log.info(String.format("Cycle %5.0f: %2.0f ms [cp0: %2.0f, cp1: %2.0f, cp2: %2.0f, cp3: %2.0f]",
                        bot.GetTime(),
                        end - start,
                        checkpoints[0] - start,
                        checkpoints[1] - checkpoints[0],
                        checkpoints[2] - checkpoints[1], 
                        checkpoints[3] - checkpoints[2]));