diff --git a/y2022/localizer/localizer_replay.cc b/y2022/localizer/localizer_replay.cc
new file mode 100644
index 0000000..d328948
--- /dev/null
+++ b/y2022/localizer/localizer_replay.cc
@@ -0,0 +1,95 @@
+#include "aos/configuration.h"
+#include "aos/events/logging/log_reader.h"
+#include "aos/events/logging/log_writer.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/network/team_number.h"
+#include "y2022/localizer/localizer.h"
+#include "y2022/localizer/localizer_schema.h"
+#include "gflags/gflags.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+DEFINE_string(config, "y2022/aos_config.json",
+              "Name of the config file to replay using.");
+DEFINE_int32(team, 7971, "Team number to use for logfile replay.");
+DEFINE_string(output_folder, "/tmp/replayed",
+              "Name of the folder to write replayed logs to.");
+
+class LoggerState {
+ public:
+  LoggerState(aos::logger::LogReader *reader, const aos::Node *node)
+      : event_loop_(
+            reader->event_loop_factory()->MakeEventLoop("logger", node)),
+        namer_(std::make_unique<aos::logger::MultiNodeLogNamer>(
+            absl::StrCat(FLAGS_output_folder, "/", node->name()->string_view(),
+                         "/"),
+            event_loop_.get())),
+        logger_(std::make_unique<aos::logger::Logger>(event_loop_.get())) {
+    event_loop_->SkipTimingReport();
+    event_loop_->SkipAosLog();
+    event_loop_->OnRun([this]() { logger_->StartLogging(std::move(namer_)); });
+  }
+
+ private:
+  std::unique_ptr<aos::EventLoop> event_loop_;
+  std::unique_ptr<aos::logger::LogNamer> namer_;
+  std::unique_ptr<aos::logger::Logger> logger_;
+};
+
+// TODO(james): Currently, this replay produces logfiles that can't be read due
+// to time estimation issues. Pending the active refactorings of the
+// timestamp-related code, fix this.
+int main(int argc, char **argv) {
+  aos::InitGoogle(&argc, &argv);
+
+  aos::network::OverrideTeamNumber(FLAGS_team);
+
+  const aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig(FLAGS_config);
+
+  // find logfiles
+  std::vector<std::string> unsorted_logfiles =
+      aos::logger::FindLogs(argc, argv);
+
+  // sort logfiles
+  const std::vector<aos::logger::LogFile> logfiles =
+      aos::logger::SortParts(unsorted_logfiles);
+
+  // open logfiles
+  aos::logger::LogReader reader(logfiles, &config.message());
+
+  auto factory =
+      std::make_unique<aos::SimulatedEventLoopFactory>(reader.configuration());
+
+  reader.Register(factory.get());
+
+  std::vector<std::unique_ptr<LoggerState>> loggers;
+  // List of nodes to create loggers for (note: currently just roborio; this
+  // code was refactored to allow easily adding new loggers to accommodate
+  // debugging and potential future changes).
+  const std::vector<std::string> nodes_to_log = {"imu"};
+  for (const std::string &node : nodes_to_log) {
+    loggers.emplace_back(std::make_unique<LoggerState>(
+        &reader, aos::configuration::GetNode(reader.configuration(), node)));
+  }
+
+  const aos::Node *node = nullptr;
+  if (aos::configuration::MultiNode(reader.configuration())) {
+    node = aos::configuration::GetNode(reader.configuration(), "imu");
+  }
+
+  std::unique_ptr<aos::EventLoop> localizer_event_loop =
+      reader.event_loop_factory()->MakeEventLoop("localizer", node);
+  localizer_event_loop->SkipTimingReport();
+
+  frc971::controls::EventLoopLocalizer localizer(
+      localizer_event_loop.get(),
+      y2022::control_loops::drivetrain::GetDrivetrainConfig());
+
+  reader.event_loop_factory()->Run();
+
+  reader.Deregister();
+
+  return 0;
+}