[kamocat]

If you do this, make sure to do it in Periodic Tasks.
I tried logging the status of the robot (for field diagnostics during matches), but found it slowed the code down to 150 to 230 ms per iteration. (That's a lot of lag for a driver.)
It's possible that it had to do with the string processing functions I was using, but I have a feeling that the cRIO has slow memory writes. (Why else would it take several minutes to transfer your code?)