diff --git a/hoverbrettctrl/src/main.cpp b/hoverbrettctrl/src/main.cpp
index cecf789..5e694d8 100644
--- a/hoverbrettctrl/src/main.cpp
+++ b/hoverbrettctrl/src/main.cpp
@@ -192,6 +192,7 @@ uint8_t controlmode=0;
 #include <SD.h> //Format sd cart with FAT or FAT16
 #define SDCHIPSELECT 16
 boolean datalogging=true;
+String datalogging_filename="UNKNOWN.txt";
 
 
 void updateInputs(unsigned long loopmillis);
@@ -201,6 +202,8 @@ void display_show_stats2();
 void display_show_stats3();
 void display_show_menu();
 time_t getTeensy3Time();
+String addLeadingZero(int number);
+String getCurrentDatestring();
 
 void setup() {
   Serial.begin(SERIAL_BAUD); //Debug and Program
@@ -238,6 +241,20 @@ void setup() {
   }else{
     Serial.println("Card initialized.");
     display.print(F("OK")); display.display();
+    if (datalogging){
+      int filenumber=0;
+      char buffer[6];
+      sprintf(buffer, "%04d", filenumber);
+      datalogging_filename="LOG_"+String(buffer)+".TXT";
+      while(SD.exists(datalogging_filename) && filenumber<10000) {
+        Serial.print(datalogging_filename); Serial.println(" exists");
+        filenumber++;
+        sprintf(buffer, "%04d", filenumber);
+        datalogging_filename="LOG_"+String(buffer)+".TXT";
+
+      }      
+      Serial.print(datalogging_filename); Serial.println(" is free");
+    }
   }
 
   analogReadResolution(12);
@@ -272,6 +289,7 @@ void setup() {
   } else {
     Serial.println("RTC has set the system time");
     display.println(F("OK")); display.display();
+
   }
 
   
@@ -576,15 +594,36 @@ void loop() {
 
 
   static unsigned long last_datalogging_write=0;
+  static boolean logging_headerWritten=false;
   if (datalogging) {
     #define LOGGINGINTERVAL 100
     if (loopmillis-last_datalogging_write>LOGGINGINTERVAL)
     {
       last_datalogging_write=loopmillis;
-      File dataFile = SD.open("datalog.txt", FILE_WRITE);
+      
+      File dataFile = SD.open(datalogging_filename, FILE_WRITE);
 
       if (dataFile) { // if the file is available, write to it
-        dataFile.println("TEST asdf");
+        if (!logging_headerWritten) {
+          dataFile.print("time,cmd_L,cmd_R,");
+          dataFile.print("current_L,current_R,");
+          dataFile.print("rpm_L,rpm_R,");
+          dataFile.print("temp,vbat,");
+          dataFile.println("trip,currentConsumed");
+          logging_headerWritten=true;
+        }
+        dataFile.print(String(loopmillis)); dataFile.print(";");
+        dataFile.print(esc.getCmdL());  dataFile.print(";");
+        dataFile.print(esc.getCmdR());  dataFile.print(";");
+        dataFile.print(esc.getFiltered_curL(),3);  dataFile.print(";");
+        dataFile.print(esc.getFiltered_curR(),3);  dataFile.print(";");
+        dataFile.print(esc.getFeedback_speedL_meas());  dataFile.print(";");
+        dataFile.print(esc.getFeedback_speedR_meas());  dataFile.print(";");
+        dataFile.print(esc.getFeedback_boardTemp());  dataFile.print(";");
+        dataFile.print(esc.getFeedback_batVoltage());  dataFile.print(";");
+        dataFile.print(esc.getTrip());  dataFile.print(";");
+        dataFile.print(esc.getCurrentConsumed(),3);
+        dataFile.println("");
         dataFile.close();
       }
     }
@@ -770,7 +809,7 @@ void display_show_stats() {
   static float mincurR=0;
   mincurL=min(mincurL,esc.getFiltered_curL());
   mincurR=min(mincurR,esc.getFiltered_curR());*/
-
+  
   
   display.print(F("Bat=")); display.print(esc.getFeedback_batVoltage());  display.print(F(" min=")); display.println(esc.getMinBatVoltage()); 
   display.print(F("Temp=")); display.print(esc.getFeedback_boardTemp()); display.print(F(" max=")); display.println(esc.getMaxBoardTemp());
@@ -779,8 +818,13 @@ void display_show_stats() {
   display.print(F("trip=")); display.print(esc.getTrip(),0); display.print(F(", ")); display.print(esc.getCurrentConsumed(),3); display.println(F("Ah"));
   display.print(F("eff.=")); display.print(esc.getTrip()/esc.getCurrentConsumed(),0); display.println(F("m/Ah"));
 
-  display.print(F("RTC=")); display.print(now()); display.println(F(""));
-  display.print(F("Logging=")); display.print(datalogging); display.println(F(""));
+  display.print(F("RTC=")); display.print(getCurrentDatestring()); display.println(F(""));
+  
+  if (datalogging) {
+    display.print(datalogging_filename); display.print(F(" ")); display.print(loopmillis/1000); display.println(F("s"));
+  }else{
+    display.print("No SD"); display.println(F(""));
+  }
   
   
   display.display();      // Show initial text
@@ -871,4 +915,16 @@ void display_show_menu() {
 time_t getTeensy3Time()
 {
   return Teensy3Clock.get();
-}
\ No newline at end of file
+}
+
+String addLeadingZero(int number) {
+  if (number<10) {
+    return "0"+String(number);
+  }
+  return String(number);
+}
+
+String getCurrentDatestring() {
+  return addLeadingZero(year())+addLeadingZero(month())+addLeadingZero(day())+"-"+addLeadingZero(hour())+addLeadingZero(minute())+addLeadingZero(second());
+}
+