best practices for logging sensors?

[fovea1959]

one of the things on my list for the students this year is logging sensor data during autonomous; want the students to have debugging information at their disposal if (when) autonomous does something weird.

my main concern: I don't want the logging to impact the autonomous processing; so that suggests that we either:
- put a (lower priority) separate parallel loop in to field the sensor data and events and write them out to a file in the cRIO, passing the data between the autonomous loops and the logging loop with a queue or something similar.
- queue *all* the data up during autonomous, then write it out when we go disabled. I need to investigate if this is going to get us into memory trouble.

has anyone seen any good tutorials for passing data in a queue?

are there any advantages to using TDMS over just writing out a CSV file?

any experiences from other FRC teams on this?