diff --git a/controller_teensy/src/main.cpp b/controller_teensy/src/main.cpp
index e34650f..4d8e29a 100644
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@@ -21,6 +21,10 @@ unsigned long last_log_send=0;
 
 #define SENDPERIOD 20 //ms. delay for sending speed and steer data to motor controller via serial
 #define LOGMININTERVAL 20 //minimum interval (ms) to send logs
+#define LOGMAXINTERVAL 10000  //maximum time (ms) after which data is send
+
+#define WRITE_HEADER_TIME 1000
+bool log_header_written = false;
 
 bool controllers_connected=false;
 
@@ -270,8 +274,10 @@ void loop() {
     controllers_connected=false;
   }else if(!controllers_connected) { //not timeouted but was before
     controllers_connected=true;
-    writeLogHeader(Serial1); //connection recovered, write log header
   }
+
+  
+  
   
 
   if (newData2) {
@@ -343,8 +349,15 @@ void loop() {
     
   }
 
+
+  // ######## LOG ########
+
+  if (!log_header_written && loopmillis>=WRITE_HEADER_TIME){
+    writeLogHeader(Serial1); //connection recovered, write log header
+    log_header_written=true;
+  }
   
-  if (log_update && loopmillis>last_log_send+LOGMININTERVAL) {
+  if ((log_header_written && log_update && loopmillis>last_log_send+LOGMININTERVAL) || loopmillis>last_log_send+LOGMAXINTERVAL) {
     last_log_send=loopmillis;
     log_update=false;
     writeLog(Serial1,loopmillis, motorparamsFront,motorparamsRear, FeedbackFront, FeedbackRear, filtered_currentAll, throttle_pos, brake_pos);