diff --git a/assethandler.py b/assethandler.py
index b8055a1..3b8fcd5 100755
--- a/assethandler.py
+++ b/assethandler.py
@@ -5,6 +5,7 @@ import uuid
 import aioserial
 import aiomqtt
 import pyubx2
+from datetime import datetime, timedelta
 
 SERIAL_PORT = "/tmp/ttyV0"
 BAUD = 115200
@@ -12,11 +13,7 @@ BAUD = 115200
 SERIAL_PUBLISH_TOPIC = "serial/data"
 SERIAL_COMMAND_TOPIC = "serial/command"
 
-
 async def parse_serial(ser):
-    """
-    Async generator: read raw bytes from serial and yield parsed UBX/NMEA messages.
-    """
     buffer = bytearray()
 
     # pyubx2 requires a file-like object, so we'll use a memoryview wrapper
@@ -32,39 +29,34 @@ async def parse_serial(ser):
     ubr = pyubx2.UBXReader(StreamWrapper(), parsing=True)
 
     while True:
-        # read available data from serial (small chunks)
         chunk = await ser.read_async(200)
         if chunk:
             buffer.extend(chunk)
 
-            # attempt to parse as many messages as possible
             try:
                 while True:
                     raw, parsed = ubr.read()
                     if raw is None:
                         break
                     yield raw, parsed
-            except (BlockingIOError, Exception):
-                # incomplete message; wait for more bytes
+            except (pyubx2.UBXStreamError, BlockingIOError, Exception):
                 pass
-            except pyubx2.UBXStreamError:
-                pass  # silently ignore incomplete packets
         else:
             await asyncio.sleep(0)  # yield control
 
 
 async def serial_reader(ser, mqtt_client):
-    """
-    Coroutine wrapper around async generator parse_serial.
-    Feeds parsed UBX/NMEA messages to MQTT.
-    """
     async for raw, parsed in parse_serial(ser):
-        # For example, publish raw bytes to MQTT
-        print(parsed)
-        await mqtt_client.publish("serial/parsed", str(parsed))
-        await mqtt_client.publish("serial/raw", raw)
-        # Optional: inspect parsed fields
-        # print(parsed)
+        if isinstance(parsed, pyubx2.UBXMessage):
+            for name, value in vars(parsed).items():
+                if name.startswith('_'):
+                    continue
+                await mqtt_client.publish(f"ubx/{parsed.identity}/{name}", value, retain=True)
+        else:
+            print(parsed.identity, parsed)
+        
+        await mqtt_client.publish(f"ubx/raw", raw)
+        await mqtt_client.publish(f"ubx/parsed", str(parsed))
 
 async def mqtt_command_writer(ser, client):
     async for message in client.messages: