we log in order to determine inkha's tracking and motor movements (see debug-level)
we used this to:
produce the experimental plots
check sequencing
verify control system activity

we also log activity and internal errors (see below)

debug-level logging
we set differing amounts of logging through the ui
0 - off
1 - intermediate level
2 - detailed level

with this we log:
motor positions
simulation positions
control system commands (settling, sampling)
visual activity level
vectors produced

activity logging
we do this in order to analyse unattended activity

with this we log:
relay activity
hue
all speech
use of touch screen buttons

error logging
we do this to flag run-time software errors