 Intel Corporation. All Rights Reserved.
+
+#include "firmware_logger_device.h"
+#include <string>
+
+namespace librealsense
+{
+    firmware_logger_device::firmware_logger_device(std::shared_ptr<context> ctx, 
+        const platform::backend_device_group group,
+        std::shared_ptr<hw_monitor> hardware_monitor,
+        const command& fw_logs_command, const command& flash_logs_command) :
+        device(ctx, group),
+        _hw_monitor(hardware_monitor),
+        _fw_logs(),
+        _flash_logs(),
+        _flash_logs_initialized(false),
+        _parser(nullptr), 
+        _fw_logs_command(fw_logs_command),
+        _flash_logs_command(flash_logs_command) { }
+
+    bool firmware_logger_device::get_fw_log(fw_logs::fw_logs_binary_data& binary_data)
+    {
+        bool result = false;
+        if (_fw_logs.empty())
+        {
+            get_fw_logs_from_hw_monitor();
+        }
+
+        if (!_fw_logs.empty())
+        {
+            fw_logs::fw_logs_binary_data data;
+            data = _fw_logs.front();
+            _fw_logs.pop();
+            binary_data = data;
+            result = true;
+        }
+        return result;
+    }
+
+
+    void firmware_logger_device::get_fw_logs_from_hw_monitor()
+    {
+        auto res = _hw_monitor->send(_fw_logs_command);
+        if (res.empty())
+        {
+            return;
+        }
+
+        auto beginOfLogIterator = res.begin();
+        // convert bytes to fw_logs_binary_data
+        for (int i = 0; i < res.size() / fw_logs::BINARY_DATA_SIZE; ++i)
+        {
+            if (*beginOfLogIterator == 0)
+                break;
+            auto endOfLogIterator = beginOfLogIterator + fw_logs::BINARY_DATA_SIZE;
+            std::vector<uint8_t> resultsForOneLog;
+            resultsForOneLog.insert(resultsForOneLog.begin(), beginOfLogIterator, endOfLogIterator);
+            fw_logs::fw_logs_binary_data binary_data{ resultsForOneLog };
+            _fw_logs.push(binary_data);
+            beginOfLogIterator = endOfLogIterator;
+        }
+    }
+
+    void firmware_logger_device::get_flash_logs_from_hw_monitor()
+    {
+        auto res = _hw_monitor->send(_flash_logs_command);
+
+        if (res.empty())
+        {
+            LOG_INFO("Getting Flash logs failed!");
+            return;
+        }
+
+        //erasing header
+        int size_of_flash_logs_header = 27;
+        res.erase(res.begin(), res.begin() + size_of_flash_logs_header);
+
+        auto beginOfLogIterator = res.begin();
+        // convert bytes to flash_logs_binary_data
+        for (int i = 0; i < res.size() / fw_logs::BINARY_DATA_SIZE && *beginOfLogIterator == 160; ++i)
+        {
+            auto endOfLogIterator = beginOfLogIterator + fw_logs::BINARY_DATA_SIZE;
+            std::vector<uint8_t> resultsForOneLog;
+            resultsForOneLog.insert(resultsForOneLog.begin(), beginOfLogIterator, endOfLogIterator);
+            fw_logs::fw_logs_binary_data binary_data{ resultsForOneLog };
+            _flash_logs.push(binary_data);
+            beginOfLogIterator = endOfLogIterator;
+        }
+
+        _flash_logs_initialized = true;
+    }
+
+    bool firmware_logger_device::get_flash_log(fw_logs::fw_logs_binary_data& binary_data)
+    {
+        bool result = false;
+        if (!_flash_logs_initialized)
+        {
+            get_flash_logs_from_hw_monitor();
+        }
+
+        if (!_flash_logs.empty())
+        {
+            fw_logs::fw_logs_binary_data data;
+            data = _flash_logs.front();
+            _flash_logs.pop();
+            binary_data = data;
+            result = true;
+        }
+        return result;
+    }
+
+    bool firmware_logger_device::init_parser(std::string xml_content)
+    {
+        _parser = new fw_logs::fw_logs_parser(xml_content);
+
+        return (_parser != nullptr);
+    }
+
+    bool firmware_logger_device::parse_log(const fw_logs::fw_logs_binary_data* fw_log_msg, 
+        fw_logs::fw_log_data* parsed_msg)
+    {
+        bool result = false;
+        if (_parser && parsed_msg && fw_log_msg)
+        {
+            *parsed_msg = _parser->parse_fw_log(fw_log_msg);
+            result = true;
+        }
+            
+        return result;
+    }
+
+}
diff --git a/src/firmware_logger_device.h b/src/firmware_logger_device.h
new file mode 100644
index 0000000000..2d948b3f36
--- /dev/null
+++ b/src/firmware_logger_device.h
@@ -0,0 +1,62 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2020 Intel Corporation. All Rights Reserved.
+
+#pragma once
+
+#include "core/extension.h"
+#include "device.h"
+#include <vector>
+#include "fw-logs/fw-log-data.h"
+#include "fw-logs/fw-logs-parser.h"
+
+namespace librealsense
+{
+    class firmware_logger_extensions
+    {
+    public:
+        virtual bool get_fw_log(fw_logs::fw_logs_binary_data& binary_data) = 0;
+        virtual bool get_flash_log(fw_logs::fw_logs_binary_data& binary_data) = 0;
+        virtual bool init_parser(std::string xml_content) = 0;
+        virtual bool parse_log(const fw_logs::fw_logs_binary_data* fw_log_msg, fw_logs::fw_log_data* parsed_msg) = 0;
+        virtual ~firmware_logger_extensions() = default;
+    };
+    MAP_EXTENSION(RS2_EXTENSION_FW_LOGGER, librealsense::firmware_logger_extensions);
+
+    class firmware_logger_device : public virtual device, public firmware_logger_extensions
+    {
+    public:
+        firmware_logger_device(std::shared_ptr<context> ctx, const platform::backend_device_group group, 
+            std::shared_ptr<hw_monitor> hardware_monitor,
+            const command& fw_logs_command, const command& flash_logs_command);
+
+        bool get_fw_log(fw_logs::fw_logs_binary_data& binary_data) override;
+        bool get_flash_log(fw_logs::fw_logs_binary_data& binary_data) override;
+
+        bool init_parser(std::string xml_content) override;
+        bool parse_log(const fw_logs::fw_logs_binary_data* fw_log_msg, fw_logs::fw_log_data* parsed_msg) override;
+
+        // Temporal solution for HW_Monitor injection
+        void assign_hw_monitor(std::shared_ptr<hw_monitor> hardware_monitor)
+            { _hw_monitor = hardware_monitor; }
+
+    private:
+
+        void get_fw_logs_from_hw_monitor();
+        void get_flash_logs_from_hw_monitor();
+
+        command _fw_logs_command;
+        command _flash_logs_command;
+
+        std::shared_ptr<hw_monitor> _hw_monitor;
+
+        std::queue<fw_logs::fw_logs_binary_data> _fw_logs;
+        std::queue<fw_logs::fw_logs_binary_data> _flash_logs;
+
+        bool _flash_logs_initialized;
+
+        fw_logs::fw_logs_parser* _parser;
+        uint16_t _device_pid;
+
+    };
+
+}
diff --git a/src/fw-logs/CMakeLists.txt b/src/fw-logs/CMakeLists.txt
new file mode 100644
index 0000000000..87b93913e4
--- /dev/null
+++ b/src/fw-logs/CMakeLists.txt
@@ -0,0 +1,15 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2020 Intel Corporation. All Rights Reserved.
+target_sources(${LRS_TARGET}
+    PRIVATE
+        "${CMAKE_CURRENT_LIST_DIR}/fw-log-data.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/fw-log-data.h"
+        "${CMAKE_CURRENT_LIST_DIR}/fw-logs-formating-options.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/fw-logs-formating-options.h"
+        "${CMAKE_CURRENT_LIST_DIR}/fw-logs-parser.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/fw-logs-parser.h"
+        "${CMAKE_CURRENT_LIST_DIR}/fw-logs-xml-helper.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/fw-logs-xml-helper.h"
+        "${CMAKE_CURRENT_LIST_DIR}/fw-string-formatter.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/fw-string-formatter.h"
+)
diff --git a/src/fw-logs/fw-log-data.cpp b/src/fw-logs/fw-log-data.cpp
new file mode 100644
index 0000000000..60560d5abc
--- /dev/null
+++ b/src/fw-logs/fw-log-data.cpp
@@ -0,0 +1,107 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
+#include "fw-log-data.h"
+#include <sstream>
+#include <iomanip>
+#include <locale>
+#include <string>
+
+using namespace std;
+
+# define SET_WIDTH_AND_FILL(num, element) \
+setfill(' ') << setw(num) << left << element \
+
+namespace librealsense
+{
+    namespace fw_logs
+    {
+        fw_log_data::fw_log_data(void)
+        {
+            _magic_number = 0;
+            _severity = 0;
+            _file_id = 0;
+            _group_id = 0;
+            _event_id = 0;
+            _line = 0;
+            _sequence = 0;
+            _p1 = 0;
+            _p2 = 0;
+            _p3 = 0;
+            _timestamp = 0;
+            _delta = 0;
+            _message = "";
+            _file_name = "";
+        }
+
+
+        fw_log_data::~fw_log_data(void)
+        {
+        }
+
+
+        rs2_log_severity fw_log_data::get_severity() const
+        {
+            return fw_logs_severity_to_log_severity(_severity);
+        }
+
+        const std::string& fw_log_data::get_message() const
+        {
+            return _message;
+        }
+
+        const std::string& fw_log_data::get_file_name() const
+        {
+            return _file_name;
+        }
+
+        const std::string& fw_log_data::get_thread_name() const
+        {
+            return _thread_name;
+        }
+
+        uint32_t fw_log_data::get_line() const
+        {
+            return _line;
+        }
+
+        uint32_t fw_log_data::get_timestamp() const
+        {
+            return _timestamp;
+        }
+
+        rs2_log_severity fw_logs_binary_data::get_severity() const
+        {
+            const fw_log_binary* log_binary = reinterpret_cast<const fw_log_binary*>(logs_buffer.data());
+            return fw_logs_severity_to_log_severity(static_cast<int32_t>(log_binary->dword1.bits.severity));
+        }
+
+        uint32_t fw_logs_binary_data::get_timestamp() const
+        {
+            const fw_log_binary* log_binary = reinterpret_cast<const fw_log_binary*>(logs_buffer.data());
+            return static_cast<uint32_t>(log_binary->dword5.timestamp);
+        }
+
+        rs2_log_severity fw_logs_severity_to_log_severity(int32_t severity)
+        {
+            rs2_log_severity result = RS2_LOG_SEVERITY_NONE;
+            switch (severity)
+            {
+            case 1:
+                result = RS2_LOG_SEVERITY_DEBUG;
+                break;
+            case 2:
+                result = RS2_LOG_SEVERITY_WARN;
+                break;
+            case 3:
+                result = RS2_LOG_SEVERITY_ERROR;
+                break;
+            case 4:
+                result = RS2_LOG_SEVERITY_FATAL;
+                break;
+            default:
+                break;
+            }
+            return result;
+        }
+    }
+}
diff --git a/src/fw-logs/fw-log-data.h b/src/fw-logs/fw-log-data.h
new file mode 100644
index 0000000000..62774dc68c
--- /dev/null
+++ b/src/fw-logs/fw-log-data.h
@@ -0,0 +1,107 @@
+/* License: Apache 2.0. See LICENSE file in root directory. */
+/* Copyright(c) 2019 Intel Corporation. All Rights Reserved. */
+#pragma once
+#include <stdint.h>
+#include <string>
+#include <vector>
+#include "../types.h"       //for rs2_firmware_log_message
+
+namespace librealsense
+{
+    namespace fw_logs
+    {
+        struct fw_logs_binary_data
+        {
+            std::vector<uint8_t> logs_buffer;
+            rs2_log_severity get_severity() const;
+            uint32_t get_timestamp() const;
+        };
+
+        rs2_log_severity fw_logs_severity_to_log_severity(int32_t severity);
+
+        static const int BINARY_DATA_SIZE = 20;
+
+        typedef union
+        {
+            uint32_t value;
+            struct
+            {
+                uint32_t magic_number : 8;
+                uint32_t severity : 5;
+                uint32_t thread_id : 3;
+                uint32_t file_id : 11;
+                uint32_t group_id : 5;
+            } bits;
+        } fw_log_header_dword1;
+
+        typedef union
+        {
+            uint32_t value;
+            struct
+            {
+                uint32_t event_id : 16;
+                uint32_t line_id : 12;
+                uint32_t seq_id : 4;
+            } bits;
+        } fw_log_header_dword2;
+
+        struct fw_log_header_dword3
+        {
+            uint16_t p1;
+            uint16_t p2;
+        };
+
+        struct fw_log_header_dword4
+        {
+            uint32_t p3;
+        };
+
+        struct fw_log_header_dword5
+        {
+            uint32_t timestamp;
+        };
+
+        struct fw_log_binary
+        {
+            fw_log_header_dword1 dword1;
+            fw_log_header_dword2 dword2;
+            fw_log_header_dword3 dword3;
+            fw_log_header_dword4 dword4;
+            fw_log_header_dword5 dword5;
+        };
+
+
+        class fw_log_data
+        {
+        public:
+            fw_log_data(void);
+            ~fw_log_data(void);
+
+            uint32_t _magic_number;
+            uint32_t _severity;
+            uint32_t _file_id;
+            uint32_t _group_id;
+            uint32_t _event_id;
+            uint32_t _line;
+            uint32_t _sequence;
+            uint32_t _p1;
+            uint32_t _p2;
+            uint32_t _p3;
+            uint64_t _timestamp;
+            double _delta;
+
+            uint32_t _thread_id;
+
+            std::string _message;
+            std::string _file_name;
+            std::string _thread_name;
+
+            rs2_log_severity get_severity() const;
+            const std::string& get_message() const;
+            const std::string& get_file_name() const;
+            const std::string& get_thread_name() const;
+            uint32_t get_line() const;
+            uint32_t get_timestamp() const;
+        };
+    }
+}
diff --git a/src/fw-logs/fw-logs-formating-options.cpp b/src/fw-logs/fw-logs-formating-options.cpp
new file mode 100644
index 0000000000..0b8a947ac1
--- /dev/null
+++ b/src/fw-logs/fw-logs-formating-options.cpp
@@ -0,0 +1,95 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
+#include "fw-logs-formating-options.h"
+#include "fw-logs-xml-helper.h"
+#include <sstream>
+
+
+using namespace std;
+namespace librealsense
+{
+    namespace fw_logs
+    {
+        fw_log_event::fw_log_event()
+            : num_of_params(0),
+            line("")
+        {}
+
+        fw_log_event::fw_log_event(int input_num_of_params, const string& input_line)
+            : num_of_params(input_num_of_params),
+            line(input_line)
+        {}
+
+
+        fw_logs_formating_options::fw_logs_formating_options(const string& xml_content)
+            : _xml_content(xml_content)
+        {}
+
+
+        fw_logs_formating_options::~fw_logs_formating_options(void)
+        {
+        }
+
+        bool fw_logs_formating_options::get_event_data(int id, fw_log_event* log_event_data) const
+        {
+            auto event_it = _fw_logs_event_list.find(id);
+            if (event_it != _fw_logs_event_list.end())
+            {
+                *log_event_data = event_it->second;
+                return true;
+            }
+            else
+            {
+                stringstream ss;
+                ss << "*** Unrecognized Log Id: ";
+                ss << id;
+                ss << "! P1 = 0x{0:x}, P2 = 0x{1:x}, P3 = 0x{2:x}";
+                log_event_data->line = ss.str();
+                log_event_data->num_of_params = 3;
+                return false;
+            }
+        }
+
+        bool fw_logs_formating_options::get_file_name(int id, string* file_name) const
+        {
+            auto file_it = _fw_logs_file_names_list.find(id);
+            if (file_it != _fw_logs_file_names_list.end())
+            {
+                *file_name = file_it->second;
+                return true;
+            }
+            else
+            {
+                *file_name = "Unknown";
+                return false;
+            }
+        }
+
+        bool fw_logs_formating_options::get_thread_name(uint32_t thread_id, string* thread_name) const
+        {
+            auto file_it = _fw_logs_thread_names_list.find(thread_id);
+            if (file_it != _fw_logs_thread_names_list.end())
+            {
+                *thread_name = file_it->second;
+                return true;
+            }
+            else
+            {
+                *thread_name = "Unknown";
+                return false;
+            }
+        }
+
+        std::unordered_map<string, std::vector<kvp>> fw_logs_formating_options::get_enums() const
+        {
+            return _fw_logs_enum_names_list;
+        }
+
+        bool fw_logs_formating_options::initialize_from_xml()
+        {
+            fw_logs_xml_helper fw_logs_xml(_xml_content);
+            return fw_logs_xml.build_log_meta_data(this);
+        }
+    }
+}
+
diff --git a/src/fw-logs/fw-logs-formating-options.h b/src/fw-logs/fw-logs-formating-options.h
new file mode 100644
index 0000000000..3578fcbee0
--- /dev/null
+++ b/src/fw-logs/fw-logs-formating-options.h
@@ -0,0 +1,54 @@
+/* License: Apache 2.0. See LICENSE file in root directory. */
+/* Copyright(c) 2019 Intel Corporation. All Rights Reserved. */
+#pragma once
+#include <unordered_map>
+#include <string>
+#include <stdint.h>
+#include <vector>
+
+#ifdef ANDROID
+#include "../../common/android_helpers.h"
+#endif
+
+
+namespace librealsense
+{
+    namespace fw_logs
+    {
+        struct fw_log_event
+        {
+            size_t num_of_params;
+            std::string line;
+
+            fw_log_event();
+            fw_log_event(int input_num_of_params, const std::string& input_line);
+        };
+
+        typedef std::pair<int, std::string> kvp;     // XML key/value pair
+
+        class fw_logs_xml_helper;
+
+        class fw_logs_formating_options
+        {
+        public:
+            fw_logs_formating_options(const std::string& xml_content);
+            ~fw_logs_formating_options(void);
+
+
+            bool get_event_data(int id, fw_log_event* log_event_data) const;
+            bool get_file_name(int id, std::string* file_name) const;
+            bool get_thread_name(uint32_t thread_id, std::string* thread_name) const;
+            std::unordered_map<std::string, std::vector<kvp>> get_enums() const;
+            bool initialize_from_xml();
+
+        private:
+            friend fw_logs_xml_helper;
+            std::unordered_map<int, fw_log_event> _fw_logs_event_list;
+            std::unordered_map<int, std::string> _fw_logs_file_names_list;
+            std::unordered_map<int, std::string> _fw_logs_thread_names_list;
+            std::unordered_map<std::string, std::vector<std::pair<int, std::string>>> _fw_logs_enum_names_list;
+
+            std::string _xml_content;
+        };
+    }
+}
diff --git a/src/fw-logs/fw-logs-parser.cpp b/src/fw-logs/fw-logs-parser.cpp
new file mode 100644
index 0000000000..bd76b1d87e
--- /dev/null
+++ b/src/fw-logs/fw-logs-parser.cpp
@@ -0,0 +1,90 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
+#include "fw-logs-parser.h"
+#include <regex>
+#include <sstream>
+#include "fw-string-formatter.h"
+#include "stdint.h"
+
+using namespace std;
+
+namespace librealsense
+{
+    namespace fw_logs
+    {
+        fw_logs_parser::fw_logs_parser(string xml_content)
+            : _fw_logs_formating_options(xml_content),
+            _last_timestamp(0),
+            _timestamp_factor(0.00001)
+        {
+            _fw_logs_formating_options.initialize_from_xml();
+        }
+
+
+        fw_logs_parser::~fw_logs_parser(void)
+        {
+        }
+
+        fw_log_data fw_logs_parser::parse_fw_log(const fw_logs_binary_data* fw_log_msg) 
+        {
+            fw_log_data log_data;
+
+            if (!fw_log_msg || fw_log_msg->logs_buffer.size() == 0)
+                return log_data;
+
+            log_data = fill_log_data(fw_log_msg);
+
+            //message
+            fw_string_formatter reg_exp(_fw_logs_formating_options.get_enums());
+            fw_log_event log_event_data;
+            _fw_logs_formating_options.get_event_data(log_data._event_id, &log_event_data);
+
+            uint32_t params[3] = { log_data._p1, log_data._p2, log_data._p3 };
+            reg_exp.generate_message(log_event_data.line, log_event_data.num_of_params, params, &log_data._message);
+
+            //file_name
+            _fw_logs_formating_options.get_file_name(log_data._file_id, &log_data._file_name);
+
+            //thread_name
+            _fw_logs_formating_options.get_thread_name(log_data._thread_id, &log_data._thread_name);
+
+            return log_data;
+        }
+
+        fw_log_data fw_logs_parser::fill_log_data(const fw_logs_binary_data* fw_log_msg)
+        {
+            fw_log_data log_data;
+
+            auto* log_binary = reinterpret_cast<const fw_logs::fw_log_binary*>(fw_log_msg->logs_buffer.data());
+
+            //parse first DWORD
+            log_data._magic_number = static_cast<uint32_t>(log_binary->dword1.bits.magic_number);
+            log_data._severity = static_cast<uint32_t>(log_binary->dword1.bits.severity);
+            log_data._thread_id = static_cast<uint32_t>(log_binary->dword1.bits.thread_id);
+            log_data._file_id = static_cast<uint32_t>(log_binary->dword1.bits.file_id);
+            log_data._group_id = static_cast<uint32_t>(log_binary->dword1.bits.group_id);
+
+            //parse second DWORD
+            log_data._event_id = static_cast<uint32_t>(log_binary->dword2.bits.event_id);
+            log_data._line = static_cast<uint32_t>(log_binary->dword2.bits.line_id);
+            log_data._sequence = static_cast<uint32_t>(log_binary->dword2.bits.seq_id);
+
+            //parse third DWORD
+            log_data._p1 = static_cast<uint32_t>(log_binary->dword3.p1);
+            log_data._p2 = static_cast<uint32_t>(log_binary->dword3.p2);
+
+            //parse forth DWORD
+            log_data._p3 = static_cast<uint32_t>(log_binary->dword4.p3);
+
+            //parse fifth DWORD
+            log_data._timestamp = log_binary->dword5.timestamp;
+
+            log_data._delta = (_last_timestamp == 0) ? 
+                0 :(log_data._timestamp - _last_timestamp) * _timestamp_factor;
+            
+            _last_timestamp = log_data._timestamp;
+
+            return log_data;
+        }
+    }
+}
diff --git a/src/fw-logs/fw-logs-parser.h b/src/fw-logs/fw-logs-parser.h
new file mode 100644
index 0000000000..a06af30718
--- /dev/null
+++ b/src/fw-logs/fw-logs-parser.h
@@ -0,0 +1,31 @@
+/* License: Apache 2.0. See LICENSE file in root directory. */
+/* Copyright(c) 2019 Intel Corporation. All Rights Reserved. */
+#pragma once
+#include <string>
+#include <vector>
+#include <memory>
+#include "fw-logs-formating-options.h"
+#include "fw-log-data.h"
+
+namespace librealsense
+{
+    namespace fw_logs
+    {
+        class fw_logs_parser : public std::enable_shared_from_this<fw_logs_parser>
+        {
+        public:
+            explicit fw_logs_parser(std::string xml_content);
+            ~fw_logs_parser(void);
+
+            fw_log_data parse_fw_log(const fw_logs_binary_data* fw_log_msg);
+            
+
+        private:
+            fw_log_data fill_log_data(const fw_logs_binary_data* fw_log_msg);
+
+            fw_logs_formating_options _fw_logs_formating_options;
+            uint64_t _last_timestamp;
+            const double _timestamp_factor;
+        };
+    }
+}
diff --git a/src/fw-logs/fw-logs-xml-helper.cpp b/src/fw-logs/fw-logs-xml-helper.cpp
new file mode 100644
index 0000000000..e5f19f1b37
--- /dev/null
+++ b/src/fw-logs/fw-logs-xml-helper.cpp
@@ -0,0 +1,309 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
+#include "fw-logs-xml-helper.h"
+#include <string.h>
+#include <fstream>
+#include <iostream>
+#include <memory>
+
+using namespace std;
+
+namespace librealsense
+{
+    namespace fw_logs
+    {
+        fw_logs_xml_helper::fw_logs_xml_helper(string xml_content)
+            : _init_done(false),
+            _xml_content(xml_content)
+        {}
+
+
+        fw_logs_xml_helper::~fw_logs_xml_helper(void)
+        {
+            // TODO: Add cleanup code
+        }
+
+        bool fw_logs_xml_helper::get_root_node(xml_node<>** node)
+        {
+            if (_init_done)
+            {
+                *node = _xml_doc.first_node();
+                return true;
+            }
+
+            return false;
+        }
+
+        bool fw_logs_xml_helper::try_load_external_xml()
+        {
+            try
+            {
+                if (_xml_content.empty())
+                    return false;
+
+                _document_buffer.resize(_xml_content.size() + 2);
+                memcpy(_document_buffer.data(), _xml_content.data(), _xml_content.size());
+                _document_buffer[_xml_content.size()] = '\0';
+                _document_buffer[_xml_content.size() + 1] = '\0';
+                _xml_doc.parse<0>(_document_buffer.data());
+
+                return true;
+            }
+            catch (...)
+            {
+                _document_buffer.clear();
+                throw;
+            }
+
+            return false;
+        }
+
+        bool fw_logs_xml_helper::init()
+        {
+            _init_done = try_load_external_xml();
+            return _init_done;
+        }
+
+        bool fw_logs_xml_helper::build_log_meta_data(fw_logs_formating_options* log_meta_data)
+        {
+            xml_node<>* xml_root_node_list;
+
+            if (!init())
+                return false;
+
+            if (!get_root_node(&xml_root_node_list))
+            {
+                return false;
+            }
+
+            string root_name(xml_root_node_list->name(), xml_root_node_list->name() + xml_root_node_list->name_size());
+
+            // check if Format is the first root name.
+            if (root_name.compare("Format") != 0)
+                return false;
+
+            xml_node<>* events_node = xml_root_node_list->first_node();
+
+
+            if (!build_meta_data_structure(events_node, log_meta_data))
+                return false;
+
+            return true;
+        }
+
+
+        bool fw_logs_xml_helper::build_meta_data_structure(xml_node<>* xml_node_list_of_events, fw_logs_formating_options* logs_formating_options)
+        {
+            node_type res = none;
+            int id{};
+            int num_of_params{};
+            string line;
+
+            // loop through all elements in the Format.
+            for (xml_node<>* node = xml_node_list_of_events; node; node = node->next_sibling())
+            {
+                line.clear();
+                res = get_next_node(node, &id, &num_of_params, &line);
+                if (res == event)
+                {
+                    fw_log_event log_event(num_of_params, line);
+                    logs_formating_options->_fw_logs_event_list.insert(pair<int, fw_log_event>(id, log_event));
+                }
+                else if (res == file)
+                {
+                    logs_formating_options->_fw_logs_file_names_list.insert(kvp(id, line));
+                }
+                else if (res == thread)
+                {
+                    logs_formating_options->_fw_logs_thread_names_list.insert(kvp(id, line));
+                }
+                else if (res == enums)
+                {
+                    for (xml_node<>* enum_node = node->first_node(); enum_node; enum_node = enum_node->next_sibling())
+                    {
+                        for (xml_attribute<>* attribute = enum_node->first_attribute(); attribute; attribute = attribute->next_attribute())
+                        {
+                            string attr(attribute->name(), attribute->name() + attribute->name_size());
+                            if (attr.compare("Name") == 0)
+                            {
+                                string name_attr_str(attribute->value(), attribute->value() + attribute->value_size());
+                                vector<kvp> xml_kvp;
+
+                                for (xml_node<>* enum_value_node = enum_node->first_node(); enum_value_node; enum_value_node = enum_value_node->next_sibling())
+                                {
+                                    int key = 0;
+                                    string value_str;
+                                    for (xml_attribute<>* attribute = enum_value_node->first_attribute(); attribute; attribute = attribute->next_attribute())
+                                    {
+                                        string attr(attribute->name(), attribute->name() + attribute->name_size());
+                                        if (attr.compare("Value") == 0)
+                                        {
+                                            value_str = std::string(attribute->value(), attribute->value() + attribute->value_size());
+                                        }
+                                        if (attr.compare("Key") == 0)
+                                        {
+                                            try
+                                            {
+                                                auto key_str = std::string(attribute->value());
+                                                key = std::stoi(key_str);
+                                            }
+                                            catch (...) {}
+                                        }
+                                    }
+                                    xml_kvp.push_back(std::make_pair(key, value_str));
+                                }
+                                logs_formating_options->_fw_logs_enum_names_list.insert(pair<string, vector<kvp>>(name_attr_str, xml_kvp));
+                            }
+                        }
+                    }
+                }
+                else
+                    return false;
+            }
+
+            return true;
+        }
+
+        fw_logs_xml_helper::node_type fw_logs_xml_helper::get_next_node(xml_node<>* node, int* id, int* num_of_params, string* line)
+        {
+
+            string tag(node->name(), node->name() + node->name_size());
+
+            if (tag.compare("Event") == 0)
+            {
+                if (get_event_node(node, id, num_of_params, line))
+                    return event;
+            }
+            else if (tag.compare("File") == 0)
+            {
+                if (get_file_node(node, id, line))
+                    return file;
+            }
+            else if (tag.compare("Thread") == 0)
+            {
+                if (get_thread_node(node, id, line))
+                    return thread;
+            }
+            else if (tag.compare("Enums") == 0)
+            {
+                return enums;
+            }
+            return none;
+        }
+
+        bool fw_logs_xml_helper::get_enum_name_node(xml_node<>* node_file, int* thread_id, string* enum_name)
+        {
+            for (xml_attribute<>* attribute = node_file->first_attribute(); attribute; attribute = attribute->next_attribute())
+            {
+                string attr(attribute->name(), attribute->name() + attribute->name_size());
+
+                if (attr.compare("Name") == 0)
+                {
+                    string name_attr_str(attribute->value(), attribute->value() + attribute->value_size());
+                    *enum_name = name_attr_str;
+                    continue;
+                }
+                else
+                    return false;
+            }
+
+            return true;
+        }
+        bool fw_logs_xml_helper::get_enum_value_node(xml_node<>* node_file, int* thread_id, string* enum_name)
+        {
+            for (xml_attribute<>* attribute = node_file->first_attribute(); attribute; attribute = attribute->next_attribute())
+            {
+                string attr(attribute->name(), attribute->name() + attribute->name_size());
+
+                if (attr.compare("Value") == 0)
+                {
+                    string name_attr_str(attribute->value(), attribute->value() + attribute->value_size());
+                    *enum_name = name_attr_str;
+                    continue;
+                }
+                else
+                    return false;
+            }
+
+            return true;
+        }
+        bool fw_logs_xml_helper::get_thread_node(xml_node<>* node_file, int* thread_id, string* thread_name)
+        {
+            for (xml_attribute<>* attribute = node_file->first_attribute(); attribute; attribute = attribute->next_attribute())
+            {
+                string attr(attribute->name(), attribute->name() + attribute->name_size());
+
+                if (attr.compare("id") == 0)
+                {
+                    string id_attr_str(attribute->value(), attribute->value() + attribute->value_size());
+                    *thread_id = stoi(id_attr_str);
+                    continue;
+                }
+                else if (attr.compare("Name") == 0)
+                {
+                    string name_attr_str(attribute->value(), attribute->value() + attribute->value_size());
+                    *thread_name = name_attr_str;
+                    continue;
+                }
+                else
+                    return false;
+            }
+
+            return true;
+        }
+
+        bool fw_logs_xml_helper::get_file_node(xml_node<>* node_file, int* file_id, string* file_name)
+        {
+            for (xml_attribute<>* attribute = node_file->first_attribute(); attribute; attribute = attribute->next_attribute())
+            {
+                string attr(attribute->name(), attribute->name() + attribute->name_size());
+
+                if (attr.compare("id") == 0)
+                {
+                    string id_attr_str(attribute->value(), attribute->value() + attribute->value_size());
+                    *file_id = stoi(id_attr_str);
+                    continue;
+                }
+                else if (attr.compare("Name") == 0)
+                {
+                    string name_attr_str(attribute->value(), attribute->value() + attribute->value_size());
+                    *file_name = name_attr_str;
+                    continue;
+                }
+                else
+                    return false;
+            }
+            return true;
+        }
+
+        bool fw_logs_xml_helper::get_event_node(xml_node<>* node_event, int* event_id, int* num_of_params, string* line)
+        {
+            for (xml_attribute<>* attribute = node_event->first_attribute(); attribute; attribute = attribute->next_attribute())
+            {
+                string attr(attribute->name(), attribute->name() + attribute->name_size());
+
+                if (attr.compare("id") == 0)
+                {
+                    string id_attr_str(attribute->value(), attribute->value() + attribute->value_size());
+                    *event_id = stoi(id_attr_str);
+                    continue;
+                }
+                else if (attr.compare("numberOfArguments") == 0)
+                {
+                    string num_of_args_attr_str(attribute->value(), attribute->value() + attribute->value_size());
+                    *num_of_params = stoi(num_of_args_attr_str);
+                    continue;
+                }
+                else if (attr.compare("format") == 0)
+                {
+                    string format_attr_str(attribute->value(), attribute->value() + attribute->value_size());
+                    *line = format_attr_str;
+                    continue;
+                }
+                else
+                    return false;
+            }
+            return true;
+        }
+    }
+}
diff --git a/src/fw-logs/fw-logs-xml-helper.h b/src/fw-logs/fw-logs-xml-helper.h
new file mode 100644
index 0000000000..39b6c963d5
--- /dev/null
+++ b/src/fw-logs/fw-logs-xml-helper.h
@@ -0,0 +1,48 @@
+/* License: Apache 2.0. See LICENSE file in root directory. */
+/* Copyright(c) 2019 Intel Corporation. All Rights Reserved. */
+#pragma once
+#include "../../third-party/rapidxml/rapidxml_utils.hpp"
+#include "fw-logs-formating-options.h"
+
+using namespace rapidxml;
+
+namespace librealsense
+{
+    namespace fw_logs
+    {
+        class fw_logs_xml_helper
+        {
+        public:
+            enum node_type
+            {
+                event,
+                file,
+                thread,
+                enums,
+                none
+            };
+
+            fw_logs_xml_helper(std::string xml_content);
+            ~fw_logs_xml_helper(void);
+
+            bool build_log_meta_data(fw_logs_formating_options* logs_formating_options);
+
+        private:
+            bool init();
+            bool build_meta_data_structure(xml_node<>* xml_node_list_of_events, fw_logs_formating_options* logs_formating_options);
+            node_type get_next_node(xml_node<>* xml_node_list_of_events, int* id, int* num_of_params, std::string* line);
+            bool get_thread_node(xml_node<>* node_file, int* thread_id, std::string* thread_name);
+            bool get_event_node(xml_node<>* node_event, int* event_id, int* num_of_params, std::string* line);
+            bool get_enum_name_node(xml_node<>* node_file, int* thread_id, std::string* thread_name);
+            bool get_enum_value_node(xml_node<>* node_file, int* thread_id, std::string* enum_name);
+            bool get_file_node(xml_node<>* node_file, int* file_id, std::string* file_name);
+            bool get_root_node(xml_node<>** node);
+            bool try_load_external_xml();
+
+            bool _init_done;
+            std::string _xml_content;
+            xml_document<> _xml_doc;
+            std::vector<char> _document_buffer;
+        };
+    }
+}
diff --git a/src/fw-logs/fw-string-formatter.cpp b/src/fw-logs/fw-string-formatter.cpp
new file mode 100644
index 0000000000..722a25d639
--- /dev/null
+++ b/src/fw-logs/fw-string-formatter.cpp
@@ -0,0 +1,138 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
+#include "fw-string-formatter.h"
+#include "fw-logs-formating-options.h"
+#include <regex>
+#include <sstream>
+#include <iomanip>
+#include <iostream>
+
+using namespace std;
+
+namespace librealsense
+{
+    namespace fw_logs
+    {
+        fw_string_formatter::fw_string_formatter(std::unordered_map<std::string, std::vector<kvp>> enums)
+            :_enums(enums)
+        {
+        }
+
+
+        fw_string_formatter::~fw_string_formatter(void)
+        {
+        }
+
+        bool fw_string_formatter::generate_message(const string& source, size_t num_of_params, const uint32_t* params, string* dest)
+        {
+            map<string, string> exp_replace_map;
+            map<string, int> enum_replace_map;
+
+            if (params == nullptr && num_of_params > 0) return false;
+
+            for (size_t i = 0; i < num_of_params; i++)
+            {
+                string regular_exp[4];
+                string replacement[4];
+                stringstream st_regular_exp[4];
+                stringstream st_replacement[4];
+
+                st_regular_exp[0] << "\\{\\b(" << i << ")\\}";
+                regular_exp[0] = st_regular_exp[0].str();
+
+                st_replacement[0] << params[i];
+                replacement[0] = st_replacement[0].str();
+
+                exp_replace_map[regular_exp[0]] = replacement[0];
+
+
+                st_regular_exp[1] << "\\{\\b(" << i << "):x\\}";
+                regular_exp[1] = st_regular_exp[1].str();
+
+                st_replacement[1] << hex << setw(2) << setfill('0') << params[i];
+                replacement[1] = st_replacement[1].str();
+
+                exp_replace_map[regular_exp[1]] = replacement[1];
+
+                st_regular_exp[2] << "\\{\\b(" << i << "):f\\}";
+                regular_exp[2] = st_regular_exp[2].str();
+                st_replacement[2] << params[i];
+                replacement[2] = st_replacement[2].str();
+                exp_replace_map[regular_exp[2]] = replacement[2];
+
+
+                st_regular_exp[3] << "\\{\\b(" << i << "),[a-zA-Z]+\\}";
+                regular_exp[3] = st_regular_exp[3].str();
+
+                enum_replace_map[regular_exp[3]] = params[i];
+            }
+
+            return replace_params(source, exp_replace_map, enum_replace_map, dest);
+        }
+
+        bool fw_string_formatter::replace_params(const string& source, const map<string, string>& exp_replace_map, const map<string, int>& enum_replace_map, string* dest)
+        {
+            string source_temp(source);
+
+            for (auto exp_replace_it = exp_replace_map.begin(); exp_replace_it != exp_replace_map.end(); exp_replace_it++)
+            {
+                string destTemp;
+                regex e(exp_replace_it->first);
+                auto res = regex_replace(back_inserter(destTemp), source_temp.begin(), source_temp.end(), e, exp_replace_it->second);
+                source_temp = destTemp;
+            }
+
+            for (auto exp_replace_it = enum_replace_map.begin(); exp_replace_it != enum_replace_map.end(); exp_replace_it++)
+            {
+                string destTemp;
+                regex e(exp_replace_it->first);
+                std::smatch m;
+                std::regex_search(source_temp, m, std::regex(e));
+
+                string enum_name;
+
+                string st_regular_exp = "[a-zA-Z]+";
+                regex e1(st_regular_exp);
+
+                for (size_t exp = 0; exp < m.size(); exp++)
+                {
+                    string str = m[exp];
+
+                    std::smatch m1;
+
+                    regex e2 = e1;
+                    std::regex_search(str, m1, std::regex(e2));
+
+                    for (size_t exp = 0; exp < m1.size(); exp++)
+                    {
+                        enum_name = m1[exp];
+                        if (_enums.size() > 0 && _enums.find(enum_name) != _enums.end())
+                        {
+                            auto vec = _enums[enum_name];
+                            regex e3 = e;
+                            // Verify user's input is within the enumerated range
+                            int val = exp_replace_it->second;
+                            auto it = std::find_if(vec.begin(), vec.end(), [val](kvp& entry) { return entry.first == val; });
+                            if (it != vec.end())
+                            {
+                                regex_replace(back_inserter(destTemp), source_temp.begin(), source_temp.end(), e3, it->second);
+                            }
+                            else
+                            {
+                                stringstream s;
+                                s << "Protocol Error recognized!\nImproper log message received: " << source_temp
+                                    << ", invalid parameter: " << exp_replace_it->second << ".\n The range of supported values is \n";
+                                for_each(vec.begin(), vec.end(), [&s](kvp& entry) { s << entry.first << ":" << entry.second << " ,"; });
+                                std::cout << s.str().c_str() << std::endl;;
+                            }
+                            source_temp = destTemp;
+                        }
+                    }
+                }
+            }
+
+            *dest = source_temp;
+            return true;
+        }
+    }
+}
diff --git a/src/fw-logs/fw-string-formatter.h b/src/fw-logs/fw-string-formatter.h
new file mode 100644
index 0000000000..7759e5b7ea
--- /dev/null
+++ b/src/fw-logs/fw-string-formatter.h
@@ -0,0 +1,28 @@
+/* License: Apache 2.0. See LICENSE file in root directory. */
+/* Copyright(c) 2019 Intel Corporation. All Rights Reserved. */
+#pragma once
+#include <string>
+#include <map>
+#include <stdint.h>
+#include <vector>
+#include <unordered_map>
+
+namespace librealsense
+{
+    namespace fw_logs
+    {
+        class fw_string_formatter
+        {
+        public:
+            fw_string_formatter(std::unordered_map<std::string, std::vector<std::pair<int, std::string>>> enums);
+            ~fw_string_formatter(void);
+
+            bool generate_message(const std::string& source, size_t num_of_params, const uint32_t* params, std::string* dest);
+
+        private:
+            bool replace_params(const std::string& source, const std::map<std::string, std::string>& exp_replace_map, const std::map<std::string, int>& enum_replace_map, std::string* dest);
+
+            std::unordered_map<std::string, std::vector<std::pair<int, std::string>>> _enums;
+        };
+    }
+}
diff --git a/src/gl/align-gl.cpp b/src/gl/align-gl.cpp
index c6c32875ad..32aed31ca4 100644
--- a/src/gl/align-gl.cpp
+++ b/src/gl/align-gl.cpp
@@ -9,7 +9,9 @@
 #include "align-gl.h"
 #include "option.h"
 
+#ifndef NOMINMAX
 #define NOMINMAX
+#endif // NOMINMAX
 
 #include <glad/glad.h>
 
@@ -96,10 +98,10 @@ void build_opengl_projection_for_intrinsics(matrix4& frustum,
     
     // These parameters define the final viewport that is rendered into by
     // the camera.
-    double L = 0;
-    double R = img_width;
-    double B = 0;
-    double T = img_height;
+    int L = 0;
+    int R = img_width;
+    int B = 0;
+    int T = img_height;
     
     // near and far clipping planes, these only matter for the mapping from
     // world-space z-coordinate into the depth coordinate for OpenGL
@@ -117,21 +119,21 @@ void build_opengl_projection_for_intrinsics(matrix4& frustum,
     // [-1, 1].  OpenGL then maps coordinates in NDC to the current
     // viewport
     matrix4 ortho;
-    ortho(0,0) =  2.0/(R-L); ortho(0,3) = -(R+L)/(R-L);
-    ortho(1,1) =  2.0/(T-B); ortho(1,3) = -(T+B)/(T-B);
-    ortho(2,2) = -2.0/(F-N); ortho(2,3) = -(F+N)/(F-N);
-    ortho(3,3) =  1.0;
-    
+    ortho(0,0) =  2.f/(R-L);        ortho(0,3) = float(-(R+L)/(R-L));
+    ortho(1,1) =  2.f/(T-B);        ortho(1,3) = float(-(T+B)/(T-B));
+    ortho(2,2) = -2.f/float(F-N);   ortho(2,3) = float(-(F+N)/(F-N));
+    ortho(3,3) =  1.f;
+
     // construct a projection matrix, this is identical to the 
     // projection matrix computed for the intrinsicx, except an
     // additional row is inserted to map the z-coordinate to
-    // OpenGL. 
+    // OpenGL.
     matrix4 tproj;
-    tproj(0,0) = alpha; tproj(0,1) = skew; tproj(0,2) = u0;
-                        tproj(1,1) = beta; tproj(1,2) = v0;
-                                           tproj(2,2) = -(N+F); tproj(2,3) = -N*F;
-                                           tproj(3,2) = 1.0;
-    
+    tproj(0,0) = float(alpha);  tproj(0,1) = float(skew);  tproj(0,2) = 0.f;
+    tproj(1,1) = float(beta);   tproj(1,2) = float(v0);
+    tproj(2,2) = float(-(N+F)); tproj(2,3) = float(-N*F);
+    tproj(3,2) = 1.f;
+
     // resulting OpenGL frustum is the product of the orthographic
     // mapping to normalized device coordinates and the augmented
     // camera intrinsic matrix
diff --git a/src/gl/colorizer-gl.cpp b/src/gl/colorizer-gl.cpp
index 4f571c94e9..cc5892c227 100644
--- a/src/gl/colorizer-gl.cpp
+++ b/src/gl/colorizer-gl.cpp
@@ -11,7 +11,9 @@
 #include "colorizer-gl.h"
 #include "option.h"
 
+#ifndef NOMINMAX
 #define NOMINMAX
+#endif // NOMINMAX
 
 #include <glad/glad.h>
 
@@ -181,7 +183,7 @@ namespace librealsense
 
         void colorizer::populate_floating_histogram(float* f, int* hist)
         {
-            float total = hist[MAX_DEPTH-1];
+            float total = float(hist[MAX_DEPTH-1]);
             for (int i = 0; i < MAX_DEPTH; i++)
                 f[i] = hist[i] / total;
         }
diff --git a/src/gl/pc-shader.cpp b/src/gl/pc-shader.cpp
index 9c7223dff6..219af381f9 100644
--- a/src/gl/pc-shader.cpp
+++ b/src/gl/pc-shader.cpp
@@ -552,9 +552,9 @@ namespace librealsense
                                 ox = (xy.x / wh.x) * 2 - 1;
                                 oy = (xy.y / wh.y) * 2 - 1;
 
-                                auto p = frustum(left/(0.5*wh.x), right/(0.5*wh.x), 
-                                    bottom/(0.5*wh.y), top/(0.5*wh.y), near_plane, far_plae, 
-                                    ox * (0.5*wh.x), oy * (0.5*wh.y));
+                                auto p = frustum(left/(0.5f*wh.x), right/(0.5f*wh.x),
+                                    bottom / (0.5f * wh.y), top / (0.5f * wh.y), near_plane, far_plae,
+                                    ox * (0.5f * wh.x), oy * (0.5f * wh.y));
 
                                 auto fbo_width = 3;
                                 auto fbo_height = 3;
@@ -621,7 +621,6 @@ namespace librealsense
                                     if (rgba.a > 0)
                                     {
                                         std::vector<rs2::float3> pos_floats(size);
-                                        rs2::float2 w_pos;
                                         for (int i = 0; i < size; i++)
                                         {
                                             auto pos = pos_halfs[i];
diff --git a/src/gl/synthetic-stream-gl.cpp b/src/gl/synthetic-stream-gl.cpp
index 3b4e9dc7d6..e6442f39b7 100644
--- a/src/gl/synthetic-stream-gl.cpp
+++ b/src/gl/synthetic-stream-gl.cpp
@@ -8,7 +8,9 @@
 
 #include <GLFW/glfw3.h>
 
+#ifndef NOMINMAX
 #define NOMINMAX
+#endif // NOMINMAX
 
 #include <glad/glad.h>
 
diff --git a/src/gl/upload.cpp b/src/gl/upload.cpp
index c8dcdf53fe..f2b1f16c57 100644
--- a/src/gl/upload.cpp
+++ b/src/gl/upload.cpp
@@ -12,7 +12,9 @@
 #include "option.h"
 #include "context.h"
 
+#ifndef NOMINMAX
 #define NOMINMAX
+#endif // NOMINMAX
 
 #include <glad/glad.h>
 
diff --git a/src/ivcam/sr300.cpp b/src/ivcam/sr300.cpp
index 8329308522..ebbb564fd8 100644
--- a/src/ivcam/sr300.cpp
+++ b/src/ivcam/sr300.cpp
@@ -381,7 +381,7 @@ namespace librealsense
         return flash;
     }
 
-    void sr300_camera::update_flash(const std::vector<uint8_t>& image, update_progress_callback_ptr callback, int update_mode)
+    void sr300_camera::update_flash(const std::vector<uint8_t>&, update_progress_callback_ptr, int)
     {
         throw std::runtime_error("update_flash is not supported by SR300");
     }
@@ -422,6 +422,7 @@ namespace librealsense
         const platform::backend_device_group& group,
         bool register_device_notifications)
         : device(ctx, group, register_device_notifications),
+        firmware_logger_device(ctx, group, nullptr, get_firmware_logs_command(), get_flash_logs_command()),
         _depth_device_idx(add_sensor(create_depth_device(ctx, depth))),
         _depth_stream(new stream(RS2_STREAM_DEPTH)),
         _ir_stream(new stream(RS2_STREAM_INFRARED)),
@@ -432,6 +433,8 @@ namespace librealsense
         using namespace ivcam;
         static auto device_name = "Intel RealSense SR300";
 
+        // Temporal solution for HW Monitor injection - to be refactored
+        this->assign_hw_monitor(_hw_monitor);
         std::vector<uint8_t> gvd_buff(HW_MONITOR_BUFFER_SIZE);
         _hw_monitor->get_gvd(gvd_buff.size(), gvd_buff.data(), GVD);
         // fooling tests recordings - don't remove
@@ -492,7 +495,8 @@ namespace librealsense
         const platform::usb_device_info &hwm_device,
         const platform::backend_device_group& group,
         bool register_device_notifications)
-        : sr300_camera(ctx, color, depth, hwm_device, group, register_device_notifications) {
+        : sr300_camera(ctx, color, depth, hwm_device, group, register_device_notifications), 
+        device(ctx, group, register_device_notifications) {
 
         static auto device_name = "Intel RealSense SR305";
         update_info(RS2_CAMERA_INFO_NAME, device_name);
@@ -505,6 +509,16 @@ namespace librealsense
     }
 
 
+    command sr300_camera::get_firmware_logs_command() const
+    {
+        return command{ ivcam::GLD, 0x1f4 };
+    }
+
+    command sr300_camera::get_flash_logs_command() const
+    {
+        return command{ ivcam::FlashRead, 0x000B6000, 0x3f8 };
+    }
+
     void sr300_camera::create_snapshot(std::shared_ptr<debug_interface>& snapshot) const
     {
         //TODO: implement
diff --git a/src/ivcam/sr300.h b/src/ivcam/sr300.h
index 18acb2461d..8454baad62 100644
--- a/src/ivcam/sr300.h
+++ b/src/ivcam/sr300.h
@@ -21,6 +21,7 @@
 #include "stream.h"
 #include "fw-update/fw-update-device-interface.h"
 #include "proc/color-formats-converter.h"
+#include "firmware_logger_device.h"
 
 namespace librealsense
 {
@@ -185,7 +186,10 @@ namespace librealsense
         platform::usb_device_info _hwm;
     };
 
-    class sr300_camera : public  device, public debug_interface, public updatable
+    class sr300_camera : public virtual device,
+        public debug_interface,
+        public updatable,
+        public firmware_logger_device
     {
     public:
         std::vector<tagged_profile> get_profiles_tags() const override
@@ -386,7 +390,7 @@ namespace librealsense
             force_hardware_reset();
         }
 
-        synthetic_sensor& get_depth_sensor() { return dynamic_cast<synthetic_sensor&>(get_sensor(_depth_device_idx)); }
+        synthetic_sensor& get_depth_sensor() { return dynamic_cast<synthetic_sensor&>(device::get_sensor(_depth_device_idx)); }
 
         uvc_sensor& get_raw_depth_sensor()
         {
@@ -530,6 +534,11 @@ namespace librealsense
         lazy<ivcam::camera_calib_params> _camer_calib_params;
 
     protected:
+
+        //TODO - add these to device class as pure virtual methods
+        command get_firmware_logs_command() const;
+        command get_flash_logs_command() const;
+
         const uint8_t _color_device_idx;
         std::shared_ptr<hw_monitor> _hw_monitor;
     };
diff --git a/src/l500/l500-depth.cpp b/src/l500/l500-depth.cpp
index d6a0f8afc0..81db24edba 100644
--- a/src/l500/l500-depth.cpp
+++ b/src/l500/l500-depth.cpp
@@ -406,7 +406,9 @@ namespace librealsense
 
     rs2_sensor_mode get_resolution_from_width_height(int width, int height)
     {
-        if ((width == 640 && height == 480) || (width == 480  && height == 640))
+        if ((width == 240 && height == 320) || (width == 320 && height == 240))
+            return RS2_SENSOR_MODE_QVGA;
+        else if ((width == 640 && height == 480) || (width == 480  && height == 640))
             return RS2_SENSOR_MODE_VGA;
         else if ((width == 1024 && height == 768) || (width == 768 && height == 1024))
             return RS2_SENSOR_MODE_XGA;
@@ -553,8 +555,7 @@ namespace librealsense
                     }
                 }
                 
-                sensor_mode_option.set(
-                    (float) get_resolution_from_width_height( vs->get_width(), vs->get_height() ));
+                sensor_mode_option.set(float(get_resolution_from_width_height(vs->get_width(), vs->get_height())));
             }
 
             synthetic_sensor::open(_validator_requests);
diff --git a/src/l500/l500-device.cpp b/src/l500/l500-device.cpp
index 00397e14f9..f87f056331 100644
--- a/src/l500/l500-device.cpp
+++ b/src/l500/l500-device.cpp
@@ -33,12 +33,14 @@ namespace librealsense
         { rs_fourcc('G','R','E','Y'), RS2_FORMAT_Y8 },
         { rs_fourcc('Z','1','6',' '), RS2_FORMAT_Z16 },
         { rs_fourcc('C',' ',' ',' '), RS2_FORMAT_RAW8 },
+        { rs_fourcc('C','N','F','4'), RS2_FORMAT_RAW8 },
     };
 
     std::map<uint32_t, rs2_stream> l500_depth_fourcc_to_rs2_stream = {
         { rs_fourcc('G','R','E','Y'), RS2_STREAM_INFRARED },
         { rs_fourcc('Z','1','6',' '), RS2_STREAM_DEPTH },
-        { rs_fourcc('C',' ',' ',' '), RS2_STREAM_CONFIDENCE }
+        { rs_fourcc('C',' ',' ',' '), RS2_STREAM_CONFIDENCE },
+        { rs_fourcc('C','N','F','4'), RS2_STREAM_CONFIDENCE },
     };
 
     using namespace ivcam2;
@@ -506,7 +508,7 @@ namespace librealsense
         {
             command cmdFES(ivcam2::FES);
             cmdFES.require_response = false;
-            cmdFES.param1 = sector_index;
+            cmdFES.param1 = int(sector_index);
             cmdFES.param2 = 1;
             auto res = hwm->send(cmdFES);
 
@@ -518,7 +520,7 @@ namespace librealsense
                 int packet_size = std::min((int)(HW_MONITOR_COMMAND_SIZE - (i % HW_MONITOR_COMMAND_SIZE)), (int)(ivcam2::FLASH_SECTOR_SIZE - i));
                 command cmdFWB(ivcam2::FWB);
                 cmdFWB.require_response = false;
-                cmdFWB.param1 = index;
+                cmdFWB.param1 = int(index);
                 cmdFWB.param2 = packet_size;
                 cmdFWB.data.assign(image.data() + index, image.data() + index + packet_size);
                 res = hwm->send(cmdFWB);
@@ -534,7 +536,7 @@ namespace librealsense
         update_progress_callback_ptr callback, float continue_from, float ratio)
     {
         auto first_table_offset = fs.tables.front().offset;
-        float total_size = float( fs.app_size + tables_size );
+        float total_size = float(fs.app_size + tables_size);
 
         float app_ratio = fs.app_size / total_size * ratio;
         float tables_ratio = tables_size / total_size * ratio;
@@ -552,7 +554,7 @@ namespace librealsense
         // update read-write section
         auto first_table_offset = flash_image_info.read_write_section.tables.front().offset;
         auto tables_size = flash_image_info.header.read_write_start_address + flash_image_info.header.read_write_size - first_table_offset;
-        update_section(hwm, merged_image, flash_image_info.read_write_section, tables_size, callback, 0, update_mode == RS2_UNSIGNED_UPDATE_MODE_READ_ONLY ? 0.5f : 1.0f);
+        update_section(hwm, merged_image, flash_image_info.read_write_section, tables_size, callback, 0, update_mode == RS2_UNSIGNED_UPDATE_MODE_READ_ONLY ? 0.5f : 1.f);
 
         if (update_mode == RS2_UNSIGNED_UPDATE_MODE_READ_ONLY)
         {
@@ -597,6 +599,16 @@ namespace librealsense
         });
     }
 
+    command l500_device::get_firmware_logs_command() const
+    {
+        return command{ ivcam2::GLD, 0x1f4 };
+    }
+
+    command l500_device::get_flash_logs_command() const
+    {
+        return command{ ivcam2::FRB, 0x0011E000, 0x3f8 };
+    }
+
     notification l500_notification_decoder::decode(int value)
     {
         if (l500_fw_error_report.find(static_cast<uint8_t>(value)) != l500_fw_error_report.end())
diff --git a/src/l500/l500-device.h b/src/l500/l500-device.h
index eb7c5f78bc..431c47736e 100644
--- a/src/l500/l500-device.h
+++ b/src/l500/l500-device.h
@@ -101,6 +101,10 @@ namespace librealsense
         void force_hardware_reset() const;
         bool _is_locked = true;
 
+        //TODO - add these to device class as pure virtual methods
+        command get_firmware_logs_command() const;
+        command get_flash_logs_command() const;
+
         std::vector<rs2_option> _advanced_options;
 
         std::vector< calibration_change_callback_ptr > _calibration_change_callbacks;
diff --git a/src/l500/l500-factory.cpp b/src/l500/l500-factory.cpp
index 8114893c77..9a5734506b 100644
--- a/src/l500/l500-factory.cpp
+++ b/src/l500/l500-factory.cpp
@@ -11,6 +11,7 @@
 #include "context.h"
 #include "image.h"
 #include "metadata-parser.h"
+#include "../firmware_logger_device.h"
 
 #include "l500-factory.h"
 #include "l500-depth.h"
@@ -18,6 +19,8 @@
 #include "l500-color.h"
 #include "l500-serializable.h"
 
+#include "../firmware_logger_device.h"
+
 namespace librealsense
 {
     using namespace ivcam2;
@@ -27,7 +30,8 @@ namespace librealsense
         public l500_options,
         public l500_color,
         public l500_motion,
-        public l500_serializable
+        public l500_serializable,
+        public firmware_logger_device
     {
     public:
         rs515_device(std::shared_ptr<context> ctx,
@@ -39,7 +43,10 @@ namespace librealsense
             l500_options(ctx, group),
             l500_color(ctx, group),
             l500_motion(ctx, group),
-            l500_serializable(_hw_monitor, get_depth_sensor())
+            l500_serializable(l500_device::_hw_monitor, get_depth_sensor()),
+            firmware_logger_device(ctx, group, l500_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command())
         {}
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
@@ -59,7 +66,8 @@ namespace librealsense
     };
 
     // l500
-    class rs500_device : public l500_depth
+    class rs500_device : public l500_depth,
+        public firmware_logger_device
     {
     public:
         rs500_device(std::shared_ptr<context> ctx,
@@ -67,7 +75,10 @@ namespace librealsense
             bool register_device_notifications)
             : device(ctx, group, register_device_notifications),
             l500_device(ctx, group),
-            l500_depth(ctx, group)
+            l500_depth(ctx, group),
+            firmware_logger_device(ctx, group,l500_device::_hw_monitor,
+                get_firmware_logs_command(),
+                get_flash_logs_command())
         {}
 
         l500_color_sensor * get_color_sensor() override { return nullptr; }
diff --git a/src/l500/l500-options.cpp b/src/l500/l500-options.cpp
index 2a70be7e31..a9b06a7698 100644
--- a/src/l500/l500-options.cpp
+++ b/src/l500/l500-options.cpp
@@ -13,7 +13,7 @@ namespace librealsense
 
     float l500_hw_options::query() const
     {
-        return query(_resolution->query());
+        return query(int(_resolution->query()));
     }
 
     void l500_hw_options::set(float value)
@@ -35,7 +35,7 @@ namespace librealsense
         auto max = _hw_monitor->send(command{ AMCGET, _type, get_max });
         auto step = _hw_monitor->send(command{ AMCGET, _type, get_step });
 
-        auto def = query(_resolution->query());
+        auto def = query(int(_resolution->query()));
 
         if (min.size() < sizeof(int32_t) || max.size() < sizeof(int32_t) || step.size() < sizeof(int32_t))
         {
@@ -74,7 +74,7 @@ namespace librealsense
         }
 
         auto val = *(reinterpret_cast<int32_t*>((void*)res.data()));
-        return val;
+        return float(val);
     }
 
     l500_options::l500_options(std::shared_ptr<context> ctx, const platform::backend_device_group & group) :
@@ -89,12 +89,12 @@ namespace librealsense
             depth_sensor.register_option
             (RS2_OPTION_VISUAL_PRESET, std::make_shared<uvc_xu_option<int >>(raw_depth_sensor, ivcam2::depth_xu, ivcam2::L500_AMBIENT,
                 "Change the depth ambient light to ambient: 1 for no ambient and 2 for low ambient",
-                std::map<float, std::string>{ { RS2_AMBIENT_LIGHT_NO_AMBIENT, "No Ambient"},
-                { RS2_AMBIENT_LIGHT_LOW_AMBIENT, "Low Ambient" }}));
+                std::map<float, std::string>{ { float(RS2_AMBIENT_LIGHT_NO_AMBIENT), "No Ambient"},
+                { float(RS2_AMBIENT_LIGHT_LOW_AMBIENT), "Low Ambient" }}));
         }
         else
         {
-            auto resolution_option = std::make_shared<float_option_with_description<rs2_sensor_mode>>(option_range{ RS2_SENSOR_MODE_VGA,RS2_SENSOR_MODE_XGA,1, RS2_SENSOR_MODE_XGA }, "Notify the sensor about the intended streaming mode. Required for preset ");
+            auto resolution_option = std::make_shared<float_option_with_description<rs2_sensor_mode>>(option_range{ RS2_SENSOR_MODE_VGA,RS2_SENSOR_MODE_COUNT - 1,1, RS2_SENSOR_MODE_XGA }, "Notify the sensor about the intended streaming mode. Required for preset ");
 
             depth_sensor.register_option(RS2_OPTION_SENSOR_MODE, resolution_option);
 
diff --git a/src/proc/rates-printer.cpp b/src/proc/rates-printer.cpp
index f8a96e291e..4d03baef5f 100644
--- a/src/proc/rates-printer.cpp
+++ b/src/proc/rates-printer.cpp
@@ -27,7 +27,7 @@ namespace librealsense
     {
         auto period = std::chrono::milliseconds(1000 / _render_rate).count();
         auto curr_time = std::chrono::steady_clock::now();
-        double diff = std::chrono::duration_cast<std::chrono::milliseconds>(curr_time - _last_print_time).count();
+        auto diff = std::chrono::duration_cast<std::chrono::milliseconds>(curr_time - _last_print_time).count();
 
         if (diff < period)
             return;
@@ -45,11 +45,11 @@ namespace librealsense
         }
     }
 
-    rates_printer::profile::profile() : _counter(0), _last_frame_number(0), _acctual_fps(0)
+    rates_printer::profile::profile() : _counter(0), _last_frame_number(0), _actual_fps(0)
     {
     }
 
-    int rates_printer::profile::last_frame_number()
+    unsigned long long rates_printer::profile::last_frame_number()
     {
         return _last_frame_number;
     }
@@ -61,7 +61,7 @@ namespace librealsense
 
     float rates_printer::profile::get_fps()
     {
-        return _acctual_fps;
+        return _actual_fps;
     }
 
     void rates_printer::profile::on_frame_arrival(const rs2::frame& f)
@@ -79,8 +79,8 @@ namespace librealsense
         auto oldest = _time_points[0];
         if (_time_points.size() > _stream_profile.fps())
             _time_points.erase(_time_points.begin());
-        double diff = std::chrono::duration_cast<std::chrono::milliseconds>(curr_time - oldest).count() / 1000.0;
+        auto diff = std::chrono::duration_cast<std::chrono::milliseconds>(curr_time - oldest).count() / 1000.f;
         if (diff > 0)
-            _acctual_fps = _time_points.size() / diff;
+            _actual_fps = _time_points.size() / diff;
     }
 }
diff --git a/src/proc/rates-printer.h b/src/proc/rates-printer.h
index 475f0e7f7d..8a680a80d9 100644
--- a/src/proc/rates-printer.h
+++ b/src/proc/rates-printer.h
@@ -24,12 +24,12 @@ namespace librealsense
             rs2::stream_profile _stream_profile;
             int _counter;
             std::vector<std::chrono::steady_clock::time_point> _time_points;
-            int _last_frame_number;
-            float _acctual_fps;
+            unsigned long long _last_frame_number;
+            float _actual_fps;
             std::chrono::steady_clock::time_point _last_time;
         public:
             profile();
-            int last_frame_number();
+            unsigned long long last_frame_number();
             rs2::stream_profile get_stream_profile();
             float get_fps();
             void on_frame_arrival(const rs2::frame& f);
diff --git a/src/proc/sse/sse-pointcloud.cpp b/src/proc/sse/sse-pointcloud.cpp
index d881e5e76f..c74a7de247 100644
--- a/src/proc/sse/sse-pointcloud.cpp
+++ b/src/proc/sse/sse-pointcloud.cpp
@@ -175,8 +175,8 @@ namespace librealsense
         auto fy = _mm_set_ps1(other_intrinsics.fy);
         auto ppx = _mm_set_ps1(other_intrinsics.ppx);
         auto ppy = _mm_set_ps1(other_intrinsics.ppy);
-        auto w = _mm_set_ps1(other_intrinsics.width);
-        auto h = _mm_set_ps1(other_intrinsics.height);
+        auto w = _mm_set_ps1(float(other_intrinsics.width));
+        auto h = _mm_set_ps1(float(other_intrinsics.height));
         auto mask_inv_brown_conrady = _mm_set_ps1(RS2_DISTORTION_INVERSE_BROWN_CONRADY);
         auto zero = _mm_set_ps1(0);
         auto one = _mm_set_ps1(1);
diff --git a/src/proc/synthetic-stream.cpp b/src/proc/synthetic-stream.cpp
index 12d185dfda..dc3920a68f 100644
--- a/src/proc/synthetic-stream.cpp
+++ b/src/proc/synthetic-stream.cpp
@@ -168,7 +168,7 @@ namespace librealsense
         auto stream_selector = std::make_shared<ptr_option<int>>(RS2_STREAM_ANY, RS2_STREAM_COUNT, 1, RS2_STREAM_ANY, (int*)&_stream_filter.stream, "Stream type");
         for (int s = RS2_STREAM_ANY; s < RS2_STREAM_COUNT; s++)
         {
-            stream_selector->set_description(s, "Process - " + std::string (rs2_stream_to_string((rs2_stream)s)));
+            stream_selector->set_description(float(s), "Process - " + std::string (rs2_stream_to_string((rs2_stream)s)));
         }
         stream_selector->on_set([this, stream_selector](float val)
         {
@@ -184,7 +184,7 @@ namespace librealsense
         auto format_selector = std::make_shared<ptr_option<int>>(RS2_FORMAT_ANY, RS2_FORMAT_COUNT, 1, RS2_FORMAT_ANY, (int*)&_stream_filter.format, "Stream format");
         for (int f = RS2_FORMAT_ANY; f < RS2_FORMAT_COUNT; f++)
         {
-            format_selector->set_description(f, "Process - " + std::string(rs2_format_to_string((rs2_format)f)));
+            format_selector->set_description(float(f), "Process - " + std::string(rs2_format_to_string((rs2_format)f)));
         }
         format_selector->on_set([this, format_selector](float val)
         {
diff --git a/src/realsense.def b/src/realsense.def
index b6bee9bd47..8438e01525 100644
--- a/src/realsense.def
+++ b/src/realsense.def
@@ -367,8 +367,28 @@ EXPORTS
     rs2_get_calibration_table
     rs2_set_calibration_table
 
+    rs2_create_fw_log_message
+    rs2_delete_fw_log_message
+    rs2_get_fw_log
+    rs2_get_flash_log
+    rs2_fw_log_message_severity
+    rs2_fw_log_message_timestamp
+    rs2_fw_log_message_data
+    rs2_fw_log_message_size
+    rs2_init_fw_log_parser
+    rs2_parse_firmware_log
+    rs2_create_fw_log_parsed_message
+    rs2_delete_fw_log_parsed_message
+    rs2_get_fw_log_parsed_message
+    rs2_get_fw_log_parsed_file_name
+    rs2_get_fw_log_parsed_thread_name
+    rs2_get_fw_log_parsed_severity
+    rs2_get_fw_log_parsed_line
+    rs2_get_fw_log_parsed_timestamp
+    
     rs2_create_terminal_parser
     rs2_delete_terminal_parser
     rs2_terminal_parse_command 
     rs2_terminal_parse_response
 
+
diff --git a/src/rs.cpp b/src/rs.cpp
index c8e51f5e7d..7be1710e1a 100644
--- a/src/rs.cpp
+++ b/src/rs.cpp
@@ -42,6 +42,7 @@
 #include "global_timestamp_reader.h"
 #include "auto-calibrated-device.h"
 #include "terminal-parser.h"
+#include "firmware_logger_device.h"
 #include "device-calibration.h"
 #include "calibrated-sensor.h"
 ////////////////////////
@@ -122,6 +123,17 @@ struct rs2_terminal_parser
     std::shared_ptr<librealsense::terminal_parser> terminal_parser;
 };
 
+struct rs2_firmware_log_message
+{
+    std::shared_ptr<librealsense::fw_logs::fw_logs_binary_data> firmware_log_binary_data;
+};
+
+struct rs2_firmware_log_parsed_message
+{
+    std::shared_ptr<librealsense::fw_logs::fw_log_data> firmware_log_parsed;
+};
+
+
 struct rs2_error
 {
     std::string message;
@@ -1409,7 +1421,8 @@ int rs2_is_device_extendable_to(const rs2_device* dev, rs2_extension extension,
         case RS2_EXTENSION_GLOBAL_TIMER          : return VALIDATE_INTERFACE_NO_THROW(dev->device, librealsense::global_time_interface)       != nullptr;
         case RS2_EXTENSION_AUTO_CALIBRATED_DEVICE: return VALIDATE_INTERFACE_NO_THROW(dev->device, librealsense::auto_calibrated_interface)   != nullptr;
         case RS2_EXTENSION_DEVICE_CALIBRATION    : return VALIDATE_INTERFACE_NO_THROW(dev->device, librealsense::device_calibration)          != nullptr;
-        case RS2_EXTENSION_SERIALIZABLE          : return VALIDATE_INTERFACE_NO_THROW(dev->device, librealsense::serializable_interface) != nullptr;
+        case RS2_EXTENSION_SERIALIZABLE          : return VALIDATE_INTERFACE_NO_THROW(dev->device, librealsense::serializable_interface)      != nullptr;
+        case RS2_EXTENSION_FW_LOGGER             : return VALIDATE_INTERFACE_NO_THROW(dev->device, librealsense::firmware_logger_extensions)  != nullptr;
 
         default:
             return false;
@@ -3097,6 +3110,165 @@ void rs2_load_json(rs2_device* dev, const void* json_content, unsigned content_s
 }
 HANDLE_EXCEPTIONS_AND_RETURN(, dev, json_content, content_size)
 
+rs2_firmware_log_message* rs2_create_fw_log_message(rs2_device* dev, rs2_error** error)BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(dev);
+    auto fw_loggerable = VALIDATE_INTERFACE(dev->device, librealsense::firmware_logger_extensions);
+    
+    return new rs2_firmware_log_message{ std::make_shared <librealsense::fw_logs::fw_logs_binary_data>() };
+}
+HANDLE_EXCEPTIONS_AND_RETURN(nullptr, dev)
+
+int rs2_get_fw_log(rs2_device* dev, rs2_firmware_log_message** fw_log_msg, rs2_error** error) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(dev);
+    VALIDATE_NOT_NULL(fw_log_msg);
+    auto fw_loggerable = VALIDATE_INTERFACE(dev->device, librealsense::firmware_logger_extensions);
+
+    fw_logs::fw_logs_binary_data binary_data;
+    bool result = fw_loggerable->get_fw_log(binary_data);
+    if (result)
+    {
+        (*(*fw_log_msg)->firmware_log_binary_data.get()) = binary_data;
+    }
+    return result? 1 : 0;
+}
+HANDLE_EXCEPTIONS_AND_RETURN(0, dev, fw_log_msg)
+
+int rs2_get_flash_log(rs2_device* dev, rs2_firmware_log_message** fw_log_msg, rs2_error** error)BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(dev);
+    VALIDATE_NOT_NULL(fw_log_msg);
+    auto fw_loggerable = VALIDATE_INTERFACE(dev->device, librealsense::firmware_logger_extensions);
+
+    fw_logs::fw_logs_binary_data binary_data;
+    bool result = fw_loggerable->get_flash_log(binary_data);
+    if (result)
+    {
+        (*(*fw_log_msg)->firmware_log_binary_data.get()) = binary_data;
+    }
+    return result ? 1 : 0;
+}
+HANDLE_EXCEPTIONS_AND_RETURN(0, dev, fw_log_msg)
+void rs2_delete_fw_log_message(rs2_firmware_log_message* msg) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(msg);
+    delete msg;
+}
+NOEXCEPT_RETURN(, msg)
+
+const unsigned char* rs2_fw_log_message_data(rs2_firmware_log_message* msg, rs2_error** error)BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(msg);
+    return msg->firmware_log_binary_data->logs_buffer.data();
+}
+HANDLE_EXCEPTIONS_AND_RETURN(nullptr, msg)
+
+int rs2_fw_log_message_size(rs2_firmware_log_message* msg, rs2_error** error)BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(msg);
+    return msg->firmware_log_binary_data->logs_buffer.size();
+}
+HANDLE_EXCEPTIONS_AND_RETURN(0, msg)
+
+rs2_log_severity rs2_fw_log_message_severity(const rs2_firmware_log_message* msg, rs2_error** error) BEGIN_API_CALL
+{
+    return msg->firmware_log_binary_data->get_severity();
+}
+HANDLE_EXCEPTIONS_AND_RETURN(RS2_LOG_SEVERITY_NONE, msg)
+
+unsigned int rs2_fw_log_message_timestamp(rs2_firmware_log_message* msg, rs2_error** error) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(msg);
+    return msg->firmware_log_binary_data->get_timestamp();
+}
+HANDLE_EXCEPTIONS_AND_RETURN(0, msg)
+
+int rs2_init_fw_log_parser(rs2_device* dev, const char* xml_content,rs2_error** error) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(xml_content);
+    
+    auto fw_loggerable = VALIDATE_INTERFACE(dev->device, librealsense::firmware_logger_extensions);
+
+    return (fw_loggerable->init_parser(xml_content)) ? 1 : 0;
+}
+HANDLE_EXCEPTIONS_AND_RETURN(0, xml_content)
+
+rs2_firmware_log_parsed_message* rs2_create_fw_log_parsed_message(rs2_device* dev, rs2_error** error)BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(dev);
+
+    auto fw_loggerable = VALIDATE_INTERFACE(dev->device, librealsense::firmware_logger_extensions);
+
+    return new rs2_firmware_log_parsed_message{ std::make_shared <librealsense::fw_logs::fw_log_data>() };
+}
+HANDLE_EXCEPTIONS_AND_RETURN(0, dev)
+
+int rs2_parse_firmware_log(rs2_device* dev, rs2_firmware_log_message* fw_log_msg, rs2_firmware_log_parsed_message* parsed_msg, rs2_error** error)BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(dev);
+    VALIDATE_NOT_NULL(fw_log_msg);
+    VALIDATE_NOT_NULL(parsed_msg);
+
+    auto fw_loggerable = VALIDATE_INTERFACE(dev->device, librealsense::firmware_logger_extensions);
+
+    bool parsing_result = fw_loggerable->parse_log(fw_log_msg->firmware_log_binary_data.get(),
+        parsed_msg->firmware_log_parsed.get());
+
+    return parsing_result ? 1 : 0;
+}
+HANDLE_EXCEPTIONS_AND_RETURN(0, dev, fw_log_msg)
+
+void rs2_delete_fw_log_parsed_message(rs2_firmware_log_parsed_message* fw_log_parsed_msg) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(fw_log_parsed_msg);
+    delete fw_log_parsed_msg;
+}
+NOEXCEPT_RETURN(, fw_log_parsed_msg)
+
+const char* rs2_get_fw_log_parsed_message(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(fw_log_parsed_msg);
+    return fw_log_parsed_msg->firmware_log_parsed->get_message().c_str();
+}
+HANDLE_EXCEPTIONS_AND_RETURN(nullptr, fw_log_parsed_msg)
+
+const char* rs2_get_fw_log_parsed_file_name(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(fw_log_parsed_msg);
+    return fw_log_parsed_msg->firmware_log_parsed->get_file_name().c_str();
+}
+HANDLE_EXCEPTIONS_AND_RETURN(nullptr, fw_log_parsed_msg)
+
+const char* rs2_get_fw_log_parsed_thread_name(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(fw_log_parsed_msg);
+    return fw_log_parsed_msg->firmware_log_parsed->get_thread_name().c_str();
+}
+HANDLE_EXCEPTIONS_AND_RETURN(nullptr, fw_log_parsed_msg)
+
+rs2_log_severity rs2_get_fw_log_parsed_severity(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(fw_log_parsed_msg);
+    return fw_log_parsed_msg->firmware_log_parsed->get_severity();
+}
+HANDLE_EXCEPTIONS_AND_RETURN(RS2_LOG_SEVERITY_NONE, fw_log_parsed_msg)
+
+unsigned int rs2_get_fw_log_parsed_line(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(fw_log_parsed_msg);
+    return fw_log_parsed_msg->firmware_log_parsed->get_line();
+}
+HANDLE_EXCEPTIONS_AND_RETURN(0, fw_log_parsed_msg)
+
+unsigned int rs2_get_fw_log_parsed_timestamp(rs2_firmware_log_parsed_message* fw_log_parsed_msg, rs2_error** error) BEGIN_API_CALL
+{
+    VALIDATE_NOT_NULL(fw_log_parsed_msg);
+    return fw_log_parsed_msg->firmware_log_parsed->get_timestamp();
+}
+HANDLE_EXCEPTIONS_AND_RETURN(0, fw_log_parsed_msg)
+
+
 rs2_terminal_parser* rs2_create_terminal_parser(const char* xml_content, rs2_error** error) BEGIN_API_CALL
 {
     VALIDATE_NOT_NULL(xml_content);
@@ -3148,3 +3320,5 @@ rs2_raw_data_buffer* rs2_terminal_parse_response(rs2_terminal_parser* terminal_p
 }
 HANDLE_EXCEPTIONS_AND_RETURN(nullptr, terminal_parser, command, response)
 
+
+
diff --git a/src/types.cpp b/src/types.cpp
index bc5c9d7265..d975f8aad9 100644
--- a/src/types.cpp
+++ b/src/types.cpp
@@ -246,6 +246,7 @@ namespace librealsense
             CASE(FISHEYE_SENSOR)
             CASE(DEPTH_HUFFMAN_DECODER)
             CASE(SERIALIZABLE)
+            CASE(FW_LOGGER)
             CASE(AUTO_CALIBRATION_FILTER)
             CASE(DEVICE_CALIBRATION)
             CASE(CALIBRATED_SENSOR)
diff --git a/third-party/imgui/imgui-fonts-monofont.hpp b/third-party/imgui/imgui-fonts-monofont.hpp
new file mode 100644
index 0000000000..f47ab242b5
--- /dev/null
+++ b/third-party/imgui/imgui-fonts-monofont.hpp
@@ -0,0 +1,1368 @@
+// File: 'AnonymousPro-Regular.ttf' (112072 bytes)
+// Exported using binary_to_compressed_c.cpp
+static const unsigned int monospace_compressed_size = 65326;
+static const unsigned int monospace_compressed_data[65328/4] =
+{
+    0x0000bc57, 0x00000000, 0xc8b50100, 0x00000400, 0x00010025, 0x82100000, 0x00042e04, 0x2f534f00, 0xbe624a32, 0x52010084, 0x28158240, 0x4d445660, 
+    0x72a56a58, 0x080f823c, 0x0000a020, 0x6d63e005, 0x12927061, 0x01009217, 0x00005862, 0x7663e203, 0x8a042074, 0x01009e0a, 0x2f824c68, 0x70662e3c, 
+    0x41926d67, 0x0100fada, 0x00003c66, 0x61676101, 0x15007073, 0x01000800, 0x1f82b8b5, 0x6c671028, 0x73bc6679, 0x1b82bfec, 0x01000c3f, 0x6468f046, 
+    0x6479786d, 0x0100b44d, 0x00008058, 0x6568d809, 0x2bff6461, 0x0100c49a, 0x222e824d, 0x82683600, 0x670a2310, 0x7f82ce02, 0x10821c20, 0x6d682428, 
+    0x6a347874, 0x1f82d035, 0x0000382f, 0x6f6ce204, 0x05b16163, 0x0100a762, 0x2d1f8248, 0x616de204, 0x88047078, 0x01006103, 0x2f82fc47, 0x616e2028, 
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+    0xb02b0423, 0x0bb01005, 0x101bb0d0, 0xb0d015b0, 0x2cb01023, 0x1027b0d0, 0x46d032b0, 0x262107b0, 0xb3421827, 0x5f36200d, 0x262306dd, 0x82072223, 
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+    0x07b34300, 0xe56d080b, 0xd0002905, 0xb01008b0, 0x07b0d00d, 0x18090e7a, 0x410cd840, 0x052008f4, 0x08051760, 0xb110003b, 0x30f4060c, 0x35212131, 
+    0x21350101, 0x21112311, 0x11210101, 0xfc730333, 0xfe4801b8, 0x794803b8, 0x4501d5fd, 0x2b02bbfe, 0x18027579, 0xfe751702, 0xfd440147, 0x01e8fde9, 
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+    0xf40303b1, 0x70071b40, 0xb22d2100, 0x11180906, 0x18b03912, 0x040fb110, 0x227583f4, 0x78b0d017, 0x252706f7, 0x32331614, 0x4b173736, 0x3b080537, 
+    0x03102311, 0x35123623, 0x15213523, 0x46d10223, 0x0f231c33, 0x2d52291a, 0xec294356, 0x17168b2b, 0xd3a403d3, 0x083835cf, 0x1f197109, 0x0237563a, 
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+    0x056b6d10, 0x1016b02b, 0xb0d019b0, 0x31302f19, 0x05536f01, 0x21101127, 0x35272622, 0x208b8316, 0x080c8235, 0x17163249, 0x3f1da403, 0xfe878129, 
+    0x23431f72, 0x7f2d3b1d, 0x1e920185, 0x27062344, 0x8f790204, 0x85fecbfa, 0x04730404, 0x058e7903, 0x067d0135, 0xff030004, 0x020001f8, 0x002b05bc, 
+    0x00340025, 0xb0c40038, 0x3ab02f39, 0x5239b02f, 0xb02106af, 0x15cd763a, 0xb0d02b2a, 0x32b11000, 0x1b40f408, 0x09e14d18, 0x0fff4d18, 0x185d0d21, 
+    0x2307f14d, 0x35b0101c, 0xb0253183, 0x36b0d036, 0x059e432f, 0x1b2f172b, 0x3e1517b1, 0x0638b359, 0x22ea8235, 0x82210626, 0x01052205, 0x057d472f, 
+    0xb0d00a24, 0xd7762f0a, 0x2fb0282b, 0xd02cb010, 0x182f2cb0, 0x2207a451, 0x76161632, 0x062413a5, 0x022e2223, 0x0809a576, 0x14150685, 0x35210116, 
+    0x75450821, 0x251f4d92, 0x271b201f, 0x561a4237, 0x3d374085, 0x753d73a2, 0x758d395c, 0x4c663da8, 0x441a012b, 0x3527476b, 0x96762544, 0xfdef0148, 
+    0x02bc0244, 0x3d6345f8, 0x0404041b, 0x1d31254b, 0x6d2d230c, 0x3b1b2f29, 0xf8fd425c, 0x3a1c816f, 0x2f213250, 0x08501636, 0x2d4c4302, 0x756ffe3a, 
+    0xff030000, 0x020001ee, 0x002d05fe, 0x00250013, 0xb0b20029, 0x2bb02f2a, 0xdc00b02f, 0x76102ab0, 0xb02305ad, 0x68b11000, 0x0a2028fb, 0x342f0e45, 
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+    0x17660f40, 0x17861776, 0x17a61796, 0x17c617b6, 0x0d405d07, 0x17161706, 0x17361726, 0x17561746, 0xd5b45d06, 0x0217e517, 0x1024b05d, 0xf40e1cb1, 
+    0x18059242, 0x250cf440, 0xb11b2f06, 0x7c790f06, 0x066b7f0f, 0x10294008, 0xf40112b1, 0xe912d9b4, 0x405d0212, 0x1812081b, 0x38122812, 0x58124812, 
+    0x78126812, 0x98128812, 0xb812a812, 0x0d12c812, 0x1004b05d, 0xb0d01fb0, 0x3130d020, 0x07021401, 0x21153315, 0x79033e11, 0x0e2b053f, 0x1e141502, 
+    0x21111702, 0x57353335, 0x7b0805a3, 0x021e3233, 0x7d6ebc03, 0x43a4fed3, 0x2716385a, 0x5a5e8556, 0x16295685, 0xfe435836, 0x6e79d3a4, 0x77b67b3f, 
+    0x3f7db677, 0xfe91e502, 0x75725df0, 0x671a2301, 0x523f877b, 0x565689a8, 0x3f52a889, 0x1a677b87, 0x7275ddfe, 0x95130156, 0x62a2d571, 0x00d5a262, 
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+    0xd029b010, 0xb01010b0, 0x08b0d03d, 0x0c43b110, 0x061b40f4, 0x26431643, 0x46433643, 0x66435643, 0x86437643, 0xa6439643, 0xc643b643, 0xb45d0d43, 
+    0x43e543d5, 0x2414f367, 0xb11b2f23, 0x0f006823, 0x4500b025, 0x8233b058, 0x0f332d19, 0x0db3593e, 0x2b042905, 0x1d0500b2, 0x0d218983, 0x06ec5610, 
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+    0x5d73030e, 0x2634240b, 0x61062223, 0x162105ae, 0x05e64b17, 0x14211522, 0x2006fb45, 0x20298206, 0x21218401, 0x90450715, 0x08198305, 0x35023e98, 
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+    0x21af8319, 0xb8867437, 0x002d0883, 0x02aa0101, 0x05e902e9, 0x000c0017, 0x0f73413b, 0x69419985, 0x8207200c, 0x41072099, 0x3022104f, 0x34410131, 
+    0xe902290a, 0x5029c1fe, 0xcaca4f77, 0x2a092a41, 0x00010000, 0x01ec02ba, 0x821905fa, 0x41302069, 0x1941051f, 0x0d06410c, 0x3022f98c, 0xd88a1331, 
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+    0x99003500, 0xe25caf85, 0x0ce04508, 0x011a8308, 0xb32b041b, 0x04120111, 0x1011b02b, 0xb0d000b0, 0x0db11006, 0xd9b4f406, 0x020de90d, 0x081b405d, 
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+    0x5c841c79, 0x011b8964, 0x02f4fe00, 0xff0c0102, 0x648b1900, 0x791c845c, 0x5a8bbb33, 0x0e3e6089, 0x02029aa4, 0x625a039a, 0xb04a7faa, 0x9b7b1fbc, 
+    0x1671b0b0, 0x2d18192f, 0xaeb27117, 0xbc217b9e, 0xac7d4ab1, 0x2f177162, 0x16311716, 0x00010000, 0x029600c7, 0x0027035c, 0x00090005, 0xb02f03b0, 
+    0x07bd4801, 0x5c020728, 0x01b9fe4e, 0xb0484e47, 0x01002308, 0x2d824801, 0x2503dd22, 0x05202d85, 0x9f482d85, 0xdd022605, 0xf750bbfe, 0x089248f7, 
+    0x02000023, 0x2a008200, 0x2b055e04, 0x1b001700, 0x55b0bf00, 0x1c20057f, 0x34073f4e, 0x03b0d007, 0x0c1bb110, 0xd014b0f4, 0xb0101db0, 0x18b1dc16, 
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+    0x081b405d, 0x28111811, 0x48113811, 0x68115811, 0x88117811, 0xa8119811, 0xc811b811, 0xb05d0d11, 0x2e858202, 0xd017b0d0, 0xb0d018b0, 0x19b01005, 
+    0x821ab0d0, 0x1810200b, 0x2008a24e, 0x0ffd4a11, 0x11212108, 0x21112133, 0xfb5e0411, 0xd3d3d3a2, 0x422fc8c7, 0x2b401c16, 0x2f028383, 0xfea4fed3, 
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+    0x1b2f1722, 0x09e24b18, 0x200c0841, 0x08084117, 0x0e2cdc82, 0xd00fb0d0, 0xb0d010b0, 0x14b1100a, 0x26e66a18, 0x20090841, 0x13084110, 0x21331123, 
+    0x05b45011, 0x23153322, 0x2c090841, 0xd33b8767, 0x4c16a4fe, 0xd383833e, 0x050641d3, 0xfb11122d, 0x0433046d, 0x7591810a, 0x670046fd, 0x022f0563, 
+    0x001905e9, 0xb34b0013, 0x04050e01, 0x8201b02b, 0xf40a2bac, 0xf40e00b1, 0xb01004b0, 0x7b83d007, 0x83d00921, 0xd00b240b, 0x5f1001b0, 0x00210626, 
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+    0x0c6e0ef0, 0x646cd901, 0x0e703905, 0x000c27fe, 0x01750101, 0x022f0281, 0x0003003b, 0x00b00009, 0x2f02b02f, 0x34052545, 0xbaba2f02, 0x00ba8101, 
+    0xfe2e0201, 0x006e038e, 0x000c00bb, 0x12d54541, 0x0e20a383, 0x5b06e246, 0x0b200c51, 0x0b239e82, 0x47593e0f, 0x30210a95, 0x0bbf4631, 0x452e0221, 
+    0xbb2007e7, 0x2707b646, 0x00000200, 0x6d038efe, 0x19226d84, 0x65477900, 0x085e4721, 0x14207b8c, 0x14217b82, 0x06815411, 0xb0258887, 0xb0584500, 
+    0x20198218, 0x20958218, 0x1d2e48b0, 0x73473520, 0x88bb8828, 0x00240808, 0xecff0700, 0x5c04dbff, 0x03002f05, 0x1b000f00, 0x33002700, 0x4b003f00, 
+    0x0ab38501, 0x2b04100a, 0x280a22b3, 0x2e220582, 0x05821c09, 0x400a3a22, 0x46220582, 0xf54b3409, 0xb4240826, 0x22c622b6, 0x17405d02, 0x22162206, 
+    0x22362226, 0x22562246, 0x22762266, 0x22962286, 0x5d0b22a6, 0xe522d5b4, 0xb0282082, 0x16b01022, 0x2f16b0d0, 0x18245b61, 0x24243d6c, 0xea40dab4, 
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+    0x48073807, 0x68075807, 0x88077807, 0xa8079807, 0xc807b807, 0x24618207, 0x25b11031, 0x51601801, 0x1fb03125, 0xd037b010, 0xb01025b0, 0x2bb0d03d, 
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+    0x00823133, 0xfe2f3333, 0x676662d8, 0x66676262, 0x2f620262, 0x31313233, 0x20138232, 0x830f83d7, 0xcf022317, 0x2682342f, 0x2f343124, 0x2787d7fe, 
+    0xfafc0438, 0x230529df, 0x565640f4, 0x56563f40, 0x9393693f, 0x94946869, 0x108e1afd, 0x0f8e6820, 0x20086f4e, 0x086f4ecb, 0x4f74d620, 0x7417830c, 
+    0x17860567, 0x00c5ff27, 0x06e30300, 0x742f88c7, 0x8c200d7f, 0x2f851782, 0x478c8c20, 0x1788c920, 0x2506e74e, 0x0000ba00, 0x4784e902, 0x74002a21, 
+    0xaa200bc7, 0xfc221782, 0x2f82cb06, 0x77861785, 0x5f832f86, 0x5f871785, 0xc9204785, 0x474f2f88, 0xffdf2407, 0x84c703e9, 0x052f4f5f, 0xff20a786, 
+    0xcb201785, 0x84080f75, 0x0200215f, 0x002d0182, 0x3f056804, 0x30000400, 0xb0002000, 0x05744200, 0x083d4018, 0x58450028, 0x1b2f14b0, 0x424914b1, 
+    0x06142805, 0x0e011207, 0x4e222303, 0xbe6705cf, 0x021e2409, 0x823e3233, 0x175d0803, 0x1e141506, 0x93330302, 0x3b020275, 0x6450390e, 0x393a1e38, 
+    0x391f1e3c, 0x441a3536, 0x273d6783, 0x2454794e, 0x1d393e46, 0x403f3e20, 0x926d9323, 0x05452f19, 0x0aa6953f, 0x66fc0a01, 0x52717a2b, 0x10101510, 
+    0xba7b1017, 0x964a5cd7, 0x130e4c76, 0x1014110e, 0x2b8b7b85, 0xff3b4e58, 0x20c586ff, 0x86c588c9, 0x310021f5, 0x1d76f582, 0x41362005, 0x17850c55, 
+    0x2f82cb20, 0xe5411785, 0x202f8408, 0x841788c9, 0x01002147, 0x22056d41, 0x1800a403, 0x54200348, 0xb12b0f2a, 0xb0f40602, 0x04b11006, 0x18b0f403, 
+    0x251d0348, 0xfc79b602, 0x6b8200d1, 0x03aa2c08, 0x05fc02f4, 0x00050058, 0x01b0000c, 0x2f03b02f, 0x302f05b0, 0x27070131, 0x02012707, 0xf6f235fc, 
+    0x04290135, 0xcfcd4339, 0x82230141, 0x044e372f, 0x054e032f, 0x00130000, 0x11b3000f, 0x2b040202, 0x07020cb3, 0x32822b04, 0x2c11fe52, 0x399c5a4e, 
+    0x26363748, 0x5c503f67, 0x2c09829a, 0x40662735, 0x259ecd04, 0x2f6f252b, 0x2005829c, 0x28818371, 0x025204ba, 0x00c304e9, 0x20ef8203, 0x0a7d4eb3, 
+    0xfde90228, 0x042f02d1, 0x75827152, 0x4604b626, 0x0605f002, 0x0f212182, 0x249f8200, 0xb32f09b0, 0x857b8307, 0x37273775, 0x37323316, 0xa875f002, 
+    0x5e4e75a8, 0x045e7171, 0x4c7474ba, 0x5d825e5e, 0x04750127, 0x052f025e, 0x205d8219, 0x084f6819, 0x27055d42, 0xb11b2f02, 0x593e1502, 0x2c092d47, 
+    0x00bb5e04, 0x04f20002, 0x05b40208, 0x28e182cb, 0xb33a001f, 0x041a0a0a, 0x242c582b, 0x17b3002a, 0x2b040f02, 0x1d0205b3, 0x7a055d70, 0x0e270709, 
+    0x2e222302, 0x7a143702, 0x232a1201, 0x2f2f523d, 0x5a223e52, 0xd2793750, 0xe9042b05, 0x233e5130, 0x30513e23, 0xff79522f, 0x22178305, 0x82505038, 
+    0xf20031cb, 0x2f028dfe, 0x09000000, 0x00b32300, 0x2b04070d, 0x20052b4c, 0x20c88204, 0x072b4704, 0x0c820820, 0x830f0821, 0x790520d5, 0x332f0720, 
+    0x58522f02, 0x2973ca93, 0x755f5893, 0x820029d5, 0x04aa3fe3, 0x05640300, 0x00030077, 0x000f0007, 0xb02f02b0, 0x00b02f06, 0x2f04b02f, 0x23013130, 
+    0x03833313, 0x8daa0231, 0xd1fdba8d, 0x04bb8b8b, 0xfe770100, 0x82770189, 0x02360883, 0x0385fef0, 0x002700fc, 0xb334000c, 0x04030a09, 0x061b402b, 
+    0x26091609, 0x46093609, 0x66095609, 0x86097609, 0xa6099609, 0xc609b609, 0xb45d0d09, 0x09e509d5, 0xa8825d02, 0x5c826283, 0x26222108, 0x37363435, 
+    0x14150617, 0xfc033316, 0x27358f7d, 0x506d3225, 0x667d85fe, 0x27235c40, 0x60484c2d, 0x3b1a9542, 0x17370209, 0xfefc0237, 0x35d7fed7, 0x1005f2f6, 
+    0x2001e4fe, 0x00cbcf44, 0x75010200, 0xe7410482, 0x00072205, 0x0da84e1d, 0x820c3a69, 0x23032882, 0x35231303, 0x572d0233, 0x052e054d, 0x0356fc19, 
+    0xbae7faaa, 0xba000200, 0x7f6a4803, 0x00232608, 0xb02f01b0, 0x052c4205, 0x200c7058, 0x06b35704, 0x23204b85, 0x022e4f82, 0x2b6728e9, 0x2b652bba, 
+    0x2ffe1905, 0x0383d101, 0x0101002d, 0x028bfe37, 0x0098ff62, 0x44130003, 0x7c1808d3, 0x052d09b5, 0x02132303, 0x547fac62, 0x01f3fe68, 0x38be820d, 
+    0x9100d9ff, 0x8504cd03, 0x35002100, 0x36b08500, 0x2f37b02f, 0xb0dc04b0, 0x06074836, 0x1004b027, 0xf40822b1, 0xbb8218b4, 0xb0440823, 0x2cb11016, 
+    0x1b40f40c, 0x2c162c06, 0x2c362c26, 0x2c562c46, 0x2c762c66, 0x2c962c86, 0x2cb62ca6, 0x5d0d2cc6, 0xe52cd5b4, 0x005d022c, 0xb02f09b0, 0x1ab02f11, 
+    0x2f21b02f, 0x0d0331b3, 0x1db32b04, 0x2b042706, 0x2108df82, 0x15161607, 0x17070614, 0x06062707, 0x27262223, 0x26372707, 0x37343526, 0x36173727, 
+    0x17163233, 0x54540337, 0x75cd3e0f, 0x2f353531, 0x3d735073, 0x9e5e5c9e, 0x734e733d, 0x7562312f, 0xb87f754e, 0x753b9e5c, 0x4549184a, 0x3704260f, 
+    0x5ca03e74, 0x2428835c, 0x35312f71, 0x3f29822f, 0xb95c9c3d, 0x774e767f, 0x752f3667, 0x875004fe, 0x67393967, 0x87505087, 0x62373762, 0x02000087, 
+    0x220a377f, 0x501b0007, 0x06231345, 0x7f00b02f, 0x35260645, 0x02331123, 0x00828a17, 0xe902ba28, 0x00ea02ba, 0x02820100, 0x1803a421, 0x351e1d7e, 
+    0xe9021b00, 0x2505c101, 0x60001b00, 0x04090ab3, 0x0ab02b04, 0xc365b010, 0x10042805, 0xb0d008b0, 0x82b02f08, 0x52102008, 0x182006eb, 0x2306aa55, 
+    0x0b0208b3, 0x73082b82, 0x13b11018, 0xd9b4f402, 0x0213e913, 0x081b405d, 0x28131813, 0x48133813, 0x68135813, 0x88137813, 0xa8139813, 0xc813b813, 
+    0x305d0d13, 0x07140131, 0x06060706, 0x33353307, 0x37352115, 0x26343536, 0x23152223, 0x17323334, 0x21c10116, 0x45193b11, 0xfe62932d, 0x372ffc6b, 
+    0xd9667329, 0x04423754, 0x1d2d377f, 0x2f3f1735, 0xf04ea449, 0x2523292f, 0x3129e88a, 0xff2fd682, 0x01dd02fe, 0x002305b2, 0xb3930021, 0x8212091e, 
+    0x861e2089, 0xdab424b5, 0x8312ea12, 0x12093e8b, 0x12291219, 0x12491239, 0x12691259, 0x12891279, 0x12a91299, 0x12c912b9, 0x12b05d0d, 0x05f25c10, 
+    0x1220b223, 0x0886561e, 0xdb821b20, 0x3e151b34, 0x0310b259, 0x03b02b03, 0x0208b110, 0x101bb0f4, 0xe18314b1, 0x78181420, 0x20222273, 0x80561003, 
+    0x06142505, 0x37272223, 0x26050745, 0x35232627, 0x84343532, 0x493720e9, 0x440805bf, 0xb2011607, 0x19cc5c73, 0x296c0f6a, 0x4311213a, 0x6970586a, 
+    0x5c5a3f40, 0x034c4269, 0xcb6b458d, 0x20327b0e, 0x640a0a38, 0x6a7b4a42, 0x485c3338, 0x0035234c, 0x02000001, 0x058501e9, 0x00100019, 0x090fb328, 
+    0x050b6a03, 0x97410d20, 0x07864f06, 0x0210b323, 0x2d198200, 0x02b01010, 0x013130d0, 0x11333521, 0x80820606, 0x82023e21, 0x33210809, 0xdffe8501, 
+    0x4a60145a, 0x2438431f, 0xe9025a6d, 0x3322015b, 0x361c634a, 0x2bfe304b, 0x00000400, 0x07d151ff, 0x00142008, 0x00260023, 0x2f27b0ab, 0xb02f28b0, 
+    0x03b0dc22, 0x2f03b0d0, 0xb01027b0, 0x07b0d007, 0x8211b02f, 0xb1102905, 0xb0f40913, 0x18b11022, 0x1c230682, 0x821cb0d0, 0xb0103228, 0x18b0d01d, 
+    0xd024b010, 0x220725b2, 0xb2391211, 0x52068426, 0xa9690820, 0x395f180c, 0x07355e0c, 0x0224b329, 0xb32b0419, 0x78040214, 0x06250559, 0x0108b2d0, 
+    0x061b5e03, 0xf4021736, 0xb01024b0, 0x19b0d01e, 0xd020b010, 0xb01017b0, 0x23b0d022, 0x90062b4b, 0x2dfe82ee, 0x13352335, 0x15331133, 0x27331523, 
+    0x91520735, 0x3dfe2106, 0x2c0c0741, 0x5ce1fe1f, 0x5a6ff4fa, 0x77c35a5a, 0x05ac5204, 0x41b2fd21, 0xfc370b1b, 0x4b3c5abc, 0xc3fe4e01, 0x9f983c5c, 
+    0x0003009f, 0x03e5ff00, 0x823705a6, 0x001f3409, 0xb0880030, 0x32b02f31, 0xdc0eb02f, 0xb0d000b0, 0x6eb0100e, 0x0e250543, 0x0908b110, 0x06d765f4, 
+    0xb0100827, 0x31b0d014, 0x24ac8210, 0xb02f23b0, 0x24b5822d, 0x092fb110, 0x081941f4, 0x1b2f2d25, 0x4e152db1, 0x19410609, 0x820f200c, 0x0f200819, 
+    0xb3593e0f, 0x0417021c, 0x0230b32b, 0xb02b0420, 0x0bb1100f, 0x30b0f402, 0xd022b010, 0x030124b2, 0x23057842, 0x13012701, 0x421b6543, 0x0e410e0f, 
+    0x215e2a06, 0x46183c10, 0xfe62942d, 0x097b436a, 0x41dffd21, 0x16410b23, 0x5ffc3606, 0x351d2d38, 0x4a2f4016, 0x30ef4ea4, 0x89252229, 0x013129e7, 
+    0x0d474208, 0x42feff21, 0x21290647, 0x34002500, 0x0f013700, 0x3f5d18b0, 0xd0122808, 0xb12f12b0, 0x74f4091e, 0x88442495, 0x0ead4306, 0x1039b037, 
+    0xb0dc33b0, 0x25b0d025, 0x1033b02f, 0xf40929b1, 0xb0d02db0, 0x310c832d, 0xb0d02eb0, 0x35b01029, 0x1236b2d0, 0x39121133, 0x068437b2, 0x2a830020, 
+    0x58450023, 0x07e343b0, 0x0c83b020, 0x1b2f2325, 0x410f23b1, 0x5d5a0672, 0x02352708, 0xb32b042a, 0x61430208, 0xdc102106, 0x34320344, 0xb11026b0, 
+    0xb0f40228, 0x2fb01035, 0x102ab0d0, 0xb0d031b0, 0x26b58228, 0xd034b0d0, 0x44013130, 0x0123211f, 0x42130127, 0x354410bd, 0xf2012718, 0x035ebcfc, 
+    0xc7425c46, 0x1748440a, 0xfa1d0128, 0x16053ced, 0xd142c9fa, 0xff02390c, 0x0300008b, 0x001905cf, 0x001d0010, 0x2f1eb088, 0xb02f1fb0, 0x1eb0dc00, 
+    0x08088f78, 0x00b0d035, 0x0c11b110, 0x11dab4f4, 0x5d0211ea, 0x11091b40, 0x11291119, 0x11491139, 0x11691159, 0x11891179, 0x11a91199, 0x11c911b9, 
+    0x06b05d0d, 0x0c1ab110, 0x5915b0f4, 0xdc420b22, 0x2f053d07, 0x0f05b11b, 0x0ab3593e, 0x2b040706, 0xb1100bb0, 0xb0f40614, 0x16b0100a, 0x1007b0d0, 
+    0x2305de53, 0xf4061ab1, 0x27068d66, 0x35231121, 0x32211133, 0x07597118, 0x23153322, 0x4a080d82, 0x3ccf0312, 0xfe81bf7a, 0x01a6a658, 0x79bf89a8, 
+    0xacc18935, 0xfefee1fe, 0xc1ac1f01, 0xed878d02, 0x5e0266b3, 0x6b460275, 0x0181ecb4, 0xfe170100, 0x17fe752f, 0x00001801, 0x00620001, 0x0344036d, 
+    0x000b004e, 0x09b0000f, 0x4c0bb02f, 0x2308080c, 0x01070209, 0x01012701, 0x03010137, 0x01ddfe44, 0xdffe5023, 0x014eddfe, 0x4edffe21, 0x21012301, 
+    0xdefe0003, 0x23200f83, 0x01220484, 0x23834e22, 0xffffff22, 0x24052157, 0x002602c7, 0x090f4d3a, 0x0002003a, 0x03000031, 0x001905a2, 0x0012000a, 
+    0x2f13b074, 0xb02f14b0, 0x13b0dc00, 0x0eaf6f18, 0xb1100024, 0x6a18080b, 0x042026e8, 0x09524c18, 0x080c3a57, 0x1b2f0422, 0x3e0f04b1, 0x0610b359, 
+    0xb32b0402, 0x040d0609, 0x0131302b, 0x11232110, 0x11331123, 0x34032033, 0x33080a82, 0x03363233, 0xf40cfea2, 0x01f48989, 0x97fe8bf4, 0xb5b4f4f4, 
+    0x8bfe9802, 0x1905ddfe, 0x8cfef3fe, 0x8300fefe, 0xecff0200, 0xb603e9ff, 0x20005c05, 0xc2003000, 0x1806db44, 0x2e07a86a, 0xb01032b0, 0x01b2dc0f, 
+    0x12110f17, 0x841cb239, 0x21b12206, 0xfd6a180c, 0x10172126, 0x2a574e18, 0x924a0820, 0x07104f05, 0x1401b223, 0x84738408, 0x2cb12206, 0x25016606, 
+    0x1331302c, 0x27262637, 0x37171637, 0xde6d0717, 0x34352408, 0x83243636, 0x6d072017, 0xe92e0ce8, 0x2f5629a0, 0x9066752d, 0x8750794e, 0xe86d3760, 
+    0xcb742b05, 0x299c1001, 0x01b74779, 0xf16d10f6, 0x0321080a, 0x2316a0d1, 0x352d7510, 0x337b508f, 0x70bb9b7f, 0x4e92cf81, 0xa269b8c1, 0x4619547a, 
+    0xfeb62f6e, 0x0cfc6d98, 0x2a085f59, 0x00260254, 0x0000005a, 0x828b0006, 0x00023305, 0x038bfe31, 0x001905a6, 0x00210012, 0x2f22b0ec, 0xf78223b0, 
+    0x22b0dc34, 0xd009b010, 0xb12f09b0, 0xb0f40c08, 0x0cb2d00b, 0xfd820009, 0x1000b025, 0x180813b1, 0x2326aa7a, 0x1ab01008, 0x56068043, 0x0e240c9d, 
+    0x0eb11b2f, 0x2007534f, 0x200c8208, 0x3b531808, 0x1d290810, 0x1b40f401, 0x1d171d07, 0x1d371d27, 0x1d571d47, 0x1d771d67, 0x1d971d87, 0x1db71da7, 
+    0x5d0d1dc7, 0xe61dd6b4, 0xb25d021d, 0x05926707, 0x100e2e08, 0xf40118b1, 0xe918d9b4, 0x405d0218, 0x1818081b, 0x38182818, 0x58184818, 0x78186818, 
+    0x98188818, 0xb818a818, 0x0d18c818, 0x0e0cb25d, 0x05ad4618, 0x020e1423, 0x067b7023, 0x0a3a5318, 0x1611073f, 0x023e3233, 0x7842a603, 0x7d966eb1, 
+    0x967d8989, 0x447bb06a, 0x7f522b8b, 0x77779c52, 0x3d06829c, 0x6dd1012b, 0x634883b2, 0x8e0641fe, 0x45623ffe, 0x5271b47f, 0x7f3a6489, 0x39810cfe, 
+    0x6f528b67, 0x52362008, 0xd82e083f, 0x73010000, 0x0000ffff, 0x7503e9ff, 0x4618c204, 0xd8210809, 0x522c8200, 0x7920066d, 0xd9202d88, 0x05212d8b, 
+    0x3d2d8805, 0x00ff00d9, 0xfec5ff02, 0x056f0485, 0x00130019, 0xb37f0016, 0x04030a10, 0x03dab42b, 0xf78303ea, 0x19030939, 0x39032903, 0x59034903, 
+    0x79036903, 0x99038903, 0xb903a903, 0x8203c903, 0x030622f7, 0x25f78210, 0xb01010b0, 0x274ddc18, 0x071b5708, 0x0cfc9118, 0x0a250c84, 0x0ab11b2f, 
+    0x069d460f, 0x0c820e20, 0x0c820e20, 0x0314b329, 0xb22b0408, 0x410c000b, 0x664e0542, 0x23410805, 0x23032103, 0x06013301, 0x33161415, 0x04030301, 
+    0x1f907d6f, 0xfd7b4817, 0x019379fc, 0xb201bab2, 0xfe506d31, 0xfedbdb3f, 0x30667d85, 0x75011d4b, 0x19058bfe, 0x4c2de7fa, 0x0f036048, 0x5ffda102, 
+    0x3fd78200, 0x0385fefe, 0x00ba03fc, 0x00440033, 0x0c42b3f5, 0xb32b0417, 0x040e0a03, 0x100eb02b, 0xf40800b1, 0xc36c0682, 0x100e2406, 0x83d021b0, 
+    0x3929080e, 0x061b40d0, 0x26421642, 0x46423642, 0x66425642, 0x86427642, 0xa6429642, 0xc642b642, 0xb45d0d42, 0x42e542d5, 0xb0005d02, 0x05ca4307, 
+    0xc5822e20, 0xcc512e20, 0x20ec840f, 0x06aa600d, 0xf1430c84, 0x1cb32307, 0xec823d06, 0x2e070f22, 0x4e08ec82, 0xb1102eb0, 0xb4f40627, 0x27e927d9, 
+    0x1b405d02, 0x27182708, 0x27382728, 0x27582748, 0x27782768, 0x27982788, 0x27b827a8, 0x5d0d27c8, 0xb11014b0, 0x40f40634, 0x1734071b, 0x37342734, 
+    0x57344734, 0x77346734, 0x97348734, 0xb734a734, 0x8234c734, 0x34d6389c, 0x5d0234e6, 0xb0103db0, 0x3ab0d03a, 0x2131302f, 0x14150606, 0x41153316, 
+    0x35200654, 0x220a266a, 0x1817021e, 0x2b0f0e65, 0x023e3201, 0x26263535, 0x020e2223, 0x03333682, 0x6d1d1773, 0x1e8f7d50, 0x5b243c17, 0xb92d6464, 
+    0x188f58be, 0x22151765, 0x185602fe, 0x320a0f65, 0x48233f17, 0x667d5a60, 0x9c1d4b30, 0x172b442d, 0x1858858e, 0x20152065, 0x196518fc, 0xffff2d0d, 
+    0xe9ffecff, 0xc706ac03, 0x24002602, 0x42097746, 0x812206e5, 0x17825305, 0x46184420, 0xac220e9f, 0x2d88cb06, 0x20079d53, 0x22458200, 0x88570581, 
+    0x00d6212d, 0x5b865a82, 0x2d888c20, 0x1343da20, 0x0581220a, 0x822d8819, 0x89898817, 0x8cdf205b, 0x205b892d, 0x275b83df, 0x00003100, 0xcf06cf03, 
+    0x25204382, 0x2d83b784, 0x03007723, 0x2b898200, 0x19052904, 0x26001600, 0xd9002a00, 0x24094163, 0xb0f40c01, 0x07416f2b, 0xb0100125, 0x82b0d012, 
+    0x43631805, 0x2f12262f, 0xb02f1ab0, 0x058a4228, 0x0c3f6318, 0x1b2f2724, 0x781827b1, 0xa4420c55, 0x59631814, 0x06292542, 0x213130f4, 0x21346318, 
+    0x03012a08, 0xe9021123, 0x3b752f89, 0x35638f5a, 0x5a8f6335, 0xba2f753b, 0x2f894301, 0x603d3c6c, 0x42232342, 0x5c7b3d60, 0x6554c901, 0x3c631856, 
+    0x3f04281b, 0xd1012ffe, 0x49ffff00, 0x250807df, 0xec000602, 0x02000000, 0xe9fffeff, 0x19052d04, 0x2c001c00, 0x2db00901, 0x2f2eb02f, 0xb1dc02b0, 
+    0xb0f40803, 0xb34c102d, 0x10032506, 0xb0d014b0, 0x18260582, 0x1002b0d0, 0x0b841ab0, 0xb0d01d2a, 0x25b1100c, 0x1b40f40c, 0x2415276c, 0x25c625b6, 
+    0x07246c0d, 0x6905a152, 0xbc640c1a, 0x0c50740c, 0x1b2f0733, 0x3e0f07b1, 0x061cb359, 0xb02b0400, 0x2ab11007, 0x39668206, 0x2a172a07, 0x2a372a27, 
+    0x2a572a47, 0x2a772a67, 0x2a972a87, 0x2ab72aa7, 0x66822ac7, 0xe62ad62e, 0xb25d022a, 0x112a0704, 0x11b03912, 0x2a935818, 0x20111422, 0x2d055047, 
+    0xb0d015b0, 0x17b0101c, 0x013130d0, 0x9b411123, 0x2335280f, 0x33353335, 0x18013315, 0x230cd464, 0x8aba2d04, 0x0ed56418, 0xba8aba26, 0x8b3bbcfe, 
+    0x0ad76418, 0xfce90323, 0x0c9e4117, 0xbb759927, 0x416dfebb, 0xdc64183a, 0x534d1809, 0x02362908, 0x00260026, 0x00070000, 0x2806ab46, 0xe9fffcff, 
+    0xc204ae03, 0x2b4b1802, 0x43d82007, 0x7322083b, 0x2d887906, 0x8506ab46, 0x0505212d, 0xd9202d88, 0x2f592d8a, 0x06c54309, 0x4b182d86, 0x17820945, 
+    0x00010035, 0x0485fe31, 0x00190500, 0xb37b0018, 0x04070c10, 0x4615b32b, 0xb02528dd, 0x0bb01010, 0x08d646d0, 0x1b2f0824, 0x514308b1, 0x0c667107, 
+    0x085e6318, 0x0e060d30, 0x08b02b04, 0x060ab110, 0x1006b0f4, 0x068210b1, 0x55d01121, 0x2120083a, 0x2005d67d, 0x55078315, 0x04350546, 0x1e8f7d00, 
+    0x0308fd17, 0x0247fd42, 0x02fefd02, 0x6c3102b9, 0x06d34650, 0x67190521, 0x7321058d, 0x055b5502, 0xff024008, 0x0385fefc, 0x00ba03ae, 0x00300027, 
+    0x0a03b3bd, 0xb42b040a, 0x0aea0ada, 0x1b405d02, 0x0a190a09, 0x0a390a29, 0x0a590a49, 0x0a790a69, 0x0a990a89, 0x0ab90aa9, 0x5d0d0ac9, 0x030a0db2, 
+    0x46391211, 0x192008b4, 0x1920ca82, 0x0cc46818, 0x4f079447, 0x28220898, 0x924f1e06, 0x276a7d05, 0x8818b020, 0x1a6f0d6a, 0x3130221c, 0x0c974625, 
+    0x0ac64118, 0x15021e23, 0x07936221, 0x9f420320, 0x02072c05, 0x6d191693, 0x17907d50, 0x182b2b12, 0x2a0b8666, 0xba0fdbfc, 0x29a46995, 0x18025e60, 
+    0x22079066, 0x46421602, 0x2923057b, 0x18071d42, 0x2d0b9466, 0x4056b094, 0xe8018342, 0x502b9699, 0xa3424371, 0x42cb2008, 0xdf450875, 0x06474206, 
+    0x09a34d18, 0x3b46df20, 0x06d72108, 0x28252d83, 0x07000000, 0x06694600, 0xfefeff26, 0x05730375, 0x48202d83, 0x06201782, 0x69461782, 0x06d72207, 
+    0x855b8279, 0x07d1422d, 0x05202d85, 0x2d851782, 0x5b8ad920, 0x2d888c20, 0x8507d142, 0x8819202d, 0x0697462d, 0x038bfe25, 0x862f05d7, 0x0006222d, 
+    0x207782e2, 0x24878603, 0x000300d3, 0x0dfb7f23, 0xb0d01933, 0x34b02f19, 0xdc04b010, 0x041900b2, 0xb2391211, 0x21068402, 0x665619b0, 0x06086129, 
+    0xb1100434, 0xb0f40813, 0x13b0d021, 0xd024b010, 0x2f01b000, 0x7b4600b0, 0x2f222405, 0x4222b11b, 0x1e200751, 0x1e200c82, 0xc64d0c87, 0x00b02507, 
+    0x13b05845, 0x8406cf7a, 0x8216200c, 0x1639080c, 0xb3593e0f, 0x04090410, 0x1016b02b, 0xf4062fb1, 0x2f071b40, 0x2f272f17, 0x2f472f37, 0x2f672f57, 
+    0x2f872f77, 0x2fa72f97, 0x2fc72fb7, 0xd6b45d0d, 0x022fe62f, 0x1614b25d, 0x21c9822f, 0x3f491eb0, 0x21b22329, 0x5f4a271e, 0x33012b05, 0x0e140103, 
+    0x26222302, 0x66183727, 0x01282299, 0x6012011b, 0x42a001ba, 0x249f6618, 0x015e0428, 0xfb8bfe75, 0x661860ac, 0x81421fa6, 0x4229200c, 0x002b0b53, 
+    0x03000031, 0x02cd0673, 0x88490026, 0x75250817, 0x77ff0200, 0x2f040000, 0x13001905, 0x99001700, 0xb02f18b0, 0x04b02f19, 0xd000b0dc, 0xb11004b0, 
+    0xb0f40805, 0x0b5f4d18, 0xb010092f, 0x08b0d00d, 0xd00fb010, 0xb01005b0, 0x20058411, 0x20118414, 0x7b691816, 0x2f122413, 0x4412b11b, 0xb44107de, 
+    0x5a08200c, 0xb32f0697, 0x04020101, 0x0614b32b, 0xb02b0406, 0x7db01002, 0x0c2705eb, 0x1001b0d0, 0x83d010b0, 0xd0152611, 0x33013130, 0x09277b15, 
+    0x33353338, 0x33352115, 0x11211103, 0xbcbc7303, 0x89d1fd8a, 0x0289baba, 0x09828a2f, 0x71480437, 0x5c0229fc, 0xd703a4fd, 0xd1d1d171, 0x0601b8fd, 
+    0x0000fafe, 0x21e78301, 0xe7827303, 0xaf001b23, 0x08437bb0, 0xdf820120, 0xc5471c20, 0x0bb12506, 0x0cb0f40c, 0x0b257484, 0xd012b010, 0x250582b0, 
+    0x17b2d016, 0xf856000c, 0x0c945508, 0x6e0cee44, 0x9e620c9a, 0x10b32307, 0xd4820d01, 0xb1101922, 0x27d26718, 0x1010b02a, 0xb0d013b0, 0x15b0100d, 
+    0x00207982, 0x12c06318, 0x21066447, 0x67182315, 0xba260ee6, 0xbbbb89ba, 0x6718fe63, 0x03360bea, 0xbbbb70ee, 0x01ccfe70, 0x0085fe00, 0x4e00ffff, 
+    0x4e030000, 0x9b5f7306, 0x4ad72008, 0x1784067b, 0x82ff0421, 0x00d52617, 0x00060000, 0x202c82d7, 0x05735eff, 0x88360621, 0x066d472d, 0x04211785, 
+    0x472d88c2, 0xb626056d, 0xf0020000, 0x2d887906, 0x20069b44, 0x21178400, 0x2d880505, 0xff00d938, 0xba000100, 0x750385fe, 0x17001905, 0x10b38200, 
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+    0x08b0d00f, 0xd010b010, 0x0b4647b0, 0x1133353e, 0x15213523, 0x15331123, 0x16141506, 0x7d750333, 0xfe171f90, 0x02d3d31c, 0x31d2d22f, 0x3005935c, 
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+    0x230122ed, 0x21f18a35, 0xf0845d01, 0xbababa22, 0x24063548, 0x75ba0275, 0x24f385fc, 0x00bb7f05, 0x071f42ff, 0x08090162, 0x0000da2c, 0x02007301, 
+    0x75fe0000, 0x1905a403, 0x1c001000, 0x1db06700, 0x2f1eb02f, 0xb1dc0bb0, 0xb0f40c08, 0x14b0101d, 0x2f14b0d0, 0xd6841bb1, 0xb0584522, 0x11bd4518, 
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+    0x3e323316, 0x33113502, 0x23021411, 0x21012722, 0x3109cc41, 0x7f310001, 0x3d735c48, 0xd9d38917, 0x85017bd3, 0xd041d1fd, 0x39aa3005, 0x8f734a34, 
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+    0x01250f71, 0x01333523, 0x0c6b1822, 0x75012b0f, 0xfdbabbbb, 0x01d3d3d1, 0x0b83d35c, 0xf673fe2b, 0x75256963, 0x365c4356, 0x25138216, 0xbb5e04bc, 
+    0xfa41e7fa, 0xe9032205, 0x236b18bb, 0xffff2d10, 0xe9fffeff, 0xcb067303, 0x2b002602, 0x3f085546, 0x00020073, 0x0375fe04, 0x00580558, 0x00180012, 
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+    0xb36b18f6, 0x4401210c, 0x23058962, 0x48ca75fe, 0x0cb86b18, 0x62c40521, 0xff29069a, 0xfe3100ff, 0x059e038b, 0x209d8219, 0x249d822c, 0x00e20006, 
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+    0x2815b384, 0x83fec3a2, 0x028989a8, 0xe66b1813, 0xa4032707, 0xf6010afe, 0x5a1854fe, 0x2d200c47, 0x650ca150, 0x4d20094f, 0x75201788, 0x7320c386, 
+    0x2f83c384, 0xba24d987, 0xe9028bfe, 0x2d831584, 0xd982ef88, 0x07262b89, 0xd5007701, 0xc143eafe, 0x41032005, 0x5b840507, 0x01770123, 0x2017845c, 
+    0x252f8d31, 0xba00c100, 0x2f85ba00, 0x885e0421, 0x0007245d, 0x822f02c1, 0xff012293, 0x312f855e, 0x4f000d00, 0x010c0cb3, 0x01b02b04, 0xd005b010, 
+    0x85180cb0, 0x2b4716f3, 0x02b22807, 0x12110600, 0x8503b239, 0x85082006, 0x84092006, 0xb12c0806, 0x30f4030c, 0x11212131, 0x11373507, 0x15371133, 
+    0x03211107, 0xd3befc73, 0xd3d389d3, 0x3302b902, 0x02457f45, 0x46c8fd67, 0x15fe467f, 0x29072165, 0x11001905, 0x04b38900, 0x8382030e, 0x10042108, 
+    0xf40800b1, 0xf40e07b1, 0xb01004b0, 0x05b0d008, 0xd009b010, 0xb01007b0, 0x03b0d00a, 0xd00cb010, 0x23053543, 0x04030fb2, 0x12838582, 0x2407bb5f, 
+    0xb11b2f03, 0x07bb4303, 0x29086b6a, 0x01b11003, 0x05b2f403, 0x2e82030b, 0x8406b221, 0x0bb02606, 0x0309b110, 0x059872f4, 0x840fb221, 0x10b22113, 
+    0x30260684, 0x23110131, 0xba842135, 0x21153324, 0xca823335, 0xd38d0129, 0xd2d25d01, 0x82d1fdd2, 0x01b223c4, 0xc08677f0, 0x01777726, 0x007f45bc, 
+    0x200c0742, 0x0c07422f, 0x24059341, 0x00260253, 0x09a9524f, 0xfe310024, 0xd941038b, 0x412d8305, 0x158308ef, 0x88ba0321, 0x06f5422b, 0x43000021, 
+    0x598506a9, 0xfd47df20, 0x20598506, 0x202d8857, 0x228682df, 0x840100ff, 0x862f202d, 0x01072415, 0x8274fe77, 0x82012077, 0x83752071, 0x00210871, 
+    0xb05e0016, 0x18b02f17, 0xdc00b02f, 0xf40814b1, 0xb0d00eb0, 0x17b02f0e, 0xd011b010, 0xb12f11b0, 0x07036f10, 0x520c004a, 0x10200c4b, 0x2e06a846, 
+    0x030609b3, 0x0fb22b04, 0x12111210, 0x8414b239, 0x31302506, 0x23021425, 0x08080a44, 0x11013735, 0x01331123, 0x73033311, 0x7bd3d9d3, 0x487f3156, 
+    0x29425e41, 0x89dffd0a, 0x8af701c1, 0xf0fef87d, 0x34396081, 0x31584227, 0xb0fb7504, 0xe3fb1905, 0x86001d04, 0xba0330ad, 0xa1002000, 0xb02f21b0, 
+    0x1bb02f22, 0x8208b1dc, 0x102132ad, 0xb0d013b0, 0x12b12f13, 0x15b0f40c, 0x1316b2d0, 0x08e4491b, 0x200c8e6f, 0x18a48218, 0x4a082174, 0xb02007b2, 
+    0x104e4518, 0x26821b20, 0xad461b20, 0x611e2005, 0x2a0805ed, 0xb4f4060c, 0x0ce90cd9, 0x1b405d02, 0x0c180c08, 0x0c380c28, 0x0c580c48, 0x0c780c68, 
+    0x0c980c88, 0x0cb80ca8, 0x5d0d0cc8, 0x570816b2, 0xc34605e4, 0x55342008, 0xf1830528, 0x33121534, 0x14111120, 0x27222306, 0x43198301, 0x355c441f, 
+    0x71186c16, 0xbd2a0ad6, 0xfa445ab8, 0x48270f0e, 0x71184266, 0x032c09e1, 0x0001eaa4, 0xc1fd85fe, 0xff1ad7b4, 0x20079b68, 0x089b6836, 0xf741d820, 
+    0xecff2705, 0xbc03e9ff, 0x1782c204, 0x00005025, 0x57000600, 0x8f6905e1, 0x88792005, 0x06c7492d, 0x05212d85, 0x4e2d8805, 0x2d850563, 0x2d88ea20, 
+    0x5b8bdd20, 0x88760521, 0x51dd202d, 0xb0220863, 0x1582c706, 0xdb423320, 0x230c820c, 0x54059e03, 0x53201782, 0x06220a82, 0xa5458b00, 0x05b02208, 
+    0x422d8619, 0x002607db, 0x9e038bfe, 0x2b88ba03, 0x2209db42, 0x88cb06b0, 0x08555559, 0x03000025, 0x8858059e, 0x2317822d, 0x1900ffff, 0x8320f982, 
+    0x34208784, 0xff21878b, 0x201782f6, 0x2087848b, 0x85878a54, 0x855b832d, 0x86d6202d, 0x832d85e3, 0x822d855b, 0x01003717, 0x8dfe1900, 0x2f058303, 
+    0xb0004800, 0x290a15b3, 0x06b32b04, 0x05820d0d, 0x320b3331, 0x32b02b04, 0x0800b110, 0x1015b0f4, 0x82d011b0, 0x35b02e0c, 0x1029b0d0, 0xf40c3fb1, 
+    0xb01033b0, 0x0646484a, 0x1b2f3224, 0x7d4432b1, 0x82342007, 0x4634200c, 0x2e20076b, 0x2e200c82, 0x200c5348, 0x06f55811, 0x19821220, 0x3e0f122c, 
+    0x0a11b259, 0x3912112e, 0x068431b2, 0x2eb02908, 0x063ab110, 0x3ad9b4f4, 0x5d023ae9, 0x3a081b40, 0x3a283a18, 0x3a483a38, 0x3a683a58, 0x3a883a78, 
+    0x3aa83a98, 0x3ac83ab8, 0x23057564, 0x1507020e, 0x21072368, 0x84182626, 0x372a2e44, 0x52467b5c, 0x60ca9358, 0x84182fa0, 0x4a242c48, 0x0a3b5c79, 
+    0x076d6118, 0x8b475022, 0x30518418, 0xfef6ff2f, 0x038b038d, 0x003b00ba, 0x0c32b3a5, 0x08734121, 0x170c0029, 0xdab42b04, 0x8317ea17, 0x17093bfc, 
+    0x17291719, 0x17491739, 0x17691759, 0x17891779, 0x17a91799, 0x17c917b9, 0x47185d0d, 0xe44924b8, 0x2f262405, 0x4126b11b, 0x0a200790, 0x0a290c82, 
+    0xb0593e11, 0x2db11026, 0x52951806, 0x05ac5f25, 0x200c6841, 0x966b1837, 0x623b2b22, 0x5852427d, 0xf27aca93, 0x6b183d5a, 0x4424259a, 0x06254162, 
+    0x23055841, 0x3c450512, 0x24a36b18, 0x42081d43, 0x4b4309ef, 0x061d4306, 0x4309ef42, 0x002d054b, 0xa4038bfe, 0x26021905, 0x00003500, 0x0ba54300, 
+    0x1584ae20, 0x158b5520, 0x03000024, 0x598306a4, 0x07212b83, 0x08a54300, 0x03e9ff25, 0x82d405ae, 0x282d8343, 0x01770107, 0x00a5ff5c, 0x82398201, 
+    0x19053f2f, 0x86001700, 0xb02f18b0, 0x0fb0d00f, 0xdc07b02f, 0x010740b2, 0x0802b15d, 0x1007b0f4, 0x14820bb0, 0x0eb11023, 0x200c840d, 0x201b8213, 
+    0x201b8213, 0x290e8212, 0x15b01002, 0x1012b0d0, 0x564319b0, 0x0c904b06, 0x22080560, 0x48000117, 0x0223052b, 0x7eb0f406, 0x002f0532, 0xd008b010, 
+    0xb01017b0, 0x10b0d00a, 0x820cb110, 0xd0142118, 0x30244c82, 0x11230131, 0x2605c947, 0x11333523, 0x86231121, 0x02332203, 0x05d247e9, 0xe8fed33f, 
+    0x75a40375, 0x02d2e8fe, 0x7515fe60, 0x71eb0175, 0xbcfed301, 0x47feb901, 0x2dfe4401, 0x016d1800, 0x0023260a, 0x0c02b3a3, 0x257b8213, 0x17b01013, 
+    0xcb4cb0d0, 0x10022505, 0xb0d01db0, 0x21200582, 0x7d064b51, 0x1a240ce3, 0x1ab11b2f, 0x5c140d53, 0x232008f4, 0x2e08ce84, 0x07b1100e, 0x1b40f406, 
+    0x07170707, 0x07370727, 0x07570747, 0x07770767, 0x07970787, 0x07b707a7, 0x5d0d07c7, 0xe607d6b4, 0xb05d0207, 0x82b01000, 0x102329dd, 0xb0d016b0, 
+    0x18b1101e, 0x1927ed82, 0xd020b0d0, 0x83d021b0, 0x141529f0, 0x3233021e, 0x06173736, 0x20054d55, 0x83fa8335, 0x11333903, 0x11211521, 0xd32f0233, 
+    0x36543b21, 0x730a8966, 0x5295c710, 0xd3356088, 0x22080082, 0xfe8d0189, 0xbe01d373, 0x445a3368, 0x19657f27, 0x6036ad93, 0x71685087, 0x01750001, 
+    0x758bfe75, 0x180000ff, 0x2c078361, 0x26027306, 0x00003600, 0xd7000700, 0x057b5e00, 0xe9ff3126, 0x00057303, 0x56201782, 0x06201782, 0x2d881783, 
+    0x2d883620, 0x6f06c746, 0x04210563, 0x822d88c3, 0x202d8817, 0x462d8879, 0x2d8506c7, 0x88060521, 0x8717822d, 0x3e07212d, 0xdb202d88, 0xcb20898c, 
+    0x17822d88, 0xea205b88, 0xf5462d88, 0x205b8606, 0x822d8877, 0x01002517, 0x85fe3100, 0x192ecd82, 0xa7002600, 0x0e0c11b3, 0x23b32b04, 0x0582030a, 
+    0x1b081e22, 0x20290f5f, 0x05975423, 0x5f28b021, 0x0f24090f, 0x0fb11b2f, 0x42070c46, 0x0e500c27, 0x1809200c, 0x1807e84d, 0x5d2afe44, 0xf14105d6, 
+    0x33112306, 0x46711411, 0x83352005, 0x0706300a, 0x16141506, 0x7df80233, 0x1012148f, 0x186d1021, 0x210c9188, 0xbb6d877f, 0x40292606, 0x4603021d, 
+    0x9988187f, 0xb8fc290f, 0x2d2bf2b4, 0x0060484c, 0x34061941, 0x00a403fe, 0xb399001f, 0x040c0c0f, 0x0a1cb32b, 0xb02b0407, 0x085b7907, 0x17b01023, 
+    0x210e82d0, 0x06511ab1, 0x180d200a, 0x490b1d81, 0xf78c0c9e, 0x26821a20, 0x7f581a20, 0x600a2007, 0xb2290621, 0x110d0008, 0x12b13912, 0x8c891806, 
+    0x050b4128, 0x02352325, 0x83112023, 0x086850ff, 0x1415062f, 0xfe033316, 0x171e8f7d, 0xfefe623e, 0x025218a8, 0x09695907, 0x00ffe926, 0x40027b01, 
+    0x0b5c6f18, 0xff2dfa83, 0x00c1ffff, 0x06e30300, 0x002602cb, 0x0cf75738, 0x1782e520, 0x5805c322, 0x58201782, 0x06231782, 0x7c00d600, 0x2d830957, 
+    0x2d8c3a20, 0x75fee124, 0x2d84c103, 0x84052563, 0x3100212d, 0x77224382, 0x4382c906, 0x314e3b20, 0x832f200c, 0x53052117, 0x5b201782, 0x840b414c, 
+    0x888e202d, 0x00da272d, 0xff750100, 0x2d8500ff, 0x2d881920, 0x9d4c1782, 0x06772206, 0x202d88cd, 0x202d8cdf, 0x202d8857, 0x05e553df, 0xa42a5b82, 
+    0x16002f05, 0x00b39d00, 0x147f040e, 0x08052105, 0x470c1579, 0xc3530554, 0x0cd8420c, 0x182f0821, 0x180a6b75, 0x200cc041, 0x24198202, 0x593e0f02, 
+    0x515118b1, 0x51162009, 0x0727051c, 0x100cb0d0, 0x6d0613b1, 0x2520276e, 0x2108d445, 0x7f183634, 0x02250aa3, 0xd1fdd217, 0x0b4618d3, 0x7575220b, 
+    0x9b7f1875, 0x06c9410c, 0xcb06a422, 0x8e20f982, 0x20086d41, 0x26178277, 0x03e9ffdb, 0x825605ba, 0x419e2017, 0x0220066d, 0xd3201582, 0xd3201582, 
+    0x8f202d84, 0xd5202d8c, 0xd1201782, 0x9f202d84, 0x00272d89, 0x038bfe19, 0x822f0583, 0x47342043, 0xff210945, 0x221582f6, 0x82ba038b, 0x47542015, 
+    0x87470e71, 0x01002924, 0x5e048d01, 0x2f064602, 0x32081f7a, 0x31302f01, 0x11230301, 0x65544602, 0x2ffe2f06, 0x8200d101, 0x0400241b, 0x84a4035e, 
+    0x00072a25, 0xb339000b, 0x04090808, 0x088c542b, 0x250c5367, 0xb11b2f0a, 0x6855150a, 0x18012005, 0x25077e5b, 0xb0d008b0, 0x5985d009, 0x35230124, 
+    0x03820533, 0x02276183, 0xfdbbbb17, 0x85baba16, 0x2ffe2669, 0xffbbbbbb, 0x065964ff, 0x22022f24, 0xd5828101, 0x7701032a, 0x00008cfe, 0x5fffffff, 
+    0x2206874e, 0x85850122, 0xd2fd2117, 0x2322178c, 0x11837701, 0x01020023, 0x28178387, 0x00001700, 0x2f06e902, 0x21178202, 0x31828afe, 0x89010222, 
+    0x5b242f84, 0xc703e9ff, 0x22221782, 0x47868f01, 0x1785ce20, 0xb8205f82, 0x94201784, 0xbc201790, 0x00211783, 0x82178b9d, 0x03e92233, 0x221782a4, 
+    0x82a70126, 0x01062217, 0x20058278, 0x079e1002, 0x00226301, 0x0d4a0031, 0x00052805, 0x0c03b32a, 0x732b0400, 0xb03a1ad3, 0x02b11000, 0x3130f406, 
+    0x21152113, 0x03312311, 0x8916fd73, 0xfb751905, 0x4918005c, 0x01204c3d, 0x9c189584, 0x77206d8b, 0x87598d18, 0x6024fb8a, 0xb02f0cb0, 0x7c679b18, 
+    0xdfff033c, 0xc703e9ff, 0x03002f05, 0x2b001700, 0x2cb0e900, 0x2f2db02f, 0xb0dc04b0, 0x9c52102c, 0x04330806, 0x0818b110, 0x18dab4f4, 0x5d0218ea, 
+    0x18091b40, 0x18291819, 0x18491839, 0x18691859, 0x18891879, 0x18a91899, 0x18c918b9, 0x0eb05d0d, 0x0c22b110, 0x7d1340f4, 0x092d1192, 0x9609405d, 
+    0xb622a622, 0x0422c622, 0x069a7d5d, 0x20058b42, 0x0b137d13, 0x31077849, 0x020601b3, 0x13b02b04, 0x061db110, 0x1dd9b4f4, 0x7c831de9, 0x87180820, 
+    0xb0251a3f, 0x27b11009, 0x8e8c1806, 0x05e24225, 0x1f996218, 0xd701e52e, 0xe20229fe, 0x89bf7636, 0x3577bf89, 0x08319618, 0x875c3137, 0x548b6b56, 
+    0x8b542121, 0x548c6a6b, 0x75c70220, 0xbaf48339, 0x619d1871, 0xbc712707, 0xcf8183f4, 0x98184d92, 0x8d7a0b93, 0xd19c1806, 0x31002561, 0x9e030000, 
+    0x91576784, 0x07fe4a17, 0x5d0c465a, 0x91570c8a, 0x459c181d, 0x08d3451a, 0x87820620, 0x18093078, 0x840f614d, 0x078a4819, 0x0001b235, 0x39121104, 
+    0x01213130, 0x33012301, 0xfe500301, 0x6a85fe83, 0x04280558, 0x0573fb8d, 0x00e7fa19, 0x22093344, 0x106d000c, 0x2201599c, 0x82000321, 0xa4033300, 
+    0x07001905, 0x13000f00, 0x14b07e00, 0x2f15b02f, 0xc77614b0, 0x01b12b06, 0x15b0f40b, 0xdc06b010, 0x098203b1, 0xb0d00831, 0x09b01001, 0x1000b0d0, 
+    0xb0d00bb0, 0x75b01006, 0x644a07f9, 0x2f062d0c, 0x0f06b11b, 0x11b3593e, 0x2b041206, 0x00212683, 0x230582dc, 0xf40602b1, 0x04213983, 0x05c058d0, 
+    0x2206375e, 0x5bdc0ab0, 0x3021055f, 0x06015031, 0x01213208, 0x11231521, 0x01231121, 0x79211521, 0xfc79b202, 0xfd2b035c, 0xa403794e, 0x01bafd79, 
+    0x0129fed7, 0xfeb8b82d, 0xbba404d3, 0xd0fe3001, 0x0075defe, 0x08a14402, 0x01219d10, 0x094d434b, 0x4b00073a, 0xb02f08b0, 0x00b02f09, 0x0801b1dc, 
+    0x1008b0f4, 0xb0d005b0, 0x04b12f05, 0x4a078b58, 0x26440cb4, 0x06024214, 0x21313026, 0x11211123, 0x032e0382, 0xd1fd8a73, 0x04420389, 0x055cfba4, 
+    0xab720019, 0x919d180c, 0x515f18ad, 0x180f208f, 0x749bff99, 0x052305a9, 0x18140019, 0x20a67597, 0x20b18403, 0x30b182bc, 0x00220019, 0xb391002b, 
+    0x040d0c23, 0x0806b32b, 0x22058207, 0x511a0c00, 0x12270557, 0x1006b0d0, 0x18d014b0, 0x8324bf40, 0x1f2b082a, 0x061b40d0, 0x26231623, 0x46233623, 
+    0x66235623, 0x86237623, 0xa6239623, 0xc623b623, 0xb45d0d23, 0x23e523d5, 0x07b05d02, 0x5426b010, 0x054906b3, 0x4506200c, 0xf5560667, 0x232a0807, 
+    0x35032e35, 0x37023e34, 0x1e153335, 0x2e340703, 0x36112702, 0x16142536, 0x030e1117, 0x6f3dbc03, 0x5e8a5e9b, 0x3b3b6f99, 0x0882996f, 0x6f9b4108, 
+    0x4727893d, 0x9587436b, 0x879142fd, 0x25476943, 0xa8628f02, 0xac0a507f, 0x7d500aae, 0xa86362a8, 0xa20d4f81, 0x7f520aa2, 0x7d4663aa, 0xfd0c4062, 
+    0x8dc71625, 0x0216c78d, 0x60420cdb, 0xff01007d, 0xd8179a18, 0x27087d4b, 0xb355001b, 0x04090c0c, 0x08837118, 0x04190823, 0x069b672b, 0x65180420, 
+    0xd7740934, 0x0c945d0c, 0x1b2f1a23, 0xdc7b18b1, 0x072f4908, 0x0131302b, 0x11070214, 0x02261123, 0x05015435, 0x06821720, 0x82033e21, 0x0333080c, 
+    0x8ab4a873, 0x1189a6b6, 0x8a43522d, 0x102f5241, 0xcd27038a, 0xfe1600ff, 0x164401bc, 0x01cd0201, 0x350efef0, 0x0f4e6675, 0xa1fc5f03, 0x75664e0f, 
+    0x64f20135, 0x8e2a082f, 0x89012202, 0x03000000, 0x3b528c00, 0xecff2105, 0xb8240c82, 0x23028e06, 0x002f1185, 0x00940102, 0x00ffff00, 0x03e9ff02, 
+    0x822f06aa, 0x829f202f, 0x0102222f, 0x20158477, 0x20158200, 0x22158281, 0x82a30126, 0x86062015, 0xfe0c2415, 0x8473038b, 0x8aa52015, 0xffba2415, 
+    0x4fe902e9, 0x41890aab, 0x2005c14f, 0x09c14fb2, 0x032d6d85, 0x001300ba, 0xb3cc0029, 0x04140c00, 0x98bd182b, 0x05f84b24, 0x1b2f1d24, 0x99571db1, 
+    0x0c176807, 0x19822020, 0x86542020, 0x82252007, 0x1825200c, 0x082bc383, 0x1019b036, 0xf4060fb1, 0xe90fd9b4, 0x405d020f, 0x180f081b, 0x380f280f, 
+    0x580f480f, 0x780f680f, 0x980f880f, 0xb80fa80f, 0x0d0fc80f, 0x251cb25d, 0x39121119, 0x0f191eb2, 0x22200683, 0x30220d84, 0xbc551331, 0x2e373406, 
+    0x0e222303, 0x3e340702, 0x16323302, 0x03331317, 0x55032313, 0x340805e2, 0x613b1b8b, 0x475c3c43, 0x34141434, 0x433c5c47, 0x891b3b61, 0x6492602d, 
+    0x3829b67b, 0x93838393, 0x7bb62938, 0x2d609264, 0x8340d301, 0x6a46466c, 0x843f4085, 0x3507826a, 0xb05e3f84, 0x899b5287, 0x2ffe0e01, 0x0e012dfe, 
+    0x8a529c89, 0xa77700b0, 0x05a82805, 0x001a002f, 0x630d0134, 0xb32a054b, 0x04270810, 0x27dab42b, 0xc78327ea, 0x19270939, 0x39272927, 0x59274927, 
+    0x79276927, 0x99278927, 0xb927a927, 0x8227c927, 0x271e22c7, 0x21c08210, 0xbc181eb0, 0xb127254c, 0xb2f40c16, 0x83160513, 0x10042932, 0xb0d031b0, 
+    0x36b01016, 0x1806f359, 0x180cdf6e, 0x470c1545, 0xb32307fd, 0x54210624, 0x2b080598, 0x40f4061b, 0x171b071b, 0x371b271b, 0x571b471b, 0x771b671b, 
+    0x971b871b, 0xb71ba71b, 0x0d1bc71b, 0x1bd6b45d, 0x5d021be6, 0x1b0003b2, 0xb2236c82, 0x82242113, 0x0bb02b06, 0x062cb110, 0x2cd9b4f4, 0xd9832ce9, 
+    0x2c083f08, 0x2c282c18, 0x2c482c38, 0x2c682c58, 0x2c882c78, 0x2ca82c98, 0x2cc82cb8, 0x31305d0d, 0x27262205, 0x34112311, 0x3233023e, 0x1415021e, 
+    0x16160706, 0x020e1415, 0x35363227, 0x23232634, 0x08833335, 0x022e6c08, 0x020e2223, 0x16161115, 0x9163ee01, 0x70428940, 0x98605a9c, 0x6d753868, 
+    0x74429485, 0xa28f62a2, 0x5a5aa6aa, 0x401e8791, 0x67354a66, 0x933c3251, 0xfe313017, 0x541f0541, 0x3b39698f, 0x68407d5e, 0xa62925a0, 0x6489527b, 
+    0x7490753a, 0x8e759375, 0x4150256c, 0x6644202b, 0x412dfd46, 0x00010038, 0x038bfe00, 0x00a4037b, 0x463e000e, 0xb2230521, 0x6106070b, 0x00240800, 
+    0x00b11b2f, 0x2014ec64, 0x27198206, 0x593e1106, 0x00060bb2, 0x30252e82, 0x030e0131, 0x08d08207, 0x01330142, 0x03371236, 0x5639117b, 0xfe8a4d77, 
+    0x3d019e73, 0x03138b77, 0xfcfe77a4, 0xb4fe6bf1, 0xcf034a01, 0x01c7b4fc, 0x0200d9ac, 0xe9ff2700, 0x2f057903, 0x37002700, 0x2eb31101, 0x2b04110c, 
+    0x190c00b3, 0x07220582, 0x7543280c, 0x14b22326, 0x7f820711, 0x244fb918, 0x1b402208, 0x2e162e06, 0x2e362e26, 0x2e562e46, 0x2e762e66, 0x2e962e86, 
+    0x2eb62ea6, 0x5d0d2ec6, 0xe52ed5b4, 0x05bf462e, 0x34423920, 0x821e2006, 0x4d1e20e4, 0x0c2007e7, 0x0c210c82, 0x22f1820f, 0x821e0c14, 0xb0340871, 
+    0x25b1101e, 0xd9b4f406, 0x0225e925, 0x0813405d, 0x28251825, 0x48253825, 0x68255825, 0x88257825, 0x405d0925, 0xa8259809, 0xc825b825, 0xb05d0425, 
+    0x33b1100c, 0x07232f82, 0x82331733, 0x27173c2f, 0x47333733, 0x67335733, 0x87337733, 0xa7339733, 0xc733b733, 0xb45d0b33, 0x82e633d6, 0x31303120, 
+    0x041e1401, 0x020e1415, 0x022e2223, 0x37363435, 0x18052d47, 0x25096553, 0x27263401, 0x955b0606, 0x3e7a0805, 0x524e0102, 0x527b917b, 0x629e6e3c, 
+    0x3b6f9e60, 0x4025a8a6, 0x4b271c2f, 0x8454456d, 0x6a303d3d, 0x0158433e, 0x858594a2, 0x6f431fa2, 0x466e4e4e, 0x2944041f, 0x7f62524c, 0x9b6166a0, 
+    0x733e3e73, 0xee76619b, 0x3733195c, 0x542b2942, 0x29212943, 0x3b162162, 0xbd7217fd, 0x75bd4747, 0x35596e39, 0x006e5838, 0x00000100, 0x8103e9ff, 
+    0x3000ba03, 0x1cb3bf00, 0x2b042b0c, 0x7b4d2bb0, 0x40270806, 0x161c061b, 0x361c261c, 0x561c461c, 0x761c661c, 0x961c861c, 0xb61ca61c, 0x0d1cc61c, 
+    0x1cd5b45d, 0x5d021ce5, 0x5d101cb0, 0x2b4505bb, 0x2f052405, 0x4205b11b, 0x4018075d, 0x1522084b, 0x8b181606, 0x37630800, 0x18b02024, 0x2a2abc54, 
+    0x15162eb2, 0x30391211, 0x44341331, 0x072405fd, 0x22232626, 0x27054541, 0x22231533, 0x1415020e, 0x0bb05418, 0x34355908, 0x26263736, 0xa177420c, 
+    0x3dc99961, 0x769a2966, 0x401ea38e, 0xcece4262, 0x23446444, 0xa47b94b6, 0xcf3f602f, 0x7daa64a0, 0x635c7148, 0x3fa4025e, 0x64274769, 0x54464664, 
+    0x33194a58, 0x1b741b29, 0x501b372b, 0x42484c5a, 0x4a276364, 0x7748436b, 0x00771012, 0x02000100, 0x08061b6b, 0x82002841, 0xb02f29b0, 0x22b02f2a, 
+    0x0c00b1dc, 0x00dab4f4, 0x5d0200ea, 0x00091b40, 0x00290019, 0x00490039, 0x00690059, 0x00890079, 0x00a90099, 0x00c900b9, 0x29b05d0d, 0xd00ab010, 
+    0xb22f0ab0, 0x82220a0f, 0xb12808ce, 0x40f40c18, 0x1618061b, 0x36182618, 0x56184618, 0x76186618, 0x96188618, 0xb618a618, 0x0d18c618, 0x18d5b45d, 
+    0x5d0218e5, 0x08d34118, 0x1b2f1132, 0x3e1511b1, 0x060fb159, 0x053130f4, 0x27022e34, 0x26055f42, 0x21352137, 0x42040615, 0x48080558, 0x15031e17, 
+    0x27070614, 0x02033636, 0x37583b21, 0x669ebd54, 0x83e8ae64, 0xea023bfe, 0xcdd9feb8, 0x9373486d, 0x6284474a, 0x3c75743b, 0x25734458, 0x040c192b, 
+    0xbd642306, 0xb4cb68a0, 0x75753598, 0xcbbca031, 0x508d715c, 0x284e821f, 0x564a5833, 0x21682999, 0x20fd8360, 0x0597660c, 0x001d002b, 0x2f1eb091, 
+    0xb02f1fb0, 0x082e661e, 0xb2f40825, 0x82101100, 0x1fb029d5, 0xdc07b010, 0xf40808b1, 0x18052e42, 0x200ca757, 0x20c0821b, 0x073b421b, 0x6d180720, 
+    0x10200bec, 0x23064c66, 0x030700b2, 0x2005cd67, 0x278165b1, 0x2905da5f, 0x32333636, 0x23111516, 0x94183411, 0x07210b1b, 0x08178427, 0x1f2f0142, 
+    0xa09a6883, 0x685a568a, 0x232d8a8d, 0x151b2122, 0x6d471d39, 0x664e0603, 0x49fcc0b8, 0x9074b703, 0xecfd92a0, 0x2f2bec02, 0x0e0a6b0f, 0x03000058, 
+    0xe9ff2900, 0x2f057f03, 0x1e001300, 0xa4002900, 0x15e16818, 0xf4081927, 0xb1100ab0, 0x2606821a, 0x19b0d024, 0x4b25b010, 0x045b0644, 0x0742180c, 
+    0x06252108, 0x0805db49, 0x0614b12e, 0x071b40f4, 0x27141714, 0x47143714, 0x67145714, 0x87147714, 0xa7149714, 0xc714b714, 0xb45d0d14, 0x14e614d6, 
+    0x0fb05d02, 0x061fb110, 0x25bc5c18, 0x11d36818, 0x32013708, 0x2137023e, 0x2213031e, 0x2107020e, 0x7f03032e, 0x71a36731, 0x2f699f73, 0x739f692f, 
+    0x2f69a173, 0x6c4e54fe, 0xfd041f44, 0x442102c0, 0x6a4e4e6a, 0x02022144, 0x0b820440, 0x8b023608, 0x63b2f895, 0x95f8b263, 0x64b4f894, 0xfdfab264, 
+    0xbd894e3f, 0x89bd6c6c, 0x495c044e, 0x6868b383, 0x004983b3, 0xffba0001, 0x03e902e9, 0x001100a4, 0x080db35d, 0x07d55708, 0x0cbf5a18, 0x1b2f0327, 
+    0x3e0f03b1, 0x076c6959, 0xb1100323, 0x38ff840f, 0x270f170f, 0x470f370f, 0x670f570f, 0x870f770f, 0xa70f970f, 0xc70fb70f, 0x2eff830f, 0x020fe60f, 
+    0x0311b25d, 0x3912110b, 0x48253130, 0x270805ea, 0x35231135, 0x33141121, 0xe9023732, 0x2d2b3916, 0xd3253e52, 0x316a5d01, 0x0d0c021b, 0x37563a1f, 
+    0xfd795c02, 0x0011712b, 0x2d7d0f6c, 0xe1ff0100, 0xc1030000, 0x12002f05, 0x07435d00, 0x2f0e2205, 0xf4a8181b, 0x0cbb5009, 0x200a7d54, 0x08eb820e, 
+    0x100eb02b, 0xf40608b1, 0xe908d9b4, 0x405d0208, 0x1808081b, 0x38082808, 0x58084808, 0x78086808, 0x98088808, 0xb808a808, 0x0d08c808, 0x06a9545d, 
+    0x26275608, 0x06222326, 0x33362707, 0x01171632, 0xb6fe1d03, 0x01a2b0fe, 0x331339a0, 0x2f5a1c44, 0x5660601b, 0xf801278e, 0xd1fc2f03, 0x2d8ebe03, 
+    0x76141041, 0xfb633d23, 0x01000071, 0x8bfe3100, 0xa4039803, 0xac002100, 0xb02f22b0, 0x16b02f23, 0x0813b1dc, 0x1600b2f4, 0x2d8c8313, 0x08b01022, 
+    0x2f08b0d0, 0xf40c07b1, 0xdc420ab0, 0x0c406d06, 0x430c6e69, 0xf7410cd3, 0x45002408, 0x821fb058, 0x0f1f27ff, 0x00b2593e, 0x58820907, 0x8406b221, 
+    0x03b02e06, 0x060eb110, 0x071b40f4, 0x270e170e, 0x1cc6180e, 0xd019231d, 0x35841bb2, 0x20060e42, 0xcd711826, 0x1411240e, 0x62323316, 0x370805e9, 
+    0x15750226, 0x683c6289, 0x6d898917, 0x41542f4e, 0x1d298b25, 0x151b1d31, 0x6c482531, 0x3e694c9e, 0x052bfe39, 0x6a9bfd19, 0x734e2977, 0xfd150247, 
+    0x112f2d16, 0x590d0c6d, 0x2406b564, 0x00a4037b, 0x0737560a, 0x4e490020, 0x0cfd460b, 0xb222e087, 0x4e490307, 0x02062306, 0x4c492307, 0xb2233907, 
+    0x83fe8b9e, 0x772f01a4, 0xa403127f, 0xd521fef0, 0xe1fca403, 0xd98101c5, 0x3b064946, 0x002f058b, 0xb3c3003a, 0x04380c1d, 0x0c27b32b, 0xb22b042e, 
+    0x11273800, 0x1b403912, 0x22418318, 0x3803b223, 0x262b821d, 0xb12f03b0, 0x18f40812, 0x2924927b, 0xb01027b0, 0xb000dc3c, 0x63182f2a, 0x15260975, 
+    0x22b3593e, 0x81823303, 0x17061622, 0x17218183, 0x20558316, 0x29b94c08, 0x01313025, 0x47352626, 0x16210e9a, 0x07994733, 0x46021e21, 0x35200991, 
+    0x3d07b346, 0x6f1b0136, 0x93714473, 0x3fa44e50, 0x467a462b, 0x8d8b9975, 0x7d4cf6f6, 0x73462f58, 0x9d464c93, 0x21230808, 0x7537583b, 0x94508dc3, 
+    0xa623b002, 0x587f4e60, 0x6a232331, 0x647d1823, 0x27747f71, 0x4e375e48, 0x4613315c, 0x2f2d0ba6, 0x0c192b25, 0x50230a04, 0xa66c6d85, 0x05991000, 
+    0x262d6201, 0x27b0ce00, 0x2f28b02f, 0xb0dc00b0, 0x0b697827, 0x2bff6f18, 0xb0100823, 0x0b38471e, 0x1db24518, 0x26277b7c, 0x220507b2, 0x18391211, 
+    0x4d331770, 0x07210ae5, 0x06cf4d34, 0xa6181520, 0x3f08088b, 0x966eb079, 0x6931897b, 0xaa696f9f, 0x29894078, 0x3d4e7952, 0x3c2b4c6b, 0x7d544e87, 
+    0xd1012b54, 0x4881b26d, 0x0341fe61, 0x89b05c46, 0xb5834754, 0x6487506a, 0x8e5a293a, 0x3841fa64, 0x0087623a, 0x2507ff43, 0x2b00ba03, 0xe95caf00, 
+    0x4b2c2006, 0xb0250693, 0x1bb0102d, 0x057545dc, 0x00b03108, 0x0c11b110, 0x061b40f4, 0x26111611, 0x46113611, 0x66115611, 0x86117611, 0xa6119611, 
+    0xc611b611, 0xb45d0d11, 0x11e511d5, 0x1bb05d02, 0x0c22b110, 0x254c5218, 0x1eb00022, 0x44050144, 0x6c4907ce, 0x0e834b28, 0x15020e23, 0x12df4314, 
+    0x8148022f, 0xcd8d6db4, 0xa22b603b, 0x5b835268, 0x0c714a31, 0x583b213a, 0x91c16f37, 0x6cd10154, 0x6c4781b5, 0x5244425c, 0x5087643a, 0x254e7d5e, 
+    0x2211ca43, 0x436a3808, 0xfa2808c7, 0x1600a403, 0xcd002900, 0x20068b49, 0x06974c2a, 0x102bb029, 0xb2dc05b0, 0x41050f00, 0x520806ed, 0x40f40c1a, 
+    0x161a061b, 0x361a261a, 0x561a461a, 0x761a661a, 0x961a861a, 0xb61aa61a, 0x0d1ac61a, 0x1ad5b45d, 0x5d021ae5, 0xb11005b0, 0xb4f40c24, 0x24ea24da, 
+    0x1b405d02, 0x24192409, 0x24392429, 0x24592449, 0x24792469, 0x24992489, 0x24b924a9, 0x470d24c9, 0xec4606c5, 0xb746180c, 0x10142b08, 0xf40600b1, 
+    0xb0d017b0, 0x6118100a, 0x17292991, 0xd029b010, 0x1e013130, 0x09304e03, 0x33023e25, 0x4c211521, 0x4e0806da, 0x35023e32, 0x27022e34, 0x542b8902, 
+    0x79422944, 0xa66664a6, 0x83494177, 0x23026ab5, 0xb6aadbfd, 0x4a72522b, 0x2b54754a, 0x395a4223, 0x4e122f03, 0x663e7869, 0x484279a6, 0x6a6db27f, 
+    0x75427bae, 0x874ea0c0, 0x58333a62, 0x763c4a7d, 0x4e145069, 0xa4290609, 0x1300a403, 0x05b35c00, 0x08836108, 0x1b2f0224, 0x734302b1, 0x820e2007, 
+    0x0f0e250c, 0x02b0593e, 0x0bec7618, 0x24059448, 0x08071b40, 0x4ab51817, 0x21d2821f, 0xc5823521, 0x18141121, 0x080a5476, 0xfe8d0122, 0xfea40373, 
+    0x231d6a73, 0x52281a0e, 0x253e522d, 0x75752f03, 0x0871a0fd, 0x1f196b07, 0x0037563a, 0x312a9f82, 0xa403e9ff, 0x1d00b603, 0x614c9500, 0x05045a09, 
+    0xf40c082c, 0xb0101fb0, 0x12b1dc19, 0x5218f40c, 0x774924fb, 0x0c736605, 0x0cad6018, 0xe8820020, 0xe8820020, 0x030db123, 0x08d882f4, 0x0d170d26, 
+    0x0d370d27, 0x0d570d47, 0x0d770d67, 0x0d970d87, 0x0db70da7, 0x5d0d0dc7, 0xe60dd6b4, 0x305d020d, 0x2e220531, 0x28074e55, 0x023e3233, 0x27263435, 
+    0x05015237, 0xd3014c08, 0x3c6e9a5e, 0x674c2d89, 0x4c7d5c39, 0x852b2523, 0x71352b29, 0x603017b0, 0x3e02608d, 0x623dc2fd, 0x7b4e2344, 0xbd684493, 
+    0xdb60355c, 0x99bf5e7b, 0xff020061, 0x038bfeec, 0x00ba03be, 0x002d0021, 0x0c19b3b7, 0xb32b0412, 0x820c080b, 0x0c052805, 0x402b0425, 0x1819061b, 
+    0x082079cc, 0x100cb035, 0xb0d01cb0, 0x22b0100b, 0x25dab4d0, 0x5d0225ea, 0x25091b40, 0x25292519, 0x25492539, 0x25692559, 0x25892579, 0x25a92599, 
+    0x25c925b9, 0x05b05d0d, 0x512fb010, 0xdb48062b, 0x2f0b330c, 0x110bb11b, 0x00b0593e, 0x062ab110, 0x2ad9b4f4, 0x4c832ae9, 0x2a08a408, 0x2a282a18, 
+    0x2a482a38, 0x2a682a58, 0x2a882a78, 0x2aa82a98, 0x2ac82ab8, 0x31305d0d, 0x021e3201, 0x020e1415, 0x11231107, 0x3435032e, 0x06173736, 0x16141506, 
+    0x3e341117, 0x36360302, 0x022e3435, 0x15062223, 0x85525402, 0x6f3d355e, 0x5e8a609b, 0x643b6f99, 0x4742525c, 0x2d138791, 0x9787024c, 0x27523f29, 
+    0xba031a23, 0x6cb58147, 0x507daa62, 0x019dfe0a, 0x7f500a63, 0xe58362a8, 0xaf355e46, 0x17c98d6c, 0x4e2b8302, 0xaafc203a, 0x508dc917, 0x2d3a6487, 
+    0xff010032, 0x0375fef8, 0x00bc03a4, 0x663c000b, 0x40460dd9, 0x210c820c, 0xaa7601b2, 0x8507200c, 0x8409200d, 0x30340806, 0x23020931, 0x01370101, 
+    0x01013301, 0xc9fe0c03, 0x01a4c7fe, 0x798dfe8d, 0x2d014a01, 0x0181fea2, 0x0275fe5e, 0x02ebfd2b, 0x45690283, 0x2702c1fd, 0xaefd6afd, 0x08fb7c18, 
+    0x005e0425, 0x574b001b, 0x12201fc1, 0x23056e45, 0xb11b2f0a, 0x08bca818, 0x200c0e6e, 0x23198204, 0x593e1104, 0x312cb757, 0xffcdd101, 0x9dfe1600, 
+    0x01166301, 0xd101cd02, 0xb7572dfe, 0xfcfa2205, 0x05b75706, 0x0100d338, 0xe9fff2ff, 0xb603b603, 0xd6003400, 0x080c13b3, 0x1cb32b04, 0x05821908, 
+    0x220c2d2b, 0x00b22b04, 0x12111c19, 0xa8711839, 0xa6581824, 0x552d2025, 0xe96b09bd, 0x8228200c, 0x412820e0, 0x194c0796, 0x8232200c, 0x0f322719, 
+    0x00b2593e, 0x8b820d03, 0x1003b023, 0x27eb6cb1, 0xd01fb022, 0x29060b4c, 0x3435022e, 0x1737023e, 0x0a52030e, 0x11352605, 0x16141133, 0x058e5533, 
+    0x0bed7c18, 0x17d35908, 0x64485072, 0x160a1c40, 0x1787151f, 0x3908151e, 0x8a563d46, 0x3b463d58, 0x171e150a, 0x14211587, 0x64401c0c, 0xa273504a, 
+    0x77446752, 0x8d3e64a8, 0x352f818b, 0x7d7f752d, 0xa4a6ac33, 0xfe510194, 0xa6a494af, 0x7f7d33ac, 0x2f352d75, 0x3e8d8b81, 0x4477a864, 0xffff0067, 
+    0x22050b4f, 0x68021905, 0x0022065b, 0x256f008c, 0x84a42007, 0x00b22415, 0x85060000, 0x058f7515, 0x022f0625, 0x59ad0122, 0x31210a1d, 0x079d68ff, 
+    0x1d592b84, 0x05c14105, 0x26222b82, 0x2b82b601, 0x26073359, 0x03000031, 0x828e0673, 0x82cf206d, 0x83072015, 0x75012557, 0x77ff0100, 0x2b084382, 
+    0x00190573, 0xb0e80023, 0x25b02f24, 0x1024b02f, 0xb0d021b0, 0x20b12f21, 0x03b0f40c, 0x1025b0d0, 0xb2dc09b0, 0x11092104, 0x11b23912, 0xa87e0684, 
+    0x58452206, 0x175b18b0, 0x0c2f450c, 0x2107a251, 0x268200b0, 0x1b2f2023, 0x081759b1, 0x67083246, 0xb22305b6, 0x84000e04, 0x2206845a, 0x50100eb0, 
+    0x062129ee, 0x3db01810, 0x02b02128, 0x08125718, 0x15210324, 0x6a771123, 0x020e2205, 0x06757823, 0x77113521, 0x23330988, 0xbbfe0189, 0x5801fe63, 
+    0x2d523e25, 0x0e1a2654, 0x776a1d23, 0x21080687, 0x751905ba, 0x000116fe, 0x90fe85fe, 0x1f3a5637, 0x08096d19, 0x7d700171, 0x9775468a, 0x045efe52, 
+    0x376d00a4, 0xa4350806, 0x2602c906, 0x0000cd01, 0x8b000700, 0x75010000, 0xecff0100, 0xac03e9ff, 0x2e002f05, 0x2fb0b700, 0x2f30b02f, 0xb0dc15b0, 
+    0x00b0d000, 0x102fb02f, 0xb0d00bb0, 0x8211820b, 0xf40d23fe, 0x0c8217b0, 0x24b11030, 0x21b0f408, 0x1014b0d0, 0xb0d02eb0, 0xa2462f2e, 0x15d97205, 
+    0x06223a08, 0xb22b0423, 0x11100413, 0x10b03912, 0x061cb110, 0x1cd9b4f4, 0x5d021ce9, 0x1c081b40, 0x1c281c18, 0x1c481c38, 0x1c681c58, 0x1c881c78, 
+    0x1ca81c98, 0x1cc81cb8, 0x04b05d0d, 0x32521810, 0x0601272a, 0x22230607, 0xbe4d042e, 0x33352407, 0x4a342311, 0x420805f0, 0x21152107, 0x1e171616, 
+    0x13323303, 0x7433ac03, 0x915bb074, 0x17334f70, 0x89bf7736, 0x752aab79, 0x7a5a3575, 0x55866045, 0x4602052b, 0x2303bafd, 0x47371526, 0x60f43557, 
+    0x64a75601, 0x7e5b3462, 0x1858a796, 0x33087897, 0x335a7a46, 0x5bb08a54, 0x47ab5875, 0x1b304227, 0x01002701, 0x2505c777, 0x3f002f05, 0xbb18d300, 
+    0xb2296dd3, 0x11250508, 0x11b13912, 0xcabb1806, 0x660768fa, 0x12694218, 0x00008c28, 0x01007301, 0xa944feff, 0x00112206, 0xf1c4184c, 0xff02227e, 
+    0x328b8275, 0x0019059c, 0x00240008, 0x0c15b3ba, 0xb32b0423, 0x82120c05, 0x080e2405, 0x572b0400, 0x052625e0, 0xd009b010, 0x42180eb0, 0x09240951, 
+    0x09b11b2f, 0x0f114318, 0x4500b024, 0x4218b058, 0x1a200c2a, 0x1a3c2682, 0xb3593e0f, 0x0403060b, 0x1009b02b, 0xf40613b1, 0x091a1eb2, 0xb0391211, 
+    0x21b1101a, 0x28df8318, 0x26340129, 0x33112323, 0x82013632, 0x15162304, 0x0d820614, 0x18112321, 0x080bd748, 0x03113544, 0x4c5c6c12, 0xfe6c5c4c, 
+    0xb3a14aec, 0xbbd1a3b3, 0x2b4c3a20, 0x18163628, 0x5e19200d, 0x857f7101, 0x047f00fe, 0xbcd0fd25, 0x04b6bbbc, 0x372bfca4, 0x091f3a56, 0x0809730a, 
+    0x004a0471, 0x00310002, 0x29410300, 0x001b2c05, 0x0c1bb39f, 0xb32b0409, 0x820d0c10, 0x41142005, 0x10352929, 0xd004b010, 0xb0101bb0, 0x0db0d00b, 
+    0xd018b010, 0xb01014b0, 0x06944a1d, 0x550cea60, 0x09200c37, 0x25060c75, 0x584500b0, 0x0c8217b0, 0x02681720, 0x04033705, 0x1017b02b, 0xf40605b1, 
+    0xb01011b0, 0x03b0d00c, 0xd019b010, 0x0e413130, 0x11052208, 0x20018533, 0x08144132, 0x24070641, 0xbb891ffd, 0x06094189, 0xf426fd86, 0xd0fd1905, 
+    0x02413002, 0x75022305, 0x48188bfd, 0x17330b7f, 0x18b0a100, 0x2f19b02f, 0xb01018b0, 0x15b0d015, 0x4714b12f, 0x19200557, 0x26055747, 0x12110915, 
+    0x590ab139, 0x50470700, 0x18cd8c19, 0x28090076, 0x0602b110, 0x0904b2f4, 0x08468200, 0x1006b033, 0xf4060eb1, 0xe90ed9b4, 0x405d020e, 0x180e081b, 
+    0x380e280e, 0x580e480e, 0x780e680e, 0x980e880e, 0xb80ea80e, 0x0d0ec80e, 0x1002b05d, 0xb0d016b0, 0x47f78217, 0x23200910, 0x18130547, 0x46075ab0, 
+    0xfd2309fb, 0x463f02c1, 0xf14609f2, 0x069e2606, 0x012602c9, 0x09f146d4, 0xffffff29, 0x03e9ffe1, 0x827b06c1, 0x84dd2017, 0x00d93c17, 0x00750100, 
+    0xfe310001, 0x057303c1, 0x000b0019, 0x0c08b353, 0xb32b0405, 0x82030802, 0x72002005, 0x02200575, 0x6705ff4a, 0xe6410cc0, 0x0c11570c, 0x088ab018, 
+    0xf4060824, 0xcf8209b0, 0x11212127, 0x11211123, 0x35038333, 0xa4fe7303, 0x89a4fe8a, 0xfe8a2f02, 0x053f01c1, 0x045cfb19, 0xc37100a4, 0x05fd4265, 
+    0xe782a220, 0x1500082c, 0x16b07300, 0x2f17b02f, 0x035c0db0, 0x5b16202a, 0x05210731, 0x48da830c, 0xce630500, 0x5641180c, 0x060a2608, 0xb02b0403, 
+    0x05d64210, 0xb1101225, 0x42f40614, 0x212605d1, 0x36322111, 0xca422101, 0x230c8205, 0x19032115, 0x07c8c518, 0x01a1fd2d, 0xececd527, 0x0352fed7, 
+    0x4247fd42, 0x012b06cf, 0xbbbcbcf5, 0x751905b6, 0x18030000, 0x2108ab5b, 0xd018000e, 0x8572f28d, 0x00003749, 0xa403c1fe, 0x0f001905, 0x52001800, 
+    0x000b0db3, 0x10b32b04, 0x0582050c, 0x160c0822, 0x0a300582, 0x2b040b0b, 0xb0100ab0, 0xb000dc1a, 0x0eb02f0a, 0x60120243, 0xb13d079d, 0xb0f40608, 
+    0x16b0d015, 0x1006b0d0, 0xf40617b1, 0x3e353130, 0x11351202, 0x11331121, 0x08058223, 0x14012339, 0x07060602, 0x39231121, 0x011f3c58, 0xfd7bbbfd, 
+    0x75017b52, 0x39503117, 0x75ebbc01, 0x01bc7131, 0x4201e123, 0x4cfe5cfb, 0xc1fe3f01, 0xfeb01605, 0x399ad1f2, 0x18002f04, 0x3a6f6fcf, 0x0000c1ff, 
+    0x1905e303, 0x7f001300, 0x000813b3, 0x00b02b04, 0xd008b010, 0x5a1013b0, 0x0644083f, 0x0c23470c, 0x440ce36d, 0x324e0c13, 0x2f0f300c, 0x0f0fb11b, 
+    0x02b2593e, 0x12110600, 0x8508b239, 0x850b2006, 0x84112006, 0x31302d06, 0x01271121, 0x33010123, 0x11331101, 0x0b820582, 0x11072708, 0xfe378d01, 
+    0x3f018ffa, 0x0195c1fe, 0x37018a37, 0x01c1fe95, 0xfafe8f3f, 0x64060237, 0xe10296fd, 0xbcfd3802, 0x03844402, 0x1ffdc83f, 0xfd646a02, 0x000100fa, 
+    0x03e9ff1b, 0x002f0598, 0xb3e4003e, 0x042b0d2d, 0x0c37b32b, 0x08d9821f, 0xb1103737, 0xb1f40914, 0xb0f40800, 0x0bb0102d, 0x2f0bb0d0, 0xea1fdab4, 
+    0x405d021f, 0x191f091b, 0x391f291f, 0x591f491f, 0x791f691f, 0x991f891f, 0xb91fa91f, 0x0d1fc91f, 0x282d835d, 0x29b0d029, 0x2b3ab22f, 0x24c08200, 
+    0xb01037b0, 0x3e421840, 0x08395e13, 0x395e1a20, 0x27395d07, 0x1032b027, 0xf40623b1, 0x9bb718b4, 0x052d2224, 0x23858232, 0x1a193ab2, 0x475e0682, 
+    0x37272409, 0x52161716, 0x2e3905e8, 0x32352302, 0x3435023e, 0x22232627, 0x06060706, 0x33112315, 0x33033e15, 0x05076532, 0x031e6b08, 0x75469803, 
+    0xa45e5499, 0x85084e7d, 0x8b5c5d0c, 0x2d4e683b, 0x5c8e6132, 0x3e648043, 0x41744949, 0x36282a79, 0x4a18757d, 0x54306058, 0x843e6b92, 0x4769457c, 
+    0x56680124, 0x3338648d, 0x12639666, 0x284c4d96, 0x503a6246, 0x75143965, 0x43593616, 0x3243426e, 0x4c702629, 0x31989c01, 0x31122942, 0x7055865c, 
+    0x3c0a1392, 0xd3426f59, 0x0009280b, 0x2f0ab062, 0x182f0bb0, 0x2a08cd67, 0xf40c01b1, 0xb0100bb0, 0x18b1dc05, 0x4708da8b, 0x03200c83, 0x0b1d4818, 
+    0x18076041, 0x280c857e, 0x000502b2, 0xb2391211, 0x08068407, 0x13313020, 0x33011133, 0x01112311, 0x01893123, 0xfd8ac1f8, 0x1905aaf2, 0x1d04e3fb, 
+    0x5004e7fa, 0x214eb0fb, 0x06732607, 0x01260279, 0x081747d2, 0x7b437320, 0x739e2006, 0xe7207803, 0x2206614b, 0x718b0013, 0x01300675, 0x0802b1dc, 
+    0x1014b0f4, 0xb0d012b0, 0x05b12f12, 0x1814a648, 0x240c9565, 0xb11b2f0c, 0x0f897d0c, 0x1000b03a, 0xf40603b1, 0x000a0db2, 0xb0391211, 0x10b1100a, 
+    0x1b40f406, 0x10171007, 0x1eeae118, 0x01313026, 0x21112311, 0x3b05944a, 0x16163727, 0x11353233, 0xfe8a7303, 0x523e255b, 0x1b27542d, 0x6a1d230e, 
+    0xe7fa1905, 0x21077b4a, 0x7a4a6d19, 0xac797305, 0x77000b21, 0x32108153, 0x338002b1, 0xecffecff, 0x2f05ac03, 0xe3002500, 0xb02f26b0, 0x12b02f27, 
+    0x21071f53, 0xe25c1026, 0xfbd91006, 0xc2240d01, 0x83f4ba6e, 0x23083653, 0x335a7b45, 0x2405bb79, 0x2501659d, 0x069d6200, 0x1805754a, 0x4e9a7dcd, 
+    0x05250525, 0x00120019, 0x12e57d5a, 0x4d0c1b67, 0x0a2508eb, 0x1b40f406, 0xd2d61807, 0x11b22221, 0x066c6304, 0x06060122, 0x1807ec55, 0x331ef0b0, 
+    0x70fb1905, 0x77233e62, 0x2d421114, 0xfcbf038d, 0x003003d0, 0x01713310, 0xc1fe33f2, 0x19051f04, 0x4f000b00, 0x040c07b3, 0x0bb32b04, 0x05820808, 
+    0x020b012d, 0x01b02b04, 0xdc0db010, 0x6101b000, 0x15240a18, 0x00b0593e, 0x0fe55618, 0xcd680320, 0x00b12c06, 0x07b0f406, 0xd008b0d0, 0x50253130, 
+    0x112c099e, 0xfc7b1f04, 0x2f02898d, 0x4cfe758a, 0x21079e50, 0xb34a5cfb, 0x0013220b, 0x10037b5e, 0xb0f40c32, 0x0cb01015, 0x080bb1dc, 0xd00eb0f4, 
+    0x0c000fb2, 0x180dcf6f, 0x180cce52, 0x2b0ce6de, 0xb3593e0f, 0x04110605, 0x0d0fb22b, 0x20051943, 0x05fb5a13, 0x35023e24, 0x99823311, 0x20230223, 
+    0x31b61811, 0x1905330d, 0x897dc0fd, 0x52987446, 0xe7faa201, 0x00ff5e02, 0x5d447b01, 0x000b250b, 0x2f0cb07c, 0x072bdd83, 0xdc00b02f, 0x0100efb2, 
+    0x8240b25d, 0x01b12104, 0x00239e82, 0x8203b010, 0x83032013, 0x21048213, 0xbc8206b1, 0xb1100723, 0x2006820a, 0x05444106, 0x485a0020, 0x148d180f, 
+    0x3261180c, 0x02b12e14, 0x0ab0f406, 0xd00bb0d0, 0x33013130, 0x06ec5111, 0x0121112c, 0x04018a8d, 0x895cfc89, 0xea510401, 0xe7fa2105, 0xad840783, 
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+    0x14fd0117, 0xa26894b4, 0xcd3b602b, 0x81b66d8d, 0xb6814848, 0x07d74118, 0x0fb89a3d, 0x1702fefd, 0x4452aa85, 0x476c5c42, 0x6d6cb581, 0x6b4881b2, 
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+    0xb01017b0, 0x03b0d003, 0x10300b82, 0xb1dc08b0, 0xb0f40809, 0x0db01003, 0x2f0db0d0, 0xb1220882, 0xcd820c0e, 0x0e062808, 0x0e260e16, 0x0e460e36, 
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+    0x87928985, 0x75015cfc, 0x8b028bfe, 0x4601544e, 0xffffff56, 0x03e9fffc, 0x021905ae, 0x00ef0126, 0x00060000, 0x0805828c, 0x8fff0124, 0x730375fe, 
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+    0x21b11019, 0x0ab2f406, 0x12112119, 0x13313039, 0x200efa7b, 0x08346521, 0x6b491120, 0x7bba2008, 0xcd2e0cfe, 0xa2a29977, 0x01fefe97, 0x79545cb2, 
+    0xc6565479, 0x05007c08, 0x4ad50221, 0x7f490f5a, 0x03b02c05, 0x001200a4, 0xb39f001b, 0x82000c12, 0x065d69ff, 0x82130c21, 0x10123499, 0xb0d002b0, 
+    0x0fb01004, 0x13dab4d0, 0x5d0213ea, 0x19091b40, 0x261b770c, 0x17b01007, 0x7c0bb0d0, 0x265b090f, 0x0ced470c, 0x620c0557, 0x0422080b, 0x77821006, 
+    0x07307182, 0x1010b0d0, 0xb0d016b0, 0x18b1100e, 0x3130f406, 0x4106047c, 0x23200905, 0x23090741, 0x89bb8931, 0xbb22fc86, 0xfd866d02, 0x8bfea424, 
+    0xf3857501, 0xfeba0125, 0x4a190146, 0x01230575, 0x62008fff, 0x841805f9, 0x1c20098d, 0x200eb546, 0x0ab5461d, 0x460eb121, 0xd78205ae, 0xb0100123, 
+    0xcc0e1919, 0x0736600b, 0x480cae46, 0x18240cc5, 0x18b11b2f, 0x4605e469, 0x0d200ab5, 0x6507b546, 0xb024277b, 0x1ab01006, 0x7c10b546, 0xaa460c1f, 
+    0x07207c08, 0x7c0ca046, 0x97460a22, 0x05a22709, 0x01260254, 0x974600f4, 0xffff2106, 0x2105a152, 0x15820605, 0x495afd20, 0xc1fe250b, 0xa4037303, 
+    0x58231f7c, 0xb120294b, 0x25221f7c, 0xd1fca403, 0x635f2f03, 0xd3053307, 0x41000700, 0xb02f08b0, 0x01b02f09, 0x0d00b1dc, 0x6418b0f4, 0xa6790e67, 
+    0x087a5f12, 0xb1100626, 0x30f40602, 0x3305a06a, 0x03211123, 0x16fd752f, 0x05fe0289, 0xfbd1fed3, 0x0019055c, 0x04216787, 0x4f67ab5e, 0x0f220c65, 
+    0x5557593e, 0x33012408, 0x8a112111, 0x5e042367, 0xce82d1fe, 0x08934418, 0x8e06a22c, 0x23002602, 0x07000000, 0x7c82da00, 0xffff7528, 0xe9ff3100, 
+    0x1784a403, 0x178d4320, 0x03000023, 0x201784cf, 0x21178b25, 0x2f82feff, 0x17847320, 0x2f904520, 0x27201785, 0xba20178c, 0x5f854782, 0x178c4720, 
+    0x17823120, 0x2e202f85, 0x0c82178c, 0x05a40323, 0x20a78219, 0x200a824e, 0x7ea78306, 0xbd85065f, 0xbd8b3782, 0x088f7818, 0x2d8a5120, 0xa3821920, 
+    0xa3848320, 0xbb8c3420, 0x1782f620, 0x5b848b20, 0x2d8a5420, 0x2d847184, 0x898d3520, 0xae202d82, 0x55201784, 0xc120458c, 0xe322b982, 0xa182cd06, 
+    0x17843820, 0x00004127, 0xffff7901, 0xcd7318ff, 0x0041220f, 0x85158204, 0x88c9202d, 0x418b202d, 0x2d860577, 0x17825420, 0x0d435820, 0x202d850a, 
+    0x182d888e, 0x85073561, 0x8819205b, 0x8217822d, 0x82ec205b, 0x84b82089, 0x8c3a2089, 0x29741889, 0x1889820f, 0x2024f5a0, 0x38458204, 0x05460400, 
+    0x00090019, 0x00190011, 0xb312011d, 0x04040c03, 0x0c00b32b, 0x22058207, 0x82140c10, 0x18290805, 0x2b040c08, 0xea0cdab4, 0x405d020c, 0x190c091b, 
+    0x390c290c, 0x590c490c, 0x790c690c, 0x990c890c, 0xb90ca90c, 0x0d0cc90c, 0x2510695d, 0xb010142d, 0x1ab0d01a, 0x1018b02f, 0x83d01bb0, 0x4d1f2005, 
+    0x052406b7, 0x05b11b2f, 0x6707f144, 0x4d180cd5, 0xd6450ca6, 0x0cf87b0c, 0x40821c20, 0x3e0f1c34, 0x010ab359, 0xb22b0412, 0x11050002, 0x07b23912, 
+    0x06820a12, 0x1016b025, 0x18010eb1, 0x25262b41, 0x1ab11000, 0x9e82f406, 0x21313038, 0x23110323, 0x11133311, 0x35320133, 0x15222334, 0x11201714, 
+    0x03822110, 0x15210534, 0xaafe0121, 0xb4c189cb, 0x744a0189, 0xff777974, 0x01820100, 0x02fe2108, 0x02fefe01, 0x02fcfe03, 0x54fc1905, 0xb2fcac03, 
+    0xc0bfbfc0, 0x012f016f, 0xfed1fe2f, 0x0075e7d1, 0x2d249d41, 0x00d3ff01, 0x02d10302, 0x00050050, 0xa4180020, 0xbd5e0798, 0x37fc870c, 0x07253130, 
+    0x01270101, 0xfe50d103, 0x4e4efe52, 0x4e500002, 0x50feb001, 0x22080882, 0x00060000, 0x04460044, 0x00190419, 0x003a002f, 0x00490045, 0x015f0054, 
+    0x0a59b322, 0xb32b0418, 0x82460a3f, 0x0a492205, 0x3b058213, 0x04300a27, 0x1027b02b, 0xb0d000b0, 0x06b01046, 0x2f06b0d0, 0xb01049b0, 0x18b0d008, 
+    0x8207a369, 0x841e200e, 0x202f081d, 0x103fb0d0, 0xb0d02bb0, 0xdab42f2b, 0x0230ea30, 0x091b405d, 0x29301930, 0x49303930, 0x69305930, 0x89307930, 
+    0xa9309930, 0xc930b930, 0x835d0d30, 0x363e082d, 0x2f36b0d0, 0xb01030b0, 0x13b0d03b, 0xd04ab010, 0x59061b40, 0x59265916, 0x59465936, 0x59665956, 
+    0x59865976, 0x59a65996, 0x59c659b6, 0xd5b45d0d, 0x0259e559, 0x1059b05d, 0xb0d050b0, 0x33832f50, 0x83d05521, 0xdc6126a0, 0x0243b300, 0x22b38203, 
+    0x82330224, 0x02462205, 0x22058207, 0x82140254, 0x100323bf, 0xa1840cb0, 0xb0d01232, 0x1bb01024, 0x1054b0d0, 0xb0d01fb0, 0x2ab01014, 0x2c201784, 
+    0x37261184, 0x1007b0d0, 0x17843eb0, 0xb0d04726, 0x4db01033, 0x60821184, 0xb0104323, 0x9e9e185c, 0x35262507, 0x14152335, 0x22079a57, 0x57233533, 
+    0x162506a3, 0x35331515, 0x07a55734, 0x3315232a, 0x34031632, 0x06222326, 0x32221782, 0x0a821136, 0x16243682, 0x25363233, 0x19863f82, 0x33161424, 
+    0xef571133, 0x35363007, 0x4e6f1904, 0x6ee86a4e, 0x6e6e4e4e, 0x8360624e, 0x4e200805, 0x4e6ce66c, 0x4e6f6f4e, 0x6f4e6060, 0x2929395b, 0x39296037, 
+    0x355e2939, 0xfe392929, 0x375ae6e4, 0x39230782, 0x83626029, 0x39292314, 0x33830201, 0x3f822a82, 0x5782398c, 0x02214882, 0x2326830c, 0xcffd3760, 
+    0xe3244685, 0xa001e6e6, 0x37223984, 0x498566fe, 0x03000022, 0x27066542, 0x000300c7, 0x000d0007, 0x1806c068, 0x530c7c44, 0x0321089e, 0x06fa4f01, 
+    0xb0d0042e, 0x06b01003, 0x013130d0, 0x05213521, 0x01200382, 0x26058042, 0x01d5fea2, 0x838bfd2b, 0xa4022105, 0x26078c42, 0x71715602, 0x4289fd71, 
+    0x02310892, 0x25000000, 0xc7025c04, 0x15001100, 0xb3001b00, 0x23578311, 0x060109b3, 0x26053464, 0x09b0d012, 0x8214b010, 0x2325325d, 0x26032722, 
+    0x33352323, 0x16161732, 0x33331617, 0x086b8211, 0xa25c0423, 0x66aa7bd7, 0xd9a4a4b4, 0x2b56297b, 0xfea2b464, 0x25700190, 0x910f0191, 0x88439471, 
+    0xc5019443, 0x2bd98271, 0x00004a00, 0x19055604, 0x09000400, 0x31266782, 0x020908b3, 0xe7502b04, 0x0ce57d05, 0x2c085343, 0x06b11003, 0x01b0f401, 
+    0x0108b110, 0x08db82f4, 0x11210128, 0x23010121, 0x07013311, 0x37270727, 0x37173727, 0x56040717, 0x81fe73fd, 0xef017f01, 0xe4e4e4fd, 0x7d500201, 
+    0x02844e7d, 0x027d5035, 0x0575fd8b, 0x0272fd19, 0x01c5fb1f, 0x7e7e4d9f, 0x827d7d4d, 0x7d50221e, 0x057d5700, 0x015c043c, 0x000b002f, 0x2f0cb046, 
+    0xb02f0db0, 0x0cb0dc01, 0xd004b010, 0xb12f04b0, 0x77840908, 0xf4090922, 0x0eaabf18, 0x73410b20, 0x100b260a, 0xb0d006b0, 0x269e8602, 0x21152125, 
+    0x83352335, 0x21240805, 0x00ff5c04, 0x01fea2fd, 0x0181016d, 0xc1c1c16e, 0x00c0c06e, 0xbc000200, 0x6204feff, 0x1f00a203, 0x9a002800, 0x2e06035e, 
+    0x15b1dc00, 0xdab4f40a, 0x0215ea15, 0x191b405d, 0x321cdb1f, 0x24b01029, 0x2f24b0d0, 0xf40923b1, 0x002428b2, 0x85391211, 0x2f25249e, 0x5725b11b, 
+    0x0f250c63, 0x10b1593e, 0x25e47d02, 0x0522b223, 0x264a8225, 0xb11025b0, 0x18f40127, 0x210b5140, 0x4018031e, 0x7b080750, 0x031e3727, 0x15010705, 
+    0x15211123, 0x49620423, 0x5063ac7f, 0x1656758f, 0x63431349, 0x90524579, 0x4c283d6a, 0x4a163f69, 0xfe335c7b, 0x8ffe508a, 0xdd9c016f, 0xac62d301, 
+    0x58314a7d, 0x3b144c7d, 0x3d2b4c68, 0x3f548f69, 0x13476579, 0x75561449, 0x014e6091, 0xa001e370, 0x0100006f, 0xd9ffe3ff, 0x7d035404, 0x1e001500, 
+    0x120900b3, 0xb0002b04, 0x15b32f08, 0x2b040001, 0x05010db3, 0x2105df52, 0x9986d012, 0x17213a08, 0x17010107, 0x3e322107, 0x35213502, 0x54540421, 
+    0xfe75ca96, 0xfe4ebf8b, 0x4e4401bc, 0x5c7501bf, 0xfe4579a0, 0x0325024a, 0x98c9700e, 0x014cc058, 0x4e450142, 0xa07846be, 0x2b6d835c, 0x00004800, 
+    0x2f015c03, 0x40000700, 0xb0276682, 0x00b02f09, 0x4c08b0dc, 0x09260810, 0x1000b0f4, 0xf94105b1, 0x08de4607, 0x83dc0221, 0x01042a17, 0x1002b0f4, 
+    0xb0d006b0, 0x088f8207, 0x11212125, 0x35211533, 0xfc5c0333, 0x36026eec, 0xc02f0170, 0x000100c0, 0x04480200, 0x00d1025e, 0x00090003, 0x820701b3, 
+    0x313025c6, 0x15213511, 0x48221482, 0xf1828989, 0xfe8d0127, 0x0617028b, 0x2321828b, 0x0801b319, 0x53182082, 0x02270811, 0x02b11b2f, 0x82593e11, 
+    0x11332aec, 0x8a8d0123, 0xf88b068a, 0x84338600, 0x00052455, 0x1803b31c, 0x20090f56, 0x20308204, 0x82308204, 0x04022268, 0x2236822b, 0x83211521, 
+    0xd1022938, 0x028ab9fd, 0x43fc89d1, 0x6f839183, 0x3b859182, 0x77430420, 0x873b850c, 0x231130a4, 0x8a170211, 0xfb894802, 0x00bd03ba, 0x838d0101, 
+    0x22a982cb, 0x89120005, 0x03b322a9, 0x84438207, 0x826d82a2, 0x470228a4, 0x8b062ffd, 0x858946fc, 0x83db84fd, 0x08052231, 0x216b8302, 0x06412f03, 
+    0x3311220a, 0x24318311, 0xba038948, 0x236184fb, 0x5e048bfe, 0x07226182, 0x61852500, 0x1001b025, 0x41d005b0, 0x06200811, 0x0620e082, 0x748ca483, 
+    0x8a20e283, 0xb9217682, 0x8977848a, 0x224986e5, 0x78010800, 0x49830527, 0x274c0620, 0x82002005, 0x83002049, 0x07052149, 0x26052a41, 0x35211123, 
+    0x82331121, 0x73fe21f0, 0xfe239382, 0x82bd038b, 0x052f4195, 0x025e042b, 0x000700d1, 0x0805b322, 0x072f4106, 0x40820520, 0x2f410520, 0x00b02508, 
+    0xd003b010, 0x3105da41, 0x11231121, 0xb9fd5e04, 0x8948028a, 0x0343fc89, 0x094100bd, 0x20d98605, 0x41458218, 0xe3850c09, 0x11243b84, 0x15211133, 
+    0x02217d82, 0x243b8247, 0x46fcba03, 0x413b8489, 0x0b220615, 0x3b853700, 0x1005b02e, 0xb0d008b0, 0x0ab01002, 0x03b000d0, 0x0920d185, 0x09209082, 
+    0x01249089, 0xd005b010, 0x07209683, 0x5a849685, 0x5e849a83, 0x61849d85, 0x0220a185, 0x8d266882, 0x8b035e04, 0xe9820300, 0xb3000f33, 0x04050504, 
+    0x0700b32b, 0x302b0401, 0x21150131, 0x23038335, 0xa2fb5e04, 0x03310383, 0xfe89898b, 0x008a8a8c, 0xd3000200, 0xd1028bfe, 0x43378506, 0x42430745, 
+    0x0c002408, 0x8209b0f4, 0xb1dc2a89, 0x00f40c04, 0xb02f02b0, 0x0d7f4104, 0x4500b024, 0xd641b058, 0x2a688207, 0x023b1123, 0x5c012311, 0x82ec8989, 
+    0x088b2362, 0xef42f800, 0x259b8208, 0xb33e000b, 0x2b780803, 0x05924605, 0x0e00b128, 0xd008b0f4, 0xc0780bb0, 0x2f032b09, 0x1103b11b, 0x08b3593e, 
+    0xc2830907, 0xc2820520, 0x8200b021, 0x84d02084, 0x23113dc8, 0x21112111, 0x04152315, 0x8ab9fd5e, 0x5c017501, 0x8a1702d3, 0x8c03fefc, 0xeb897401, 
+    0xd1836d82, 0x025e0427, 0x000b00d1, 0x060f4649, 0xbf840320, 0x100cb022, 0x08276a83, 0x0c07b12f, 0x1804b0f4, 0x87091747, 0x20cc8471, 0x207e8207, 
+    0x217e8307, 0x78820700, 0x070ab323, 0x06414105, 0x23207882, 0x04237c84, 0x8273fe5e, 0x75012ede, 0xfc89d102, 0xfd480243, 0x01d102b8, 0x064b4175, 
+    0x825e0421, 0x460520e7, 0x74820a8b, 0xb0d00226, 0x01b12f02, 0x0d277482, 0xdc09b010, 0x460c0ab1, 0x0120068b, 0x01206b82, 0x42074561, 0x03220800, 
+    0xf7820007, 0x07050622, 0x72837884, 0x21021d22, 0x01240682, 0x8b03895c, 0x03277a82, 0x0589fb02, 0x84eb8900, 0x05e142f4, 0x82170221, 0x000b2575, 
+    0x0e07b33b, 0x0922b483, 0x2d5b0a08, 0x82022005, 0x10012373, 0xf95004b0, 0x22628806, 0x82030706, 0x05012162, 0xb0206882, 0x63421f82, 0x35332205, 
+    0x06636e23, 0x01d3d330, 0x018abb5c, 0x89eb8a8d, 0x74fc8cfe, 0x65860203, 0x5541d120, 0x0c4e410c, 0xb0d00022, 0x6841dc82, 0x0a094805, 0x5541dc87, 
+    0x8209200a, 0x41022079, 0x11200655, 0x2320d783, 0x233edb82, 0x015c0135, 0x89ec8975, 0xfed102d3, 0x022ffd8b, 0x03b8fd48, 0x020089bd, 0x8bfe0000, 
+    0x5341d102, 0xb3422406, 0x820b0e06, 0x0c03213e, 0x0b29b883, 0xd001b010, 0xb11006b0, 0x074f4108, 0x0caa6c18, 0x4f417288, 0x04092207, 0x0556492b, 
+    0x03231122, 0xba417284, 0x25748305, 0xfb890203, 0xea840300, 0x01008a2e, 0x8d018d01, 0x8b065e04, 0x34000b00, 0x2105b143, 0x718409b3, 0xb110002a, 
+    0xb0f40e0b, 0x09b0d006, 0x2405af42, 0x09b32f03, 0x2b8b8205, 0x020705b3, 0x02b02b04, 0xd007b010, 0xd6826382, 0x21113330, 0x33152315, 0xfe020315, 
+    0x47028a8b, 0x5482d3d3, 0x8903752b, 0xe98900fd, 0x0001008c, 0x068b45d3, 0x35000b22, 0x2606a342, 0x00b1dc09, 0x42b0f40c, 0x0520082e, 0x00210c82, 
+    0x256b8210, 0x2f03b000, 0x688707b0, 0x01050622, 0x6284c684, 0x83113321, 0x48022366, 0xc4828bfe, 0x028d0132, 0x02740148, 0x02bbfdcf, 0x8b48fc45, 
+    0x00020000, 0xc7847482, 0xc9820520, 0x67863220, 0x00266082, 0x2f00b0d0, 0x8f4203b1, 0x0c062508, 0x01b000f4, 0x03206484, 0x0922cd84, 0x64830607, 
+    0x5e841320, 0x05840120, 0x0389d326, 0x89eafd02, 0x8d26c582, 0x8cfbfe04, 0xcc85018a, 0xcb820020, 0x79820020, 0x8b061722, 0x2e246382, 0x020808b3, 
+    0x22070f7c, 0x841008b0, 0x06e644d1, 0xb02f0926, 0x03b32f05, 0x200b2741, 0x06704213, 0x23112136, 0x01191935, 0x8bfe8a8d, 0xe91902a2, 0xfc000389, 
+    0x8c8bfe77, 0x02235b84, 0x84d10248, 0x0727415b, 0x20082041, 0x22bf820b, 0x43b0d004, 0xc2840552, 0x20052741, 0x063e4301, 0xc2830920, 0x54351121, 
+    0x2136077b, 0xec89d311, 0x028bfe89, 0xba038948, 0x4502bbfd, 0x8cfe31fd, 0x64820200, 0x61848d20, 0xbf840520, 0x000e0522, 0x0921bf82, 0x05f1530c, 
+    0x4102b121, 0xa6450584, 0x2f072406, 0x820506b3, 0x09014756, 0x17255c83, 0x21113311, 0x235c8335, 0x02032ffd, 0xeb2abc84, 0x02fb7404, 0x0200008a, 
+    0xfb458d01, 0x235d8306, 0x0803b331, 0xb0275d82, 0x08b01003, 0x4400b0d0, 0x0120057f, 0x220efd45, 0x82070506, 0x48032080, 0x01200569, 0xfc435a83, 
+    0x478d2006, 0x03240522, 0xfd890302, 0x4508fc43, 0x042505bf, 0x008b065e, 0x20bf8203, 0x09e3414c, 0xb0d00126, 0x00b12f01, 0x2005e341, 0x05ff4405, 
+    0xb0100524, 0xc545d009, 0x2f0a2d18, 0x110ab11b, 0x07b3593e, 0x2b040807, 0x4807cb45, 0x5c240582, 0x89ec8989, 0x732bcc82, 0x088bfe89, 0x8946fc00, 
+    0x820043fc, 0x86d32071, 0x000330dd, 0x000f0009, 0x2f10b058, 0xb02f11b0, 0x89b01010, 0x1011237d, 0x7d8507b0, 0xb0100729, 0x04b0d00c, 0x850eb010, 
+    0x46052083, 0x0d201249, 0x0d208382, 0x0a248383, 0x2b040b05, 0x04208982, 0x33218986, 0x0a0a4113, 0x77208d8e, 0x200e1141, 0x06914900, 0x22057341, 
+    0x5c020805, 0x06260573, 0x1002b0d0, 0x714708b0, 0x08204409, 0x200ed441, 0x2b6a8221, 0x11231115, 0x8d013521, 0x73fe8a8a, 0x2407d441, 0x020374fc, 
+    0x0791448a, 0x008b0623, 0x17714107, 0x4205bb47, 0x08280598, 0xb000f40c, 0x08b02f06, 0x7141ed92, 0x09c44808, 0x33352322, 0x21074147, 0x4347d3d3, 
+    0xbd032a05, 0xf8ba0389, 0x03000000, 0x20d98300, 0x207982d1, 0x23798205, 0xb354000f, 0x2205ad42, 0x840c0c0d, 0x02b126e1, 0x05b0f40c, 0x05c94c10, 
+    0x230a6242, 0x0cb02f03, 0x68187d85, 0x0e270c26, 0x0eb11b2f, 0x42593e11, 0xfe8313d3, 0x0135232d, 0xd3231133, 0x02d38989, 0x41898948, 0x04210c04, 
+    0x208f8374, 0x228f8302, 0x41035e04, 0x28200509, 0x47145d49, 0x012105c3, 0x06de4e05, 0x480b6349, 0xfd330590, 0xd1028ab9, 0x8d01a2fb, 0xfefc8a8a, 
+    0xfe010203, 0x41008989, 0x04240563, 0x00d1025e, 0xd542e983, 0x2e49470a, 0x03070022, 0x2305714c, 0x03b0d006, 0x25079b45, 0x35231123, 0x50471521, 
+    0x04d32506, 0x8973fe5e, 0xba288182, 0x8989bd03, 0x460443fc, 0x84066741, 0x000530d7, 0x000f0009, 0x0e00b34e, 0xb32b0405, 0x840e0c0d, 0x0767414d, 
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+    0xf35bc05b, 0x975c725c, 0xf45cbd5c, 0x825d3b5d, 0x6b5e375e, 0xd75eaa5e, 0x6f5f285f, 0x7e60d35f, 0x1361b660, 0xa9615661, 0x8d620262, 0x5263fa62, 
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+    0xff1b2277, 0x265384fe, 0xfffeff00, 0x8262008b, 0xff312469, 0x84e1ffec, 0x82002057, 0x8203825f, 0x83ec2019, 0x8203896d, 0xff00225b, 0x2239828b, 
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+    0xfeffba24, 0x0d8275ff, 0x03827720, 0x8505ad41, 0x223983db, 0x821b00c1, 0x210f824f, 0xa784e7ff, 0x0584df20, 0x9182ec20, 0x5582e120, 0xc1439183, 
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+    0x840b970d, 0x27048c1c, 0x0800eeff, 0xf2fff2ff, 0x48241482, 0x0a004a00, 0x00200382, 0x31067d41, 0x06000001, 0x008bfe8b, 0xff5e0400, 0x04e3ff5e, 
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+    0x01e001df, 0x01e201e1, 0x01e401e3, 0x01e601e5, 0x01e801e7, 0x01ea01e9, 0x01ec01eb, 0x01ee01ed, 0x01f001ef, 0x01f201f1, 0x01f401f3, 0x01f601f5, 
+    0x01f801f7, 0x01fa01f9, 0x01fc01fb, 0x01fe01fd, 0x020002ff, 0x02020201, 0x02040203, 0x02060205, 0x02080207, 0x020a0209, 0x020c020b, 0x020e020d, 
+    0x0210020f, 0x02120211, 0x02140213, 0x02160215, 0x02180217, 0x021a0219, 0x021c021b, 0x021e021d, 0x0220021f, 0x02220221, 0x02240223, 0x02260225, 
+    0x02280227, 0x022a0229, 0x022c022b, 0x022e022d, 0x0230022f, 0x02320231, 0x00340233, 0x023502ef, 0x02370236, 0x02390238, 0x023b023a, 0x023d023c, 
+    0x023f023e, 0x02410240, 0x02430242, 0x02450244, 0x02470246, 0x02490248, 0x024b024a, 0x024d024c, 0x024f024e, 0x02510250, 0x02530252, 0x02550254, 
+    0x02570256, 0x02590258, 0x025b025a, 0x025d025c, 0x025f025e, 0x02610260, 0x02630262, 0x02650264, 0x02670266, 0x02690268, 0x026b026a, 0x026d026c, 
+    0x026f026e, 0x07710270, 0x30696e75, 0x04304130, 0x6f727545, 0x6d6f630b, 0x6361616d, 0x746e6563, 0x442a1886, 0x616d4107, 0x6e6f7263, 0x07856107, 
+    0x62410628, 0x65766572, 0x06846106, 0x6f410729, 0x656e6f67, 0x8561076b, 0x430b2d07, 0x63726963, 0x6c666d75, 0x630b7865, 0x0a240b89, 0x746f6443, 
+    0x0a215885, 0x230a8863, 0x61634406, 0x06215a82, 0x27068564, 0x6f726344, 0x45077461, 0x07216885, 0x21078565, 0x69844506, 0x84650621, 0x450a2106, 
+    0x0a213d88, 0x210a8865, 0x7e854507, 0x85650721, 0x45062107, 0x65205185, 0x0b210684, 0x21888947, 0x0b89670b, 0x89470a21, 0x8867204b, 0x470c210a, 
+    0x210a0541, 0x0c8a670c, 0x89480b21, 0x680b213b, 0x04260b89, 0x72616248, 0x04826804, 0x74490628, 0x65646c69, 0x06846906, 0x85490721, 0x690721c1, 
+    0x06210785, 0x21c28449, 0x06846906, 0x85490721, 0x690721ab, 0x02270785, 0x69024a49, 0x894a0b6a, 0x6a0b2157, 0x0c210b89, 0x21888a4b, 0x0c8c6b0c, 
+    0x65726733, 0x616c6e65, 0x6369646e, 0x63614c06, 0x06657475, 0x2106846c, 0x278b4c0c, 0x0c8a6c20, 0x634c0628, 0x6e6f7261, 0x06846c06, 0x824c0421, 
+    0x6c0421fd, 0x06210482, 0x203f854e, 0x203f856e, 0x21328a4e, 0x0c8a6e0c, 0x844e0621, 0x6e062138, 0x0b350684, 0x6f70616e, 0x6f727473, 0x03656870, 
+    0x03676e45, 0x07676e65, 0x21f4854f, 0x07856f07, 0x844f0621, 0x6f0621f5, 0x0d2f0684, 0x6e75684f, 0x75726167, 0x75616c6d, 0x8b6f0d74, 0x5206210d, 
+    0x06217c84, 0x21068472, 0x768a520c, 0x8a720c21, 0x5206210c, 0x06217c84, 0x20068572, 0x212e8453, 0x06847306, 0x41530b21, 0x0b21093a, 0x210b8973, 
+    0x408a540c, 0x8a740c21, 0x5406210c, 0x74204685, 0x04260684, 0x72616254, 0x04827404, 0x74550628, 0x65646c69, 0x06847506, 0x85550721, 0x750721cd, 
+    0x06210785, 0x21ce8455, 0x06847506, 0x72550527, 0x05676e69, 0x21058375, 0xe18c550d, 0x0d8b7520, 0x41550721, 0x072105f2, 0x21078575, 0xa189570b, 
+    0x8a770b21, 0x8a59200b, 0x8979200b, 0x5a06210b, 0x0621e484, 0x2106847a, 0xbb425a0a, 0x7a0a2108, 0x05280a88, 0x676e6f6c, 0x45410773, 0x07222384, 
+    0x07846561, 0x734f0b26, 0x6873616c, 0x6f200b85, 0x0c210b89, 0x0a0a4153, 0x44730c21, 0x32390f07, 0x75074131, 0x3230696e, 0x74054231, 0x736f6e6f, 
+    0x6569640d, 0x69736572, 0x250d8473, 0x706c410a, 0x0a846168, 0x70450c24, 0x7a826973, 0x08220c84, 0x15857445, 0x6f490922, 0x0c270986, 0x63696d4f, 
+    0x846e6f72, 0x550c211f, 0x0a242c8a, 0x67656d4f, 0x11212e85, 0x8c2e8269, 0x84052061, 0x42042a61, 0x05617465, 0x6d6d6147, 0x238e8461, 0x07343933, 
+    0x04216f86, 0x201a825a, 0x226f8203, 0x82685405, 0x83042009, 0x4b053670, 0x61707061, 0x6d614c06, 0x02616462, 0x4e02754d, 0x69580275, 0x31818607, 
+    0x03695002, 0x056f6852, 0x6d676953, 0x61540361, 0x8d860775, 0x68500325, 0x82430369, 0x73502303, 0x47830c69, 0x0f208987, 0x0f872086, 0x89610a21, 
+    0x8a6520f6, 0x820820c9, 0x20df8480, 0x84c78309, 0x75142109, 0xd48d1f85, 0x04213f84, 0x212e8262, 0xd4836705, 0x65640526, 0x0761746c, 0x04214b86, 
+    0x2018827a, 0x21038203, 0xd2847405, 0x05214c83, 0x20d2846b, 0x41d2846c, 0x42290503, 0x756e0243, 0x07697802, 0x0559416f, 0x68720325, 0x8373066f, 
+    0x053121d4, 0x03210684, 0x86db8274, 0x7003217f, 0x6320d782, 0x8e820382, 0x6d6f0526, 0x0c616765, 0x200b6b41, 0x20a68e0f, 0x8453860c, 0x860c20c3, 
+    0x200c841c, 0x843c840a, 0x6109290a, 0x31696966, 0x33323030, 0x35210987, 0x20098831, 0x89098832, 0x8834201d, 0x88352013, 0x88362009, 0x88372009, 
+    0x88382009, 0x87392009, 0x30362109, 0x63880988, 0x63873620, 0x88343121, 0x8831204f, 0x88312045, 0x88312045, 0x88322045, 0x88322045, 0x88322045, 
+    0x883220a9, 0x8832209f, 0x8832204f, 0x8832209f, 0x88322059, 0x88322059, 0x88332059, 0x88332059, 0x88332059, 0x41332059, 0x33200803, 0x33206388, 
+    0x33206388, 0x33206388, 0x33206388, 0x33206388, 0x34206388, 0x34206388, 0x34206388, 0x34206388, 0x34206388, 0x17416388, 0x88342009, 0x88342063, 
+    0x88342063, 0x88342063, 0x88362063, 0x88362095, 0x88362031, 0x88362031, 0x88362031, 0x88372031, 0x88372095, 0x8837208b, 0x8837208b, 0x8837208b, 
+    0x88372059, 0x88372059, 0x88372059, 0x88372059, 0x88382059, 0x88382059, 0x883820ef, 0x88382063, 0x88382063, 0x88382063, 0x88382063, 0x88382063, 
+    0x88382063, 0x88382063, 0x88392063, 0x88392063, 0x88392063, 0x88392063, 0x88392063, 0x88392063, 0x88392063, 0x88392063, 0x89372063, 0x21638745, 
+    0x63873031, 0x87303121, 0x3031211d, 0x2008bb42, 0x21638730, 0x63873031, 0x87303121, 0x30312163, 0x31216387, 0x21638730, 0xc7873031, 0x88303121, 
+    0x88312063, 0x20b38963, 0x28db8935, 0x6e750738, 0x30453169, 0x20078632, 0x20078633, 0x20078641, 0x21078542, 0x07864531, 0x07854620, 0x86303421, 
+    0x85312007, 0x36352107, 0x37200786, 0x36200785, 0x36201f86, 0x36201f86, 0x362a4f86, 0x67570642, 0x65766172, 0x06857706, 0x63615724, 0x0d827475, 
+    0x09210684, 0x070d4557, 0x87770921, 0x59062109, 0x79202885, 0x09270684, 0x69696661, 0x86323030, 0x313623e9, 0xb9843533, 0x30333222, 0x3222b984, 
+    0xd1843133, 0x3233323d, 0x706f0934, 0x6e6f6974, 0x0f79656b, 0x73617265, 0x746f7465, 0x69726568, 0x83746867, 0x333223a3, 0x07856437, 0x31863820, 
+    0x84656321, 0x3234270f, 0x46530833, 0x00833031, 0x09840883, 0x30200882, 0x33200888, 0x86821a86, 0x1a830982, 0x11873420, 0x08873820, 0x08873920, 
+    0x08873620, 0x08873720, 0x08863520, 0x47873420, 0x3e873220, 0x86313521, 0x3235211a, 0x33200886, 0x32204787, 0x32201187, 0x32202387, 0x07844787, 
+    0x86823020, 0x2c873420, 0x86873320, 0x08883220, 0x32207d87, 0x33208f87, 0x1a870888, 0x62873420, 0x74883120, 0x86863020, 0xaa873220, 0x2c883420, 
+    0x34215987, 0x20238631, 0x87d78834, 0x83d68459, 0x88352098, 0x844788e0, 0x620c3d11, 0x6b63616c, 0x6d616964, 0x09646e6f, 0x63656863, 0x72616d6b, 
+    0x6873056b, 0x09746669, 0x6c360584, 0x0b6b636f, 0x74726576, 0x6c616369, 0x04626174, 0x79706f63, 0x36826204, 0x6e650623, 0x23108264, 0x736e6906, 
+    0x03201e82, 0x09290a82, 0x6c707061, 0x65706f65, 0x0507476e, 0x00394122, 0x032c0083, 0x02000900, 0x01000d00, 0x0200ffff, 0x4a7afa05, 0x00008ed9, 
+};
+
diff --git a/third-party/imgui/imgui_impl_glfw.cpp b/third-party/imgui/imgui_impl_glfw.cpp
index ca0b45bbbe..cddf0b905c 100644
--- a/third-party/imgui/imgui_impl_glfw.cpp
+++ b/third-party/imgui/imgui_impl_glfw.cpp
@@ -139,6 +139,9 @@ void ImGui_ImplGlFw_KeyCallback(GLFWwindow*, int key, int, int action, int mods)
     if (action == GLFW_RELEASE)
         io.KeysDown[key] = false;
 
+    if (mods && GLFW_MOD_CONTROL) io.KeysDown[GLFW_KEY_LEFT_CONTROL] = true;
+    else io.KeysDown[GLFW_KEY_LEFT_CONTROL] = false;
+
     (void)mods; // Modifiers are not reliable across systems
     io.KeyCtrl = io.KeysDown[GLFW_KEY_LEFT_CONTROL] || io.KeysDown[GLFW_KEY_RIGHT_CONTROL];
     io.KeyShift = io.KeysDown[GLFW_KEY_LEFT_SHIFT] || io.KeysDown[GLFW_KEY_RIGHT_SHIFT];
diff --git a/tools/convert/converters/converter-bin.hpp b/tools/convert/converters/converter-bin.hpp
index 54f4e4846e..4c0595f23e 100644
--- a/tools/convert/converters/converter-bin.hpp
+++ b/tools/convert/converters/converter-bin.hpp
@@ -44,8 +44,8 @@ namespace rs2 {
                             shift--;
                         }
 
-                        f = f - 1.0;
-                        uint32_t mantissa = f * ((1U << 23) + 0.5f);
+                        f = f - 1.f;
+                        uint32_t mantissa = uint32_t(f * ((1U << 23) + 0.5f));
                         uint32_t exponent = shift + ((1 << 7) - 1);
 
                         ieee754 = (sign << 31) | (exponent << 23) | mantissa;
diff --git a/tools/fw-logger/CMakeLists.txt b/tools/fw-logger/CMakeLists.txt
index 77dc526328..8a762ca87b 100644
--- a/tools/fw-logger/CMakeLists.txt
+++ b/tools/fw-logger/CMakeLists.txt
@@ -5,16 +5,7 @@ cmake_minimum_required(VERSION 3.1.0)
 
 project(RealsenseToolsFirmwareLogger)
 
-add_executable(rs-fw-logger rs-fw-logger.cpp fw-log-data.cpp
-    fw-log-data.h
-    fw-logs-formating-options.cpp
-    fw-logs-formating-options.h
-    fw-logs-parser.cpp
-    fw-logs-parser.h
-    fw-logs-xml-helper.cpp
-    fw-logs-xml-helper.h
-    string-formatter.cpp
-    string-formatter.h)
+add_executable(rs-fw-logger rs-fw-logger.cpp)
 set_property(TARGET rs-fw-logger PROPERTY CXX_STANDARD 11)
 if(WIN32 OR ANDROID)
     target_link_libraries(rs-fw-logger ${DEPENDENCIES})
diff --git a/tools/fw-logger/readme.md b/tools/fw-logger/readme.md
index 127b844837..1e3eb55e5c 100644
--- a/tools/fw-logger/readme.md
+++ b/tools/fw-logger/readme.md
@@ -5,7 +5,13 @@
 If you are suspecting that you have an issue that is related to the camera’s firmware, please use this tool and provide the output together with the FW version number when you are creating an issue.
 In order to run this, ensure that your camera is streaming. This can be done using the [realsense-viewer](https://github.com/IntelRealSense/librealsense/tree/development/tools/realsense-viewer) or [rs-capture Sample](https://github.com/IntelRealSense/librealsense/tree/development/examples/capture)
 
+## Command Line Parameters
+|Flag   |Description   |Default|
+|---|---|---|
+|`-l <xml-path>`|xml file ful path, used to parse the logs||
+|`-f`|collect flash logs instead of firmware logs||
+
 ## Usage
 After installing `librealsense` run `rs-fw-logger` to launch the tool. 
-rs-fw-logger  >  filename – will save the FW logs to the filename.
+
 
diff --git a/tools/fw-logger/rs-fw-logger.cpp b/tools/fw-logger/rs-fw-logger.cpp
index 432b26dcd0..6085f86ba5 100644
--- a/tools/fw-logger/rs-fw-logger.cpp
+++ b/tools/fw-logger/rs-fw-logger.cpp
@@ -1,17 +1,16 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright(c) 2015 Intel Corporation. All Rights Reserved.
 
-#include <librealsense2/rs.hpp>
+#include "librealsense2/rs.hpp"
+#include "librealsense2/hpp/rs_internal.hpp"
 #include <fstream>
 #include <thread>
 #include "tclap/CmdLine.h"
-#include "fw-logs-parser.h"
 
 
 
 using namespace std;
 using namespace TCLAP;
-using namespace fw_logger;
 using namespace rs2;
 
 string char2hex(unsigned char n)
@@ -49,29 +48,24 @@ int main(int argc, char* argv[])
 {
     CmdLine cmd("librealsense rs-fw-logger example tool", ' ', RS2_API_VERSION_STR);
     ValueArg<string> xml_arg("l", "load", "Full file path of HW Logger Events XML file", false, "", "Load HW Logger Events XML file");
-    cmd.add(xml_arg);
+    SwitchArg flash_logs_arg("f", "flash", "Flash Logs Request", false);
+    cmd.add(xml_arg); 
+    cmd.add(flash_logs_arg);
     cmd.parse(argc, argv);
 
     log_to_file(RS2_LOG_SEVERITY_WARN, "librealsense.log");
-    // Obtain a list of devices currently present on the system
 
-    unique_ptr<fw_logs_parser> fw_log_parser;
     auto use_xml_file = false;
     auto xml_full_file_path = xml_arg.getValue();
-    if (!xml_full_file_path.empty())
-    {
-        ifstream f(xml_full_file_path);
-        if (f.good())
-        {
-            fw_log_parser = unique_ptr<fw_logs_parser>(new fw_logs_parser(xml_full_file_path));
-            use_xml_file = true;
-        }
-    }
+
+    bool are_flash_logs_requested = flash_logs_arg.isSet();
 
     context ctx;
     device_hub hub(ctx);
 
-    while (true)
+    bool should_loop_end = false;
+
+    while (!should_loop_end)
     {
         try
         {
@@ -79,47 +73,80 @@ int main(int argc, char* argv[])
             auto dev = hub.wait_for_device();
             cout << "RealSense device was connected...\n";
 
-            vector<uint8_t> input;
-            auto str_op_code = dev.get_info(RS2_CAMERA_INFO_DEBUG_OP_CODE);
-            auto op_code = static_cast<uint8_t>(stoi(str_op_code));
-            input = {0x14, 0x00, 0xab, 0xcd, op_code, 0x00, 0x00, 0x00,
-                     0xf4, 0x01, 0x00, 0x00, 0x00,    0x00, 0x00, 0x00,
-                     0x00, 0x00, 0x00, 0x00, 0x00,    0x00, 0x00, 0x00};
-
-            cout << "Device Name: " << dev.get_info(RS2_CAMERA_INFO_NAME) << endl <<
-                    "Device Location: " << dev.get_info(RS2_CAMERA_INFO_PHYSICAL_PORT) << endl << endl;
-
             setvbuf(stdout, NULL, _IONBF, 0); // unbuffering stdout
 
-            while (hub.is_connected(dev))
+            auto fw_log_device = dev.as<rs2::firmware_logger>();
+
+            bool using_parser = false;
+            if (!xml_full_file_path.empty())
             {
-                this_thread::sleep_for(chrono::milliseconds(100));
+                ifstream f(xml_full_file_path);
+                if (f.good())
+                {
+                    std::string xml_content((std::istreambuf_iterator<char>(f)), std::istreambuf_iterator<char>());
+                    bool parser_initialized = fw_log_device.init_parser(xml_content);
+                    if (parser_initialized)
+                        using_parser = true;
+                }
+            }
 
-                auto raw_data = dev.as<debug_protocol>().send_and_receive_raw_data(input);
-                vector<string> fw_log_lines = {""};
-                if (raw_data.size() <= 4)
-                    continue;
+            bool are_there_remaining_flash_logs_to_pull = true;
 
-                if (use_xml_file)
+            while (hub.is_connected(dev))
+            {
+                if (are_flash_logs_requested && !are_there_remaining_flash_logs_to_pull)
                 {
-                    fw_logs_binary_data fw_logs_binary_data = {raw_data};
-                    fw_logs_binary_data.logs_buffer.erase(fw_logs_binary_data.logs_buffer.begin(),fw_logs_binary_data.logs_buffer.begin()+4);
-                    fw_log_lines = fw_log_parser->get_fw_log_lines(fw_logs_binary_data);
-                    for (auto& elem : fw_log_lines)
-                        elem = datetime_string() + "  " + elem;
+                    should_loop_end = true;
+                    break;
+                }
+                auto log_message = fw_log_device.create_message();
+                bool result = false;
+                if (are_flash_logs_requested)
+                {
+                    result = fw_log_device.get_flash_log(log_message);
                 }
                 else
                 {
-                    stringstream sstr;
-                    sstr << datetime_string() << "  FW_Log_Data:";
-                    for (size_t i = 0; i < raw_data.size(); ++i)
-                        sstr << char2hex(raw_data[i]) << " ";
-
-                    fw_log_lines.push_back(sstr.str());
+                    result = fw_log_device.get_firmware_log(log_message);
+                }
+                if (result)
+                {
+                    std::vector<string> fw_log_lines;
+                    if (using_parser)
+                    {
+                        auto parsed_log = fw_log_device.create_parsed_message();
+                        bool parsing_result = fw_log_device.parse_log(log_message, parsed_log);
+                        
+                        stringstream sstr;
+                        sstr << parsed_log.timestamp() << " " << parsed_log.severity() << " " << parsed_log.message()
+                            << " " << parsed_log.thread_name() << " " << parsed_log.file_name()
+                            << " " << parsed_log.line();
+
+                        fw_log_lines.push_back(sstr.str());
+                    }
+                    else
+                    {
+                        stringstream sstr;
+                        sstr << log_message.get_timestamp();
+                        sstr << " " << log_message.get_severity_str();
+                        sstr << "  FW_Log_Data:";
+                        std::vector<uint8_t> msg_data = log_message.data();
+                        for (int i = 0; i < msg_data.size(); ++i)
+                        {
+                        sstr << char2hex(msg_data[i]) << " ";
+                        }
+                        fw_log_lines.push_back(sstr.str());
+                    }
+                    for (auto& line : fw_log_lines)
+                        cout << line << endl;
+                }
+                else
+                {
+                    if (are_flash_logs_requested)
+                    {
+                        are_there_remaining_flash_logs_to_pull = false;
+                    }
                 }
-
-                for (auto& line : fw_log_lines)
-                    cout << line << endl;
             }
         }
         catch (const error & e)
diff --git a/tools/realsense-viewer/realsense-viewer.cpp b/tools/realsense-viewer/realsense-viewer.cpp
index 71a3a9f8c0..94fb3bce5f 100644
--- a/tools/realsense-viewer/realsense-viewer.cpp
+++ b/tools/realsense-viewer/realsense-viewer.cpp
@@ -299,50 +299,18 @@ int main(int argc, const char** argv) try
     std::vector<device> connected_devs;
     std::mutex m;
 
-#ifdef BUILD_SHARED_LIBS
-    // Configure the logger
-    el::Configurations conf;
-    conf.set(el::Level::Global, el::ConfigurationType::Format, "[%level] %msg");
-    conf.set(el::Level::Info, el::ConfigurationType::Format, "%msg");
-    conf.set(el::Level::Debug, el::ConfigurationType::Enabled, "false");
-    el::Loggers::reconfigureLogger("default", conf);
-    // Create a dispatch sink which will get any messages logged to EasyLogging, which will then
-    // post the messages on the viewer's notification window.
-    class viewer_model_dispatcher : public el::LogDispatchCallback
-    {
-    public:
-        std::weak_ptr<notifications_model> notifications;  // only the default ctor is available to us...!
-    protected:
-        void handle(const el::LogDispatchData* data) noexcept override
-        {
-            // TODO align LRS and Easyloging severity levels. W/A for easylogging on Linux
-            if (data->logMessage()->level() > el::Level::Debug)
-            {
-                if (auto not_model = notifications.lock())
-                    not_model->add_log(
-                        data->logMessage()->logger()->logBuilder()->build(
-                        data->logMessage(),
-                        data->dispatchAction() == el::base::DispatchAction::NormalLog));
-            }
-        }
-    };
-    el::Helpers::installLogDispatchCallback< viewer_model_dispatcher >( "viewer_model_dispatcher" );
-    auto dispatcher = el::Helpers::logDispatchCallback< viewer_model_dispatcher >( "viewer_model_dispatcher" );
-    dispatcher->notifications = viewer_model.not_model;
-    el::Helpers::uninstallLogDispatchCallback< el::base::DefaultLogDispatchCallback >( "DefaultLogDispatchCallback" );
-#endif
-
     std::weak_ptr<notifications_model> notifications = viewer_model.not_model;
-    rs2::log_to_callback( RS2_LOG_SEVERITY_INFO,
+     rs2::log_to_callback( RS2_LOG_SEVERITY_INFO,
         [notifications]( rs2_log_severity severity, rs2::log_message const& msg )
         {
             if (auto not_model = notifications.lock())
-                not_model->add_log( msg.raw() );
-        } );
+            {
+                not_model->output.add_log(severity, msg.filename(), msg.line_number(), msg.raw());
+            }
+        });
 
     window.on_file_drop = [&](std::string filename)
     {
-
         add_playback_device(ctx, *device_models, error_message, viewer_model, filename);
         if (!error_message.empty())
         {
@@ -639,9 +607,16 @@ int main(int argc, const char** argv) try
 
         viewer_model.show_top_bar(window, viewer_rect, *device_models);
 
-        viewer_model.show_event_log(window.get_font(), viewer_model.panel_width,
-            window.height() - (viewer_model.is_output_collapsed ? viewer_model.default_log_h : 20),
-            window.width() - viewer_model.panel_width, viewer_model.default_log_h);
+        auto output_rect = rect{ viewer_model.panel_width,
+            window.height() - viewer_model.get_output_height(),
+            window.width() - viewer_model.panel_width, viewer_model.get_output_height() };
+
+        std::vector<rs2::device> devices;
+        for (auto&& dev_model : *device_models)
+        {
+            devices.push_back(dev_model->dev);
+        }
+        viewer_model.not_model->output.draw(window, output_rect, devices);
 
         // Set window position and size
         ImGui::SetNextWindowPos({ 0, viewer_model.panel_y });
diff --git a/unit-tests/unit-tests-live.cpp b/unit-tests/unit-tests-live.cpp
index fbf811d847..8ba70c49f0 100644
--- a/unit-tests/unit-tests-live.cpp
+++ b/unit-tests/unit-tests-live.cpp
@@ -2980,7 +2980,7 @@ static const std::map< dev_type, device_profiles> pipeline_default_configuration
 /* SR300*/              { { "0AA5", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1920, 1080, 0 } }, 30, true } },
 };
 
-TEST_CASE("Pipeline wait_for_frames", "[live][pipeline][using_pipeline]") {
+TEST_CASE("Pipeline wait_for_frames", "[live][pipeline][using_pipeline][!mayfail]") {
 
     rs2::context ctx;
 
@@ -3046,7 +3046,7 @@ TEST_CASE("Pipeline wait_for_frames", "[live][pipeline][using_pipeline]") {
     }
 }
 
-TEST_CASE("Pipeline poll_for_frames", "[live][pipeline][using_pipeline]")
+TEST_CASE("Pipeline poll_for_frames", "[live][pipeline][using_pipeline][!mayfail]")
 {
     rs2::context ctx;
 
@@ -3311,7 +3311,7 @@ TEST_CASE("Pipeline enable stream auto complete", "[live][pipeline][using_pipeli
     }
 }
 
-TEST_CASE("Pipeline disable_all", "[live][pipeline][using_pipeline]") {
+TEST_CASE("Pipeline disable_all", "[live][pipeline][using_pipeline][!mayfail]") {
 
     auto not_default_configurations = pipeline_custom_configurations;
     auto default_configurations = pipeline_default_configurations;
@@ -4730,7 +4730,7 @@ TEST_CASE("Pipeline stream enable hierarchy", "[pipeline]")
     }
 }
 
-TEST_CASE("Pipeline stream with callback", "[live][pipeline][using_pipeline]")
+TEST_CASE("Pipeline stream with callback", "[live][pipeline][using_pipeline][!mayfail]")
 {
     rs2::context ctx;
 
@@ -5830,7 +5830,7 @@ TEST_CASE("Wheel_Odometry_API", "[live]")
 }
 
 
-TEST_CASE("get_sensor_from_frame", "[live][using_pipeline]")
+TEST_CASE("get_sensor_from_frame", "[live][using_pipeline][!mayfail]")
 {
     // Require at least one device to be plugged in
     rs2::context ctx;
diff --git a/wrappers/opencv/dnn/rs-dnn.cpp b/wrappers/opencv/dnn/rs-dnn.cpp
index e9cdd76341..c14028a537 100644
--- a/wrappers/opencv/dnn/rs-dnn.cpp
+++ b/wrappers/opencv/dnn/rs-dnn.cpp
@@ -107,7 +107,7 @@ int main(int argc, char** argv) try
                 // Calculate mean depth inside the detection region
                 // This is a very naive way to estimate objects depth
                 // but it is intended to demonstrate how one might 
-                // use depht data in general
+                // use depth data in general
                 Scalar m = mean(depth_mat(object));
 
                 std::ostringstream ss;
diff --git a/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudDepth.asset b/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudDepth.asset
index ced8a27fca..905ab2fb2b 100644
--- a/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudDepth.asset
+++ b/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudDepth.asset
@@ -45,4 +45,4 @@ MonoBehaviour:
   enabled: 1
   TextureStream: 1
   TextureFormat: 1
-  _occlusionRemoval: 0
+  _occlusionRemoval: 1
diff --git a/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudDepthAndColor.asset b/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudDepthAndColor.asset
index 10405f03a4..79ef06fa93 100644
--- a/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudDepthAndColor.asset
+++ b/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudDepthAndColor.asset
@@ -27,4 +27,4 @@ MonoBehaviour:
   enabled: 1
   TextureStream: 2
   TextureFormat: 5
-  _occlusionRemoval: 0
+  _occlusionRemoval: 1
diff --git a/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudProcessingBlocks.asset b/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudProcessingBlocks.asset
index c28970e927..a53e2b8499 100644
--- a/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudProcessingBlocks.asset
+++ b/wrappers/unity/Assets/RealSenseSDK2.0/ProcessingPipe/PointCloudProcessingBlocks.asset
@@ -138,7 +138,7 @@ MonoBehaviour:
   enabled: 1
   TextureStream: 1
   TextureFormat: 5
-  _occlusionRemoval: 0
+  _occlusionRemoval: 1
 --- !u!114 &114947088938950326
 MonoBehaviour:
   m_ObjectHideFlags: 0
diff --git a/wrappers/unity/Assets/RealSenseSDK2.0/Scripts/ProcessingBlocks/RsPointCloud.cs b/wrappers/unity/Assets/RealSenseSDK2.0/Scripts/ProcessingBlocks/RsPointCloud.cs
index ba2fe28de4..60328f0b43 100644
--- a/wrappers/unity/Assets/RealSenseSDK2.0/Scripts/ProcessingBlocks/RsPointCloud.cs
+++ b/wrappers/unity/Assets/RealSenseSDK2.0/Scripts/ProcessingBlocks/RsPointCloud.cs
@@ -5,9 +5,8 @@ public class RsPointCloud : RsProcessingBlock
 {
     public enum OcclusionRemoval
     {
-        Off = 0,
-        Heuristic = 1,
-        Exhaustive = 2
+        Off = 1,
+        On = 2
     }
 
     public Stream TextureStream = Stream.Color;