diff --git a/src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
index fa9c9d058..5e0f4d2e8 100644
--- a/src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
@@ -57,6 +57,8 @@
 #include <map>
 #include <numeric>
 #include <vector>
+#include "iostream"
+#include <fstream>
 
 #if HAS_GENERIC_LAMBDA
 #else
@@ -647,18 +649,40 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
                             // states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s
                             x_tmp = {cmd->code_phase_chips, cmd->carrier_phase_rads, cmd->carrier_freq_hz, cmd->carrier_freq_rate_hz_s};
                             // TODO: Replace only the desired states and leave the others as stored in d_x_old_old vector (e.g replace only the carrier_freq_hz)
-                            arma::vec tmp_x = F_tmp * x_tmp;
+                            //arma::vec tmp_x = F_tmp * x_tmp;
                             double old_doppler = d_x_old_old(2);
-                            d_x_old_old(2) = tmp_x(2);  //replace only the Carrier Frequency state
+                            d_x_old_old(2) = x_tmp(2);  //replace only the Carrier Frequency state
 
                             // set vtl corrections flag to inform VTL from gnss_synchro object
                             d_vtl_cmd_applied_now = true;
                             d_vtl_cmd_samplestamp = cmd->sample_counter;
-                            std::cout << "CH " << this->d_channel << " RX pvt-to-trk cmd with delay: "
+                            // std::cout << "CH " << this->d_channel << " RX pvt-to-trk cmd with delay: "
+                            //           << static_cast<double>(d_sample_counter - cmd->sample_counter) / d_trk_parameters.fs_in
+                            //           << " SampleCounter origin: " << cmd->sample_counter
+                            //           << " Doppler new state: " << x_tmp(2) << " vs. trk state: " << old_doppler << " [Hz]"
+                            //           << " [s]\n";
+                            if(this->d_channel ==0) 
+                            {
+                                std::cout << "CH " << this->d_channel << " RX pvt-to-trk cmd with delay: "
                                       << static_cast<double>(d_sample_counter - cmd->sample_counter) / d_trk_parameters.fs_in
                                       << " SampleCounter origin: " << cmd->sample_counter
-                                      << " Doppler new state: " << tmp_x(2) << " vs. trk state: " << old_doppler << " [Hz]"
+                                      << " Doppler new state: " << x_tmp(2) << " vs. trk state: " << old_doppler << " [Hz]"
                                       << " [s]\n";
+                            }
+
+                            std::fstream dump_tracking_file;
+                            dump_tracking_file.open("dump_trk_file.csv", std::ios::out | std::ios::app);
+                            dump_tracking_file.precision(15);
+                            if (!dump_tracking_file)
+                            {
+                                std::cout  << "dump_tracking_file not created!";
+                            }   
+                            else
+                            {
+                                dump_tracking_file << "doppler_corr"
+                                << ","<< this->d_channel << "," << x_tmp(2) << "," << old_doppler  << "\n";
+                                dump_tracking_file.close();
+                            }
                         }
                 }
             else