diff --git a/frc971/control_loops/shooter/shooter.gyp b/frc971/control_loops/shooter/shooter.gyp
index 710bcb9..5f62fa8 100644
--- a/frc971/control_loops/shooter/shooter.gyp
+++ b/frc971/control_loops/shooter/shooter.gyp
@@ -55,6 +55,19 @@
       ],
     },
     {
+      'target_name': 'shooter_csv',
+      'type': 'executable',
+      'sources': [
+        'shooter_csv.cc',
+      ],
+      'dependencies': [
+        '<(AOS)/build/aos.gyp:libaos',
+        '<(AOS)/common/common.gyp:time',
+        '<(AOS)/common/common.gyp:timing',
+        'shooter_loop',
+      ],
+    },
+    {
       'target_name': 'shooter',
       'type': 'executable',
       'sources': [
diff --git a/frc971/control_loops/shooter/shooter_csv.cc b/frc971/control_loops/shooter/shooter_csv.cc
new file mode 100644
index 0000000..40b4c05
--- /dev/null
+++ b/frc971/control_loops/shooter/shooter_csv.cc
@@ -0,0 +1,51 @@
+#include "stdio.h"
+
+#include "aos/aos_core.h"
+#include "aos/common/control_loop/Timing.h"
+#include "aos/common/time.h"
+#include "frc971/control_loops/shooter/shooter_motor.q.h"
+
+using ::frc971::control_loops::shooter;
+using ::aos::time::Time;
+
+int main(int argc, char * argv[]) {
+  FILE *data_file = NULL;
+  FILE *output_file = NULL;
+  fprintf(data_file, "time, power, position");
+
+  if (argc != 2) {
+    printf("Not saving to a CSV file.\n");
+    data_file = fopen(argv[1], "w");
+    fprintf(data_file, "time, power, position");
+    output_file = data_file;
+  } else {
+    output_file = stdout;
+  }
+
+  ::aos::Init();
+
+  Time start_time = Time::Now();
+
+  while (true) {
+    ::aos::time::PhasedLoop10MS(2000);
+    shooter.goal.FetchLatest();
+    shooter.status.FetchLatest();
+    shooter.position.FetchLatest();
+    shooter.output.FetchLatest();
+    if (shooter.output.get() &&
+        shooter.position.get()) {
+      fprintf(output_file, "\n%f, %f, %f",
+              (shooter.position->sent_time - start_time).ToSeconds(), 
+              shooter.output->voltage,
+              shooter.position->position);
+    }
+  }
+
+  if (data_file) {
+    fclose(data_file);
+  }
+
+  ::aos::Cleanup();
+  return 0;
+}
+