[gerthworm]

Thanks for the info! Pending what we find this season, I may enter that request.

FYI, the background on this is we have had some very hard-to-diagnoses failures in the past where we lose control of the robot briefly. What I'm hoping to do is to track fine-grained data every run about voltages, current draw, drive commands, network status, processor load, etc. - all in the hope that if/when we have a failure, we'll have enough info to know where to go start debugging (even on a non-reproducible problem).

Additionally, some of the algorithms suggested this year would need to be tuned and evaluated on real hardware. Not sure if we'll be successful in implementing and using them, but I figured the logging infrastructure would be needed anyway to properly evaluate these algorithms performance.