diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index ce9e4839..aa01bdff 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -301,19 +301,9 @@ public void robotPeriodic() {
 
     // Profiling output
     if (Constants.PROFILING_ENABLED) {
-      long schedulerMs = (t1 - loopStart) / 1_000_000;
-      long gameStateMs = (t2 - t1) / 1_000_000;
-      long totalMs = (t2 - loopStart) / 1_000_000;
-      if (totalMs > 20) {
-        System.out.println(
-            "[Robot] scheduler="
-                + schedulerMs
-                + "ms gameState="
-                + gameStateMs
-                + "ms total="
-                + totalMs
-                + "ms");
-      }
+      Logger.recordOutput("Profiling/Robot/SchedulerMs", (t1 - loopStart) / 1_000_000);
+      Logger.recordOutput("Profiling/Robot/GameStateMs", (t2 - t1) / 1_000_000);
+      Logger.recordOutput("Profiling/Robot/TotalMs", (t2 - loopStart) / 1_000_000);
     }
 
     // Return to non-RT thread priority (do not modify the first argument)
diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
index 1e0ca4a9..1320441d 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drive.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -222,25 +222,13 @@ public void periodic() {
 
     // Profiling output
     if (Constants.PROFILING_ENABLED) {
-      long totalMs = (t6 - startNanos) / 1_000_000;
-      if (totalMs > 5) {
-        System.out.println(
-            "[Drive] lock="
-                + (t1 - startNanos) / 1_000_000
-                + "ms gyroUpdate="
-                + (t2 - t1) / 1_000_000
-                + "ms gyroLog="
-                + (t3 - t2) / 1_000_000
-                + "ms modules="
-                + (t4 - t3) / 1_000_000
-                + "ms disabled="
-                + (t5 - t4) / 1_000_000
-                + "ms odometry="
-                + (t6 - t5) / 1_000_000
-                + "ms total="
-                + totalMs
-                + "ms");
-      }
+      Logger.recordOutput("Profiling/Drive/LockMs", (t1 - startNanos) / 1_000_000);
+      Logger.recordOutput("Profiling/Drive/GyroUpdateMs", (t2 - t1) / 1_000_000);
+      Logger.recordOutput("Profiling/Drive/GyroLogMs", (t3 - t2) / 1_000_000);
+      Logger.recordOutput("Profiling/Drive/ModulesMs", (t4 - t3) / 1_000_000);
+      Logger.recordOutput("Profiling/Drive/DisabledMs", (t5 - t4) / 1_000_000);
+      Logger.recordOutput("Profiling/Drive/OdometryMs", (t6 - t5) / 1_000_000);
+      Logger.recordOutput("Profiling/Drive/TotalMs", (t6 - startNanos) / 1_000_000);
     }
   }
 
diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
index a4c581af..1b1e70f5 100644
--- a/src/main/java/frc/robot/subsystems/drive/Module.java
+++ b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -76,19 +76,10 @@ public void periodic() {
 
     // Profiling output
     if (Constants.PROFILING_ENABLED) {
-      long totalMs = (t3 - t0) / 1_000_000;
-      if (totalMs > 2) {
-        System.out.println(
-            "[Module"
-                + index
-                + "] updateInputs="
-                + (t1 - t0) / 1_000_000
-                + "ms log="
-                + (t2 - t1) / 1_000_000
-                + "ms rest="
-                + (t3 - t2) / 1_000_000
-                + "ms");
-      }
+      Logger.recordOutput("Profiling/Module" + index + "/UpdateInputsMs", (t1 - t0) / 1_000_000);
+      Logger.recordOutput("Profiling/Module" + index + "/LogMs", (t2 - t1) / 1_000_000);
+      Logger.recordOutput("Profiling/Module" + index + "/RestMs", (t3 - t2) / 1_000_000);
+      Logger.recordOutput("Profiling/Module" + index + "/TotalMs", (t3 - t0) / 1_000_000);
     }
   }
 
diff --git a/src/main/java/frc/robot/subsystems/feeder/Feeder.java b/src/main/java/frc/robot/subsystems/feeder/Feeder.java
index 1c94bc9d..808a63a4 100644
--- a/src/main/java/frc/robot/subsystems/feeder/Feeder.java
+++ b/src/main/java/frc/robot/subsystems/feeder/Feeder.java
@@ -45,21 +45,11 @@ public void periodic() {
 
     // Profiling output
     if (Constants.PROFILING_ENABLED) {
-      long totalMs = (t4 - t0) / 1_000_000;
-      if (totalMs > 2) {
-        System.out.println(
-            "[Feeder] spindexer="
-                + (t1 - t0) / 1_000_000
-                + "ms kicker="
-                + (t2 - t1) / 1_000_000
-                + "ms spindexerLog="
-                + (t3 - t2) / 1_000_000
-                + "ms kickerLog="
-                + (t4 - t3) / 1_000_000
-                + "ms total="
-                + totalMs
-                + "ms");
-      }
+      Logger.recordOutput("Profiling/Feeder/SpindexerMs", (t1 - t0) / 1_000_000);
+      Logger.recordOutput("Profiling/Feeder/KickerMs", (t2 - t1) / 1_000_000);
+      Logger.recordOutput("Profiling/Feeder/SpindexerLogMs", (t3 - t2) / 1_000_000);
+      Logger.recordOutput("Profiling/Feeder/KickerLogMs", (t4 - t3) / 1_000_000);
+      Logger.recordOutput("Profiling/Feeder/TotalMs", (t4 - t0) / 1_000_000);
     }
   }
 
diff --git a/src/main/java/frc/robot/subsystems/hopper/Hopper.java b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
index f62d15b2..3291d406 100644
--- a/src/main/java/frc/robot/subsystems/hopper/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
@@ -25,17 +25,9 @@ public void periodic() {
 
     // Profiling output
     if (Constants.PROFILING_ENABLED) {
-      long totalMs = (t2 - t0) / 1_000_000;
-      if (totalMs > 2) {
-        System.out.println(
-            "[Hopper] update="
-                + (t1 - t0) / 1_000_000
-                + "ms log="
-                + (t2 - t1) / 1_000_000
-                + "ms total="
-                + totalMs
-                + "ms");
-      }
+      Logger.recordOutput("Profiling/Hopper/UpdateMs", (t1 - t0) / 1_000_000);
+      Logger.recordOutput("Profiling/Hopper/LogMs", (t2 - t1) / 1_000_000);
+      Logger.recordOutput("Profiling/Hopper/TotalMs", (t2 - t0) / 1_000_000);
     }
   }
 
diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
index 90090a22..6f936d79 100644
--- a/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -51,17 +51,9 @@ public void periodic() {
 
     // Profiling output
     if (Constants.PROFILING_ENABLED) {
-      long totalMs = (t2 - t0) / 1_000_000;
-      if (totalMs > 2) {
-        System.out.println(
-            "[Intake] update="
-                + (t1 - t0) / 1_000_000
-                + "ms log="
-                + (t2 - t1) / 1_000_000
-                + "ms total="
-                + totalMs
-                + "ms");
-      }
+      Logger.recordOutput("Profiling/Intake/UpdateMs", (t1 - t0) / 1_000_000);
+      Logger.recordOutput("Profiling/Intake/LogMs", (t2 - t1) / 1_000_000);
+      Logger.recordOutput("Profiling/Intake/TotalMs", (t2 - t0) / 1_000_000);
     }
   }
 
diff --git a/src/main/java/frc/robot/subsystems/launcher/Launcher.java b/src/main/java/frc/robot/subsystems/launcher/Launcher.java
index 5f46e7b9..ffa1a74b 100644
--- a/src/main/java/frc/robot/subsystems/launcher/Launcher.java
+++ b/src/main/java/frc/robot/subsystems/launcher/Launcher.java
@@ -142,21 +142,11 @@ public void periodic() {
 
     // Profiling output
     if (Constants.PROFILING_ENABLED) {
-      long totalMs = (t4 - t0) / 1_000_000;
-      if (totalMs > 3) {
-        System.out.println(
-            "[Launcher] update="
-                + (t1 - t0) / 1_000_000
-                + "ms log="
-                + (t2 - t1) / 1_000_000
-                + "ms aimLog="
-                + (t3 - t2) / 1_000_000
-                + "ms ballistics="
-                + (t4 - t3) / 1_000_000
-                + "ms total="
-                + totalMs
-                + "ms");
-      }
+      Logger.recordOutput("Profiling/Launcher/UpdateMs", (t1 - t0) / 1_000_000);
+      Logger.recordOutput("Profiling/Launcher/LogMs", (t2 - t1) / 1_000_000);
+      Logger.recordOutput("Profiling/Launcher/AimLogMs", (t3 - t2) / 1_000_000);
+      Logger.recordOutput("Profiling/Launcher/BallisticsMs", (t4 - t3) / 1_000_000);
+      Logger.recordOutput("Profiling/Launcher/TotalMs", (t4 - t0) / 1_000_000);
     }
   }
 
@@ -260,23 +250,12 @@ public void aim(Translation3d target) {
 
     // Profiling output for aim()
     if (Constants.PROFILING_ENABLED) {
-      long totalUs = (t5 - aimStart) / 1_000;
-      if (totalUs > 500) {
-        System.out.println(
-            "[Launcher.aim] v0nom="
-                + (t1 - aimStart) / 1_000
-                + "us baseSpeeds="
-                + (t2 - t1) / 1_000
-                + "us v0replan="
-                + (t3 - t2) / 1_000
-                + "us setPos="
-                + (t4 - t3) / 1_000
-                + "us rest="
-                + (t5 - t4) / 1_000
-                + "us total="
-                + totalUs
-                + "us");
-      }
+      Logger.recordOutput("Profiling/Launcher/Aim/V0NomUs", (t1 - aimStart) / 1_000);
+      Logger.recordOutput("Profiling/Launcher/Aim/BaseSpeedsUs", (t2 - t1) / 1_000);
+      Logger.recordOutput("Profiling/Launcher/Aim/V0ReplanUs", (t3 - t2) / 1_000);
+      Logger.recordOutput("Profiling/Launcher/Aim/SetPosUs", (t4 - t3) / 1_000);
+      Logger.recordOutput("Profiling/Launcher/Aim/RestUs", (t5 - t4) / 1_000);
+      Logger.recordOutput("Profiling/Launcher/Aim/TotalUs", (t5 - aimStart) / 1_000);
     }
   }
 
diff --git a/src/main/java/frc/robot/subsystems/vision/Vision.java b/src/main/java/frc/robot/subsystems/vision/Vision.java
index 2b6bafdb..7893adea 100644
--- a/src/main/java/frc/robot/subsystems/vision/Vision.java
+++ b/src/main/java/frc/robot/subsystems/vision/Vision.java
@@ -262,23 +262,12 @@ public void periodic() {
 
     // Profiling output
     if (Constants.PROFILING_ENABLED) {
-      long totalMs = (t5 - visionStart) / 1_000_000;
-      if (totalMs > 5) {
-        System.out.println(
-            "[Vision] snapshot="
-                + (t1 - visionStart) / 1_000_000
-                + "ms processInputs="
-                + (t2 - t1) / 1_000_000
-                + "ms cameraLoop="
-                + (t3 - t2) / 1_000_000
-                + "ms consumer="
-                + (t4 - t3) / 1_000_000
-                + "ms summaryLog="
-                + (t5 - t4) / 1_000_000
-                + "ms total="
-                + totalMs
-                + "ms");
-      }
+      Logger.recordOutput("Profiling/Vision/SnapshotMs", (t1 - visionStart) / 1_000_000);
+      Logger.recordOutput("Profiling/Vision/ProcessInputsMs", (t2 - t1) / 1_000_000);
+      Logger.recordOutput("Profiling/Vision/CameraLoopMs", (t3 - t2) / 1_000_000);
+      Logger.recordOutput("Profiling/Vision/ConsumerMs", (t4 - t3) / 1_000_000);
+      Logger.recordOutput("Profiling/Vision/SummaryLogMs", (t5 - t4) / 1_000_000);
+      Logger.recordOutput("Profiling/Vision/TotalMs", (t5 - visionStart) / 1_000_000);
     }
   }