diff --git a/VRPN.gd b/VRPN.gd
index 5295bcf..5977091 100644
--- a/VRPN.gd
+++ b/VRPN.gd
@@ -1,78 +1,68 @@
 extends Node
 
 class_name VRPN
-	
-	
-	
+
 static func marshal(data : PackedByteArray):
 	
+	# need to fix that 
 	var block_offset : int = 0
 	var header_size = aligned_size(20) # kinda redundant as we take the seq number as well
 	
-	#print(data)
+	# reader for stream
+	var header := StreamPeerBuffer.new()
+	# get block addresses
+	header.data_array = data.slice(block_offset,block_offset+header_size)
+	# make sure we read as big endian
+	header.big_endian = true 
 	
-	while block_offset < data.size():
-		
-		print("...")
-		
-		# reader for stream
-		var header := StreamPeerBuffer.new()
-		header.data_array = data.slice(block_offset,block_offset+header_size)
-		header.big_endian = true # make sure we read as big endian
-		
-		# read header
-		var length := header.get_32() as int # length of message
-		var time_sec := header.get_32() as int  # time sec
-		var time_msec := header.get_32() as int # time micro sec
-		var sender_id = header.get_32()  # sender id 
-		var message_type = header.get_32() # type of message (payload)
-		var sequence_num = header.get_32() # inofficial sequence number (padding)
-		
-		if false:
-			print("length       %d" % length)
-			print("time_sec     %d" % time_sec)
-			print("time_msec    %d" % time_msec)
-			print("sender_id    %d" % sender_id)
-			print("message_type %d" % message_type)
-			print("sequence_num %d" % sequence_num)
-		
-		
-		print("block_offset:{0} header_size:{1} length:{2}".format([block_offset,header_size,length]))
-		
-		# update blockoffset
-		block_offset += length
-		
-		continue
-		
-		# sender description
-		if message_type == -1:
+	# read header
+	var length := header.get_32() as int # length of message
+	var time_sec := header.get_32() as int  # time sec
+	var time_msec := header.get_32() as int # time micro sec
+	var sender_id := header.get_32() as int  # sender id 
+	var message_type := header.get_32() as int # type of message (payload)
+	var sequence_num := header.get_32() as int # inofficial sequence number (padding)
+	
+	if false:
+		print("length       '%d'" % length)
+		print("time_sec     '%d'" % time_sec)
+		print("time_msec    '%d'" % time_msec)
+		print("sender_id    '%d'" % sender_id)
+		print("message_type '%d'" % message_type)
+		print("sequence_num '%d'" % sequence_num)
+	
+	# print out
+	print("block_offset:{0} header_size:{1} length:{2}".format([block_offset,header_size,length]))
+
+	# sender description
+	match message_type:
+		-1:
 			var body := StreamPeerBuffer.new()
-			body.data_array = data.slice(24)
+			body.data_array = data.slice(block_offset+header_size)
 			body.big_endian = true
+			# get length of string
 			var body_length = body.get_32()
-			#print(body_length)
-			#print(body.data_array)
-			
+			# get string
 			var sender_name = body.get_string(body_length)
 			print("sender id {0} is '{1}'".format([sender_id,sender_name]))
 		
-		# quat pos
-		if message_type == 4:
+		4: # quat pos
+			# set body
 			var body := StreamPeerBuffer.new()
-		
-			body.data_array = data.slice(header_size,length)
+			# set header size
+			body.data_array = data.slice(block_offset+header_size,block_offset+header_size+length)
 			body.big_endian = true
+			# get id
 			var sensor_id = body.get_32()
 			var padding = body.get_32()
-			var pos = Vector3(body.get_float(),body.get_float(),body.get_float())
-			var quat_w = body.get_float()
-			var quat_x = body.get_float()
-			var quat_y = body.get_float()
-			var quat_z = body.get_float()
+			var pos = Vector3(body.get_double(),body.get_double(),body.get_double())
+			# VRPN quaternions are w,xyz
+			var quat_w = body.get_double()
+			var quat_x = body.get_double()
+			var quat_y = body.get_double()
+			var quat_z = body.get_double()
 			var quat = Quaternion(quat_x,quat_y,quat_z,quat_w)
-			
-		#print("Pos_Quat ",sensor_id,pos,quat)
-	print("------------")
+
 
 static func aligned_size(actual_size : int,alignment : int = 8) -> int:		
 	return (actual_size + alignment - 1) & ~(alignment - 1)