diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7434d1adf..18a5ad461 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -394,7 +394,7 @@ set(GNSSSDR_ARMADILLO_LOCAL_VERSION "9.500.x")
 set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
 set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
-set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.15")
+set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.16")
 set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.9")
 set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.8.0")
 
diff --git a/cmake/Modules/FindGOOGLETEST.cmake b/cmake/Modules/FindGOOGLETEST.cmake
index 669cdfc72..b81c17eb3 100644
--- a/cmake/Modules/FindGOOGLETEST.cmake
+++ b/cmake/Modules/FindGOOGLETEST.cmake
@@ -61,7 +61,7 @@ find_package_handle_standard_args(GOOGLETEST DEFAULT_MSG LIBGTEST_DEV_DIR GTEST_
 if(GOOGLETEST_FOUND AND PC_GTEST_VERSION)
     set(GOOGLETEST_VERSION ${PC_GTEST_VERSION})
     set_package_properties(GOOGLETEST PROPERTIES
-        DESCRIPTION "Source code of Google's Testing Framework (found: ${GOOGLETEST_VERSION})"
+        DESCRIPTION "Source code of Google's Testing Framework (found: v${GOOGLETEST_VERSION})"
     )
 else()
     set_package_properties(GOOGLETEST PROPERTIES
diff --git a/cmake/Modules/FindPUGIXML.cmake b/cmake/Modules/FindPUGIXML.cmake
index 98e63c0c6..96088a38a 100644
--- a/cmake/Modules/FindPUGIXML.cmake
+++ b/cmake/Modules/FindPUGIXML.cmake
@@ -111,7 +111,7 @@ set_package_properties(PUGIXML PROPERTIES
 
 if(PUGIXML_FOUND AND PUGIXML_VERSION)
     set_package_properties(PUGIXML PROPERTIES
-        DESCRIPTION "Light-weight, simple and fast XML parser for C++ (found: ${PUGIXML_VERSION})"
+        DESCRIPTION "Light-weight, simple and fast XML parser for C++ (found: v${PUGIXML_VERSION})"
     )
 else()
     set_package_properties(PUGIXML PROPERTIES
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
index 2b0dcbcbc..0a363cac5 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
@@ -327,11 +327,10 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
     double code_error_chips_Ti = 0.0;
     double code_error_filt_chips = 0.0;
     double code_error_filt_secs_Ti = 0.0;
-    double CURRENT_INTEGRATION_TIME_S;
-    double CORRECTED_INTEGRATION_TIME_S;
+    double CURRENT_INTEGRATION_TIME_S = 0.001;
+    double CORRECTED_INTEGRATION_TIME_S = 0.001;
     double dll_code_error_secs_Ti = 0.0;
     double carr_phase_error_secs_Ti = 0.0;
-    double old_d_rem_code_phase_samples;
     if (d_enable_tracking == true)
         {
             // Fill the acquisition data
@@ -406,8 +405,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
             T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
             K_blk_samples = T_prn_samples + d_rem_code_phase_samples - dll_code_error_secs_Ti * static_cast<double>(d_fs_in);
 
-            d_correlation_length_samples = round(K_blk_samples);  //round to a discrete samples
-            old_d_rem_code_phase_samples = d_rem_code_phase_samples;
+            d_correlation_length_samples = round(K_blk_samples);                                           //round to a discrete samples
             d_rem_code_phase_samples = K_blk_samples - static_cast<double>(d_correlation_length_samples);  //rounding error < 1 sample
 
             // UPDATE REMNANT CARRIER PHASE
@@ -524,14 +522,14 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
                     tmp_float = d_code_freq_chips;
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
                     // PLL commands
-                    tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
+                    tmp_float = 1.0 / (carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
-                    tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
+                    tmp_float = 1.0 / (code_error_filt_secs_Ti * CURRENT_INTEGRATION_TIME_S);
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
                     // DLL commands
-                    tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
+                    tmp_float = code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
-                    tmp_float = d_code_error_filt_chips_Ti;
+                    tmp_float = code_error_filt_secs_Ti;
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
                     // CN0 and carrier lock test
                     tmp_float = d_CN0_SNV_dB_Hz;
@@ -539,7 +537,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
                     tmp_float = d_carrier_lock_test;
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
                     // AUX vars (for debug purposes)
-                    tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
+                    tmp_float = code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
                     double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
                     d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));