diff --git a/include/scrimmage/entity/Entity.h b/include/scrimmage/entity/Entity.h
index af4283f1cb..48b19fdf3a 100644
--- a/include/scrimmage/entity/Entity.h
+++ b/include/scrimmage/entity/Entity.h
@@ -192,13 +192,10 @@ class Entity : public std::enable_shared_from_this<Entity> {
 
     PubSubPtr& pubsub() { return pubsub_; }
 
-    PrintPtr& printer() { return printer_; }
-
     const ParameterServerPtr& param_server() { return param_server_; }
 
     double radius() { return radius_; }
     void set_time_ptr(TimePtr t);
-    void set_printer(PrintPtr printer);
     void set_gpu_controller(GPUControllerPtr gpu_controller);
     GPUControllerPtr gpu_controller();
     bool using_gpu_motion_model() const;
@@ -245,7 +242,6 @@ class Entity : public std::enable_shared_from_this<Entity> {
     FileSearchPtr file_search_;
     GPUControllerPtr gpu_controller_;
     PubSubPtr pubsub_;
-    PrintPtr printer_;
     GPUControllerPtr gpu_;
     GlobalServicePtr global_services_;
     ParameterServerPtr param_server_;
diff --git a/include/scrimmage/entity/EntityPluginHelper.h b/include/scrimmage/entity/EntityPluginHelper.h
index 41ffd13d22..dc5fbcb9c2 100644
--- a/include/scrimmage/entity/EntityPluginHelper.h
+++ b/include/scrimmage/entity/EntityPluginHelper.h
@@ -45,6 +45,7 @@
 
 #include "scrimmage/autonomy/Autonomy.h"
 #include "scrimmage/fwd_decl.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/motion/Controller.h"
 #include "scrimmage/parse/ConfigParse.h"
 #include "scrimmage/plugin_manager/PluginManager.h"
@@ -82,9 +83,9 @@ boost::optional<std::shared_ptr<T>> make_autonomy(
         overrides,
         plugin_tags);
     if (status.status == PluginStatus<T>::cast_failed) {
-        std::cout << "Failed to open autonomy plugin: " << autonomy_name << std::endl;
+        LOG_ERROR("Failed to open autonomy plugin: " << autonomy_name);
     } else if (status.status == PluginStatus<T>::parse_failed) {
-        std::cout << "Parsing of plugin failed: " << autonomy_name << std::endl;
+        LOG_ERROR("Failed to parse autonomy plugin config: " << autonomy_name);
     } else if (status.status == PluginStatus<T>::loaded) {
         std::shared_ptr<T> autonomy = status.plugin;
         // Connect the autonomy to the first controller
@@ -106,17 +107,30 @@ boost::optional<std::shared_ptr<T>> make_autonomy(
         param_override_func(config_parse.params());
 
         if (debug_level > 1) {
-            std::cout << "--------------------------------" << std::endl;
-            std::cout << "Autonomy plugin params: " << autonomy_name << std::endl;
-            std::cout << config_parse;
+            LOG_INFO("--------------------------------");
+            LOG_INFO("Autonomy plugin params: " << autonomy_name);
+            LOG_INFO(config_parse);
+        }
+        try {
+            autonomy->init(config_parse.params());
+        } catch (const std::exception& e) {
+            LOG_ERROR("Autonomy plugin '" << autonomy_name << "' threw exception during init: " << e.what());
+            return boost::none;
+        } catch (...) {
+            LOG_ERROR("Autonomy plugin '" << autonomy_name << "' threw unknown exception during init");
+            return boost::none;
         }
-        autonomy->init(config_parse.params());
 
         // get loop rate from plugin's params
         auto it_loop_rate = config_parse.params().find("loop_rate");
         if (it_loop_rate != config_parse.params().end()) {
-            const double loop_rate = std::stod(it_loop_rate->second);
-            autonomy->set_loop_rate(loop_rate);
+            try {
+                const double loop_rate = std::stod(it_loop_rate->second);
+                autonomy->set_loop_rate(loop_rate);
+            } catch (const std::exception& e) {
+                LOG_ERROR("Autonomy plugin '" << autonomy_name << "': invalid loop_rate '" << it_loop_rate->second << "': " << e.what());
+                return boost::none;
+            }
         }
         return boost::optional<std::shared_ptr<T>>{autonomy};
     }
diff --git a/include/scrimmage/entity/External.h b/include/scrimmage/entity/External.h
index 869b6c0952..57f2aa6f8f 100644
--- a/include/scrimmage/entity/External.h
+++ b/include/scrimmage/entity/External.h
@@ -54,7 +54,6 @@
 #include "scrimmage/common/Time.h"
 #include "scrimmage/entity/Entity.h"
 #include "scrimmage/log/Log.h"
-#include "scrimmage/log/Print.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/motion/Controller.h"
 #include "scrimmage/proto/ProtoConversions.h"
@@ -135,7 +134,6 @@ class External {
     std::shared_ptr<Log> log_;
     double last_t_;
     PubSubPtr pubsub_;
-    PrintPtr printer_;
     TimePtr time_;
     ParameterServerPtr param_server_;
     GlobalServicePtr global_services_;
diff --git a/include/scrimmage/fwd_decl.h b/include/scrimmage/fwd_decl.h
index 4d49a81579..c1bced7af9 100644
--- a/include/scrimmage/fwd_decl.h
+++ b/include/scrimmage/fwd_decl.h
@@ -83,9 +83,6 @@ using EntityPtr = std::shared_ptr<Entity>;
 class Time;
 using TimePtr = std::shared_ptr<Time>;
 
-class Print;
-using PrintPtr = std::shared_ptr<Print>;
-
 class ParameterBase;
 using ParameterBasePtr = std::shared_ptr<ParameterBase>;
 
diff --git a/include/scrimmage/log/Logger.h b/include/scrimmage/log/Logger.h
new file mode 100644
index 0000000000..816cf38fca
--- /dev/null
+++ b/include/scrimmage/log/Logger.h
@@ -0,0 +1,160 @@
+/*
+ * ---------------------------------------------------------------------------
+ * @section LICENSE
+ *
+ * Copyright (c) 2020 Georgia Tech Research Institute (GTRI)
+ *               All Rights Reserved
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ * ---------------------------------------------------------------------------
+ * @file Logger.h
+ * @author Ethan M Boos <ethan.boos@gtri.gatech.edu>
+ * @version 1.0
+ * ---------------------------------------------------------------------------
+ * @brief Simple thread-safe logging with file/line capture.
+ *
+ * Usage with Logger class:
+ *   scrimmage::Logger& log = scrimmage::Logger::instance();
+ *   log.init_dir("/path/to/logs");  // creates scrimmage.log in that dir
+ *   log.info("message", __FILE__, __LINE__);
+ *
+ * Usage with macros (recommended - auto-captures file/line):
+ *   LOG_INFO("status update");
+ *   LOG_INFO("value is " << x << " units");   // stream syntax for variables
+ *   LOG_WARN("entity " << id << " has low health");
+ *   LOG_ERROR("error message");
+ *   LOG_ERROR("parse failed", exception);     // appends ": <exception.what()>"
+ *
+ * ---------------------------------------------------------------------------
+ */
+
+#ifndef INCLUDE_SCRIMMAGE_LOG_LOGGER_H_
+#define INCLUDE_SCRIMMAGE_LOG_LOGGER_H_
+
+#include <exception>
+#include <fstream>
+#include <iostream>
+#include <mutex>
+#include <sstream>
+#include <string>
+#include <vector>
+
+namespace scrimmage {
+
+/**
+ * @brief Thread-safe singleton logger with file and console output.
+ */
+class Logger {
+ public:
+    /// Get the singleton instance
+    static Logger& instance() {
+        static Logger logger;
+        return logger;
+    }
+
+    /// Initialize logging to scrimmage.log in the given directory
+    void init_dir(const std::string& log_dir);
+
+    /// Close the log file
+    void close();
+
+    /// Log an INFO message
+    void info(const std::string& msg, const char* file = "", int line = 0);
+
+    /// Log a WARN message
+    void warn(const std::string& msg, const char* file = "", int line = 0);
+
+    /// Log an ERROR message
+    void error(const std::string& msg, const char* file = "", int line = 0);
+
+    /// Log an ERROR message with exception details
+    void error(const std::string& msg, const std::exception& ex,
+               const char* file = "", int line = 0);
+
+    /// Log a WARN message with exception details
+    void warn(const std::string& msg, const std::exception& ex,
+              const char* file = "", int line = 0);
+
+ private:
+    Logger() = default;
+    ~Logger();
+    Logger(const Logger&) = delete;
+    Logger& operator=(const Logger&) = delete;
+
+    void init(const std::string& path);
+    void write(const char* level, const char* file, int line, const std::string& msg);
+
+    /// Buffered message for pre-init logging
+    struct PendingMessage {
+        std::string level;
+        std::string file;
+        int line;
+        std::string msg;
+        std::string formatted;  // Pre-formatted for output
+    };
+
+    std::ofstream file_;
+    std::mutex mutex_;
+    std::vector<PendingMessage> pending_;
+    bool dir_initialized_{false};
+};
+
+}  // namespace scrimmage
+
+// =============================================================================
+// Convenience macros (auto-capture file and line)
+// =============================================================================
+
+#define LOG_INFO(expr) \
+    do { \
+        std::ostringstream _ss; \
+        _ss << expr; \
+        ::scrimmage::Logger::instance().info(_ss.str(), __FILE__, __LINE__); \
+    } while (0)
+
+#define LOG_WARN_1(expr) \
+    do { \
+        std::ostringstream _ss; \
+        _ss << expr; \
+        ::scrimmage::Logger::instance().warn(_ss.str(), __FILE__, __LINE__); \
+    } while (0)
+
+#define LOG_WARN_2(expr, ex) \
+    do { \
+        std::ostringstream _ss; \
+        _ss << expr; \
+        ::scrimmage::Logger::instance().warn(_ss.str(), ex, __FILE__, __LINE__); \
+    } while (0)
+
+#define LOG_ERROR_1(expr) \
+    do { \
+        std::ostringstream _ss; \
+        _ss << expr; \
+        ::scrimmage::Logger::instance().error(_ss.str(), __FILE__, __LINE__); \
+    } while (0)
+
+#define LOG_ERROR_2(expr, ex) \
+    do { \
+        std::ostringstream _ss; \
+        _ss << expr; \
+        ::scrimmage::Logger::instance().error(_ss.str(), ex, __FILE__, __LINE__); \
+    } while (0)
+
+#define _SC_GET_MACRO(_1, _2, NAME, ...) NAME
+
+#define LOG_WARN(...) \
+    _SC_GET_MACRO(__VA_ARGS__, LOG_WARN_2, LOG_WARN_1)(__VA_ARGS__)
+
+#define LOG_ERROR(...) \
+    _SC_GET_MACRO(__VA_ARGS__, LOG_ERROR_2, LOG_ERROR_1)(__VA_ARGS__)
+
+#endif  // INCLUDE_SCRIMMAGE_LOG_LOGGER_H_
diff --git a/include/scrimmage/log/Print.h b/include/scrimmage/log/Print.h
deleted file mode 100644
index 594d9624a5..0000000000
--- a/include/scrimmage/log/Print.h
+++ /dev/null
@@ -1,109 +0,0 @@
-/*
- * ---------------------------------------------------------------------------
- * @section LICENSE
- *
- * Copyright (c) 2020 Georgia Tech Research Institute (GTRI)
- *               All Rights Reserved
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
- * DEALINGS IN THE SOFTWARE.
- * ---------------------------------------------------------------------------
- * @file filename.ext
- * @author Kevin DeMarco <kevin.demarco@gtri.gatech.edu>
- * @author Eric Squires <eric.squires@gtri.gatech.edu>
- * @version 1.0
- * ---------------------------------------------------------------------------
- * @brief A brief description.
- *
- * @section DESCRIPTION
- * A long description.
- * ---------------------------------------------------------------------------
- */
-
-#ifndef INCLUDE_SCRIMMAGE_LOG_PRINT_H_
-#define INCLUDE_SCRIMMAGE_LOG_PRINT_H_
-
-#include <cmath>
-#include <fstream>
-#include <memory>
-#include <ostream>
-
-#include "scrimmage/fwd_decl.h"
-#include "scrimmage/plugin_manager/Plugin.h"
-
-namespace scrimmage {
-
-class Time;
-using TimePtr = std::shared_ptr<Time>;
-
-struct PrintEnums {
-    enum class WARN_LEVEL : char { DEV = 0, INFO = 1, WARNING = 2, ERROR = 3 };
-    enum class WRITE_TO : char { BOTH = 0, FILE_ONLY = 1, CONSOLE_ONLY = 2 };
-};
-
-struct PrintData {
-    PrintData() : time_(std::nan("")), name_("UnknownClass"), entity_id_(-1) {}
-    double time_;
-    std::string name_;
-    int entity_id_;
-};
-
-class Print {
- public:
-    Print() : time_(nullptr), log_dir_(""), output_flag_(PrintEnums::WRITE_TO::BOTH) {}
-
-    void init(TimePtr& time, std::string log_dir);
-    void init(TimePtr& time, std::string log_dir, PrintEnums::WRITE_TO flag);
-    void close();
-    void flush();
-
-    void printDev(PrintData& data, std::string outmessage);
-    void printInfo(PrintData& data, std::string outmessage);
-    void printWarning(PrintData& data, std::string outmessage);
-    void printError(PrintData& data, std::string outmessage);
-
-    void printDev(EntityPlugin& caller, std::string outmessage);
-    void printInfo(EntityPlugin& caller, std::string outmessage);
-    void printWarning(EntityPlugin& caller, std::string outmessage);
-    void printError(EntityPlugin& caller, std::string outmessage);
-
- protected:
-    static const char* getWarningLevel(PrintEnums::WARN_LEVEL e);
-
-    static std::string formatTime(double time);
-    static std::string formatMsg(PrintEnums::WARN_LEVEL level, PrintData& data, std::string msg);
-
-    void print(
-        std::ostream& stream,
-        PrintEnums::WARN_LEVEL level,
-        EntityPlugin& caller,
-        std::string msg);
-    void print(
-        std::ostream& stream,
-        PrintEnums::WARN_LEVEL level,
-        PrintData& data,
-        std::string msg);
-
- private:
-    TimePtr time_;
-    std::string log_dir_;
-    std::ofstream log_stream_;
-    PrintEnums::WRITE_TO output_flag_;
-
-    bool write_file();
-    bool write_console();
-};
-
-using PrintPtr = std::shared_ptr<Print>;
-
-}  // namespace scrimmage
-
-#endif  // INCLUDE_SCRIMMAGE_LOG_PRINT_H_
diff --git a/include/scrimmage/plugin_manager/PluginHelper.h b/include/scrimmage/plugin_manager/PluginHelper.h
index 51e6796c01..5202a13200 100644
--- a/include/scrimmage/plugin_manager/PluginHelper.h
+++ b/include/scrimmage/plugin_manager/PluginHelper.h
@@ -41,13 +41,11 @@
 #include <string>
 
 #include "scrimmage/fwd_decl.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/parse/ConfigParse.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/PluginManager.h"
 
-using std::cout;
-using std::endl;
-
 namespace scrimmage {
 
 template <class T>
@@ -79,10 +77,10 @@ bool load_plugins(
             plugin_tags);
 
         if (status.status == PluginStatus<T>::cast_failed) {
-            cout << "Failed to open: " << parent_class_name << ": " << plugin.name << endl;
+            LOG_ERROR("Failed to open plugin: " << parent_class_name << ": " << plugin.name);
             all_loaded = false;
         } else if (status.status == PluginStatus<T>::parse_failed) {
-            cout << "Failed to parse: " << parent_class_name << ": " << plugin.name << endl;
+            LOG_ERROR("Failed to parse plugin config: " << parent_class_name << ": " << plugin.name);
             all_loaded = false;
         } else if (status.status == PluginStatus<T>::loaded) {
             auto it_name = config_parse.params().find("name");
diff --git a/include/scrimmage/simcontrol/SimControl.h b/include/scrimmage/simcontrol/SimControl.h
index dbc9cc09f5..1690ebbe0a 100644
--- a/include/scrimmage/simcontrol/SimControl.h
+++ b/include/scrimmage/simcontrol/SimControl.h
@@ -273,9 +273,6 @@ class SimControl {
     /// @brief Access the PubSub instance
     PubSubPtr pubsub() const;
 
-    /// @brief Access the Printer Instance
-    PrintPtr printer() const;
-
     /// @brief Access the Global Services Instance
     GlobalServicePtr global_services() const;
 
@@ -427,7 +424,6 @@ class SimControl {
     bool reset_autonomies();
 
     std::shared_ptr<Log> log_;
-    PrintPtr printer_;
 
     std::set<EndConditionFlags> end_conditions_ = {EndConditionFlags::NONE};
 
diff --git a/include/scrimmage/simcontrol/SimUtils.h b/include/scrimmage/simcontrol/SimUtils.h
index c50d89e75e..c291c96ab5 100644
--- a/include/scrimmage/simcontrol/SimUtils.h
+++ b/include/scrimmage/simcontrol/SimUtils.h
@@ -61,7 +61,6 @@ struct SimUtilsInfo {
     FileSearchPtr file_search;
     RTreePtr rtree;
     PubSubPtr pubsub;
-    PrintPtr printer;
     std::shared_ptr<GeographicLib::LocalCartesian> proj;
     GlobalServicePtr global_services;
     ContactMapPtr contacts;
diff --git a/scripts/templates/autonomy/PluginTemplate.cpp b/scripts/templates/autonomy/PluginTemplate.cpp
index 630b55046f..247acf5877 100644
--- a/scripts/templates/autonomy/PluginTemplate.cpp
+++ b/scripts/templates/autonomy/PluginTemplate.cpp
@@ -31,16 +31,18 @@
  */
 
 #include <(>>>PROJECT_NAME<<<)/plugins/autonomy/(>>>PLUGIN_NAME<<<)/(>>>PLUGIN_NAME<<<).h>
-#include <iostream>
 #include <limits>
 
 #include <scrimmage/entity/Entity.h>
+#include <scrimmage/log/Logger.h>
 #include <scrimmage/math/State.h>
 #include <scrimmage/parse/ParseUtils.h>
 #include <scrimmage/plugin_manager/RegisterPlugin.h>
 
-using std::cout;
-using std::endl;
+// Logging macros:
+//   LOG_INFO("status: " << value);
+//   LOG_WARN("unexpected state: " << state_name);
+//   LOG_ERROR("failed to load: " << filename);
 
 namespace sc = scrimmage;
 
diff --git a/scripts/templates/cmake-project/src/plugins/autonomy/ExamplePlugin/ExamplePlugin.cpp b/scripts/templates/cmake-project/src/plugins/autonomy/ExamplePlugin/ExamplePlugin.cpp
index 25c3188ceb..ee4a715c6d 100644
--- a/scripts/templates/cmake-project/src/plugins/autonomy/ExamplePlugin/ExamplePlugin.cpp
+++ b/scripts/templates/cmake-project/src/plugins/autonomy/ExamplePlugin/ExamplePlugin.cpp
@@ -31,17 +31,19 @@
  */
 
 #include <(>>>PROJECT_NAME<<<)/plugins/autonomy/ExamplePlugin/ExamplePlugin.h>
-#include <iostream>
 #include <limits>
 
 #include <scrimmage/common/VariableIO.h>
 #include <scrimmage/entity/Entity.h>
+#include <scrimmage/log/Logger.h>
 #include <scrimmage/math/State.h>
 #include <scrimmage/parse/ParseUtils.h>
 #include <scrimmage/plugin_manager/RegisterPlugin.h>
 
-using std::cout;
-using std::endl;
+// Logging macros:
+//   LOG_INFO("status: " << value);
+//   LOG_WARN("unexpected state: " << state_name);
+//   LOG_ERROR("failed to load: " << filename);
 
 namespace sc = scrimmage;
 
diff --git a/scripts/templates/controller/PluginTemplate.cpp b/scripts/templates/controller/PluginTemplate.cpp
index 12e77b104d..92a75c93a4 100644
--- a/scripts/templates/controller/PluginTemplate.cpp
+++ b/scripts/templates/controller/PluginTemplate.cpp
@@ -31,17 +31,19 @@
  */
 
 #include <(>>>PROJECT_NAME<<<)/plugins/controller/(>>>PLUGIN_NAME<<<)/(>>>PLUGIN_NAME<<<).h>
-#include <iostream>
 #include <limits>
 
 #include <scrimmage/common/Utilities.h>
 #include <scrimmage/entity/Entity.h>
+#include <scrimmage/log/Logger.h>
 #include <scrimmage/math/State.h>
 #include <scrimmage/parse/ParseUtils.h>
 #include <scrimmage/plugin_manager/RegisterPlugin.h>
 
-using std::cout;
-using std::endl;
+// Logging macros:
+//   LOG_INFO("status: " << value);
+//   LOG_WARN("unexpected state: " << state_name);
+//   LOG_ERROR("failed to load: " << filename);
 
 namespace sc = scrimmage;
 
diff --git a/scripts/templates/interaction/PluginTemplate.cpp b/scripts/templates/interaction/PluginTemplate.cpp
index 1efb0b9a42..a2f0808bf7 100644
--- a/scripts/templates/interaction/PluginTemplate.cpp
+++ b/scripts/templates/interaction/PluginTemplate.cpp
@@ -31,17 +31,19 @@
  */
 
 #include <(>>>PROJECT_NAME<<<)/plugins/interaction/(>>>PLUGIN_NAME<<<)/(>>>PLUGIN_NAME<<<).h>
-#include <iostream>
 #include <limits>
 #include <memory>
 
 #include <scrimmage/common/Utilities.h>
 #include <scrimmage/entity/Entity.h>
+#include <scrimmage/log/Logger.h>
 #include <scrimmage/math/State.h>
 #include <scrimmage/plugin_manager/RegisterPlugin.h>
 
-using std::cout;
-using std::endl;
+// Logging macros:
+//   LOG_INFO("status: " << value);
+//   LOG_WARN("unexpected state: " << state_name);
+//   LOG_ERROR("failed to load: " << filename);
 
 namespace sc = scrimmage;
 
diff --git a/scripts/templates/metrics/PluginTemplate.cpp b/scripts/templates/metrics/PluginTemplate.cpp
index 71f1f5bb7d..b70d607172 100644
--- a/scripts/templates/metrics/PluginTemplate.cpp
+++ b/scripts/templates/metrics/PluginTemplate.cpp
@@ -31,11 +31,11 @@
  */
 
 #include <(>>>PROJECT_NAME<<<)/plugins/metrics/(>>>PLUGIN_NAME<<<)/(>>>PLUGIN_NAME<<<).h>
-#include <iostream>
 #include <limits>
 
 #include <scrimmage/common/Utilities.h>
 #include <scrimmage/entity/Entity.h>
+#include <scrimmage/log/Logger.h>
 #include <scrimmage/math/State.h>
 #include <scrimmage/metrics/Metrics.h>
 #include <scrimmage/msgs/Collision.pb.h>
@@ -45,8 +45,10 @@
 #include <scrimmage/pubsub/Message.h>
 #include <scrimmage/pubsub/Subscriber.h>
 
-using std::cout;
-using std::endl;
+// Logging macros:
+//   LOG_INFO("status: " << value);
+//   LOG_WARN("unexpected state: " << state_name);
+//   LOG_ERROR("failed to load: " << filename);
 
 namespace sc = scrimmage;
 namespace sm = scrimmage_msgs;
diff --git a/scripts/templates/network/PluginTemplate.cpp b/scripts/templates/network/PluginTemplate.cpp
index 0553cf98ba..f2f5e81938 100644
--- a/scripts/templates/network/PluginTemplate.cpp
+++ b/scripts/templates/network/PluginTemplate.cpp
@@ -31,7 +31,6 @@
  */
 
 #include <(>>>PROJECT_NAME<<<)/plugins/network/(>>>PLUGIN_NAME<<<)/(>>>PLUGIN_NAME<<<).h>
-#include <iostream>
 #include <limits>
 #include <memory>
 
@@ -40,6 +39,7 @@
 #include <scrimmage/common/Random.h>
 #include <scrimmage/common/Time.h>
 #include <scrimmage/entity/Entity.h>
+#include <scrimmage/log/Logger.h>
 #include <scrimmage/math/State.h>
 #include <scrimmage/plugin_manager/RegisterPlugin.h>
 #include <scrimmage/plugins/network/SphereNetwork/SphereNetwork.h>
@@ -47,8 +47,10 @@
 #include <scrimmage/pubsub/Publisher.h>
 #include <scrimmage/pubsub/Subscriber.h>
 
-using std::cout;
-using std::endl;
+// Logging macros:
+//   LOG_INFO("status: " << value);
+//   LOG_WARN("unexpected state: " << state_name);
+//   LOG_ERROR("failed to load: " << filename);
 
 namespace sc = scrimmage;
 
diff --git a/scripts/templates/sensor/PluginTemplate.cpp b/scripts/templates/sensor/PluginTemplate.cpp
index 09b5b85b27..8593d2e54d 100644
--- a/scripts/templates/sensor/PluginTemplate.cpp
+++ b/scripts/templates/sensor/PluginTemplate.cpp
@@ -31,11 +31,11 @@
  */
 
 #include <(>>>PROJECT_NAME<<<)/plugins/sensor/(>>>PLUGIN_NAME<<<)/(>>>PLUGIN_NAME<<<).h>
-#include <iostream>
 #include <limits>
 
 #include <scrimmage/common/Random.h>
 #include <scrimmage/entity/Entity.h>
+#include <scrimmage/log/Logger.h>
 #include <scrimmage/math/Quaternion.h>
 #include <scrimmage/math/State.h>
 #include <scrimmage/parse/ParseUtils.h>
@@ -43,8 +43,10 @@
 #include <scrimmage/proto/State.pb.h>
 #include <scrimmage/pubsub/Message.h>
 
-using std::cout;
-using std::endl;
+// Logging macros:
+//   LOG_INFO("status: " << value);
+//   LOG_WARN("unexpected state: " << state_name);
+//   LOG_ERROR("failed to load: " << filename);
 
 namespace sc = scrimmage;
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 777b14cc0c..16a17a5e06 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -16,7 +16,7 @@ set(SRCS
     common/Shape.cpp
     entity/Contact.cpp entity/Entity.cpp entity/External.cpp
     entity/EntityPlugin.cpp
-    log/FrameUpdateClient.cpp log/Log.cpp log/Print.cpp
+    log/FrameUpdateClient.cpp log/Log.cpp log/Logger.cpp
     math/Angles.cpp math/Quaternion.cpp math/State.cpp
     math/StateWithCovariance.cpp
     metrics/Metrics.cpp
diff --git a/src/common/CSV.cpp b/src/common/CSV.cpp
index 68769f6390..765fbb9e8a 100644
--- a/src/common/CSV.cpp
+++ b/src/common/CSV.cpp
@@ -34,17 +34,14 @@
 
 #include <fstream>
 #include <iomanip>
-#include <iostream>
 #include <sstream>
 #include <vector>
 
 #include <boost/algorithm/string.hpp>
 #include <boost/tokenizer.hpp>
+#include <scrimmage/log/Logger.h>
 #include <scrimmage/parse/ParseUtils.h>
 
-using std::cout;
-using std::endl;
-
 namespace scrimmage {
 
 CSV::~CSV() {
@@ -62,7 +59,7 @@ void CSV::set_column_headers(const Headers& headers, bool write) {
 
     if (write) {
         if (!file_out_.is_open()) {
-            cout << "File isn't open. Can't write CSV headers." << endl;
+            LOG_WARN("File isn't open. Can't write CSV headers.");
         } else {
             this->write_headers();
         }
@@ -79,14 +76,14 @@ bool CSV::append(const Pairs& pairs, bool write, bool keep_in_memory) {
     for (std::pair<std::string, double> pair : pairs) {
         auto it = column_headers_.find(pair.first);
         if (it == column_headers_.end()) {
-            cout << "Warning: column header doesn't exist: " << pair.first << endl;
+            LOG_WARN("Warning: column header doesn't exist: " << pair.first);
         }
         table_[next_row_][it->second] = pair.second;
     }
 
     if (write) {
         if (!file_out_.is_open()) {
-            cout << "File isn't open. Can't write CSV" << endl;
+            LOG_WARN("File isn't open. Can't write CSV");
             return false;
         }
         this->write_row(next_row_);
@@ -197,7 +194,7 @@ std::string CSV::row_to_string(const int& row) const {
 
 bool CSV::to_csv(const std::string& filename) {
     if (not this->open_output(filename)) {
-        cout << "CSV::to_csv: Failed to open file: " << filename << endl;
+        LOG_ERROR("CSV::to_csv: Failed to open file: " << filename);
         return false;
     }
 
@@ -209,7 +206,7 @@ bool CSV::to_csv(const std::string& filename) {
         this->write_row(i);
     }
     if (not this->close_output()) {
-        cout << "Failed to close CSV file." << endl;
+        LOG_WARN("Failed to close CSV file.");
     }
     return true;
 }
@@ -254,10 +251,9 @@ bool CSV::read_csv_from_string(const std::string& csv_str, const bool& contains_
             // Print a warning if the number of comma separated values doesn't
             // match the number of columns
             if (column_headers_.size() != tokens.size()) {
-                cout << "Warning the number of values (" << tokens.size() << ") on line number "
-                     << row_num
-                     << " doesn't match the number of column headers: " << column_headers_.size()
-                     << endl;
+                LOG_WARN("Warning the number of values (" << tokens.size() << ") on line number "
+                         << row_num
+                         << " doesn't match the number of column headers: " << column_headers_.size());
             }
             row_num++;
         }
@@ -268,7 +264,7 @@ bool CSV::read_csv_from_string(const std::string& csv_str, const bool& contains_
 bool CSV::read_csv(const std::string& filename, const bool& contains_header) {
     std::ifstream file(filename);
     if (not file.is_open()) {
-        cout << "Unable to open CSV file:" << filename << endl;
+        LOG_WARN("Unable to open CSV file:" << filename);
         return false;
     }
 
@@ -311,11 +307,11 @@ std::list<std::string> CSV::get_csv_line_elements(const std::string& str) {
 }
 
 void CSV::write_headers() {
-    file_out_ << headers_to_string() << endl;
+    file_out_ << headers_to_string() << std::endl;
 }
 
 void CSV::write_row(const int& row) {
-    file_out_ << row_to_string(row) << endl;
+    file_out_ << row_to_string(row) << std::endl;
 }
 
 bool CSV::equals(const CSV& other) {
diff --git a/src/common/FileSearch.cpp b/src/common/FileSearch.cpp
index ece52e9d37..183102eb44 100644
--- a/src/common/FileSearch.cpp
+++ b/src/common/FileSearch.cpp
@@ -32,7 +32,6 @@
 
 #include "scrimmage/common/FileSearch.h"
 
-#include <iostream>
 #include <unordered_set>
 
 #include <boost/algorithm/string/predicate.hpp>
@@ -44,6 +43,7 @@
 #include <boost/range/algorithm/sort.hpp>
 #include <boost/tokenizer.hpp>
 
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/parse/ParseUtils.h"
 
 namespace fs = ::boost::filesystem;
@@ -101,7 +101,7 @@ bool FileSearch::find_file(
 
     auto dbg = [&](std::string msg) {
         if (verbose)
-            std::cout << "find_file: " << msg << std::endl;
+            LOG_INFO("find_file: " << msg);
     };
     dbg(std::string("looking for ") + search_filename);
 
@@ -130,13 +130,12 @@ bool FileSearch::find_file(
     result = filenames.back();
 
     if (filenames.size() > 1) {
-        std::cout << "===============================================" << std::endl;
-        std::cout << "WARNING: Multiple XML files with same name found" << std::endl;
+        std::ostringstream paths_ss;
         for (std::string& full_path : filenames) {
-            std::cout << full_path << std::endl;
+            paths_ss << full_path << ", ";
         }
-        std::cout << "Using XML file at: " << result << std::endl;
-        std::cout << "===============================================" << std::endl;
+        LOG_WARN("Multiple XML files with same name found: " << paths_ss.str()
+                 << "Using XML file at: " << result);
     }
     return true;
 }
@@ -150,7 +149,7 @@ void FileSearch::find_files(
     bool verbose) {
     auto dbg = [&](std::string msg) {
         if (verbose)
-            std::cout << "find_files: " << msg << std::endl;
+            LOG_INFO("find_files: " << msg);
     };
 
     auto cache_it = cache_.find(env_var);
@@ -175,7 +174,7 @@ void FileSearch::find_files(
     if (env_var.find("/") == std::string::npos) {
         const char* env_p = std::getenv(env_var.c_str());
         if (env_p == NULL) {
-            std::cout << env_var << " environment variable not set" << std::endl;
+            LOG_WARN(env_var << " environment variable not set");
             return;
         }
 
@@ -232,7 +231,7 @@ void FileSearch::find_files(
                 ++it;
             }
         } else if (env_path != env_var) {
-            std::cout << "Search path doesn't exist: " << t << std::endl;
+            LOG_WARN("Search path doesn't exist: " << t);
         }
     }
 
diff --git a/src/common/GlobalService.cpp b/src/common/GlobalService.cpp
index c2bdc0fe2e..698b18f8c4 100644
--- a/src/common/GlobalService.cpp
+++ b/src/common/GlobalService.cpp
@@ -32,8 +32,11 @@
 #include "scrimmage/common/GlobalService.h"
 
 #include <algorithm>
+#include <sstream>
 #include <string>
 
+#include "scrimmage/log/Logger.h"
+
 namespace scrimmage {
 
 GlobalService::GlobalService() {
@@ -55,13 +58,13 @@ bool GlobalService::call_service(
     const std::string& service_name) {
     auto it = services_.find(service_name);
     if (it == services_.end()) {
-        std::cout << "request for global service (" << service_name << ") that does not exist"
-                  << std::endl;
-        std::cout << "Global services are: ";
+        std::ostringstream oss;
+        oss << "request for global service (" << service_name << ") that does not exist\n";
+        oss << "Global services are: ";
         for (auto& kv : services_) {
-            std::cout << kv.first << ", ";
+            oss << kv.first << ", ";
         }
-        std::cout << std::endl;
+        LOG_WARN(oss.str());
         return false;
     }
 
@@ -69,7 +72,7 @@ bool GlobalService::call_service(
     bool success = service(req, res);
 
     if (!success) {
-        std::cout << "call to " << service_name << " failed" << std::endl;
+        LOG_WARN("call to " << service_name << " failed");
         return false;
     } else {
         return true;
diff --git a/src/common/PID.cpp b/src/common/PID.cpp
index 5489e12e06..6261582fab 100644
--- a/src/common/PID.cpp
+++ b/src/common/PID.cpp
@@ -32,6 +32,8 @@
 
 #include "scrimmage/common/PID.h"
 
+#include "scrimmage/log/Logger.h"
+
 #include <algorithm>
 #include <cmath>
 #include <vector>
@@ -65,20 +67,26 @@ bool PID::init(const std::string& str, const bool& is_angle) {
     boost::split(str_vals, str, boost::is_any_of(","));
 
     if (str_vals.size() != 4) {
+        LOG_ERROR("PID::init failed: expected 4 comma-separated values (p,i,d,i_lim), got " << str_vals.size() << " in '" << str << "'");
         return false;
     } else {
-        double p = std::stod(str_vals[0]);
-        double i = std::stod(str_vals[1]);
-        double d = std::stod(str_vals[2]);
-        set_parameters(p, i, d);
-
-        set_is_angle(is_angle);
-        if (is_angle) {
-            double i_lim = Angles::deg2rad(std::stod(str_vals[3]));
-            set_integral_band(i_lim);
-        } else {
-            double i_lim = std::stod(str_vals[3]);
-            set_integral_band(i_lim);
+        try {
+            double p = std::stod(str_vals[0]);
+            double i = std::stod(str_vals[1]);
+            double d = std::stod(str_vals[2]);
+            set_parameters(p, i, d);
+
+            set_is_angle(is_angle);
+            if (is_angle) {
+                double i_lim = Angles::deg2rad(std::stod(str_vals[3]));
+                set_integral_band(i_lim);
+            } else {
+                double i_lim = std::stod(str_vals[3]);
+                set_integral_band(i_lim);
+            }
+        } catch (const std::exception& e) {
+            LOG_ERROR("PID::init failed to parse values from '" << str << "': " << e.what());
+            return false;
         }
     }
     return true;
diff --git a/src/common/VariableIO.cpp b/src/common/VariableIO.cpp
index 82b7fce6e5..38cc753105 100644
--- a/src/common/VariableIO.cpp
+++ b/src/common/VariableIO.cpp
@@ -34,7 +34,6 @@
 
 #include <Eigen/Dense>
 #include <iomanip>
-#include <iostream>
 #include <map>
 #include <string>
 #include <vector>
@@ -42,6 +41,8 @@
 #include <boost/range/adaptor/map.hpp>
 #include <boost/range/algorithm/set_algorithm.hpp>
 
+#include "scrimmage/log/Logger.h"
+
 namespace br = boost::range;
 namespace ba = boost::adaptors;
 
@@ -133,7 +134,7 @@ int VariableIO::declare(Type type, Direction dir) {
     std::string var("");
     auto it = type_map_.find(type);
     if (it == type_map_.end()) {
-        std::cout << "Warning: Use of invalid VariableIO::Type" << std::endl;
+        LOG_WARN("Use of invalid VariableIO::Type");
     } else {
         var = it->second;
     }
@@ -149,12 +150,19 @@ void VariableIO::output(int i, double x) {
     // to is within the bounds of the input of the next plugin. Connect is
     // called before output to assign the shared ptr output to point to the
     // shared pointer input of the next plugin.
-    if (i < output_->size())
+    if (i < output_->size()) {
         (*output_)(i) = x;
+    } else {
+        LOG_WARN("VariableIO::output index " << i << " out of bounds (size=" << output_->size() << ")");
+    }
 }
 
 double VariableIO::output(int i) {
-    return i < output_->size() ? (*output_)(i) : NAN;
+    if (i >= output_->size()) {
+        LOG_WARN("VariableIO::output read index " << i << " out of bounds (size=" << output_->size() << "), returning NAN");
+        return NAN;
+    }
+    return (*output_)(i);
 }
 
 void connect(VariableIO& output, VariableIO& input) {
@@ -206,25 +214,24 @@ bool verify_io_connection(VariableIO& output, VariableIO& input) {
 void print_io_error(const std::string& in_name, VariableIO& v) {
     auto keys = v.input_variable_index() | ba::map_keys;
 
-    std::cout << "First, include the VariableIO class in the cpp file: "
-              << "#include \"scrimmage/common/VariableIO.h\"" << std::endl;
+    LOG_INFO("First, include the VariableIO class in the cpp file: "
+             << "#include \"scrimmage/common/VariableIO.h\"");
 
-    std::cout << "Second, place the following in its initializer: " << std::endl;
+    LOG_INFO("Second, place the following in its initializer: ");
     for (const std::string& key : keys) {
-        std::cout << "    " << key << "_idx_ = vars_.declare(" << std::quoted(key)
-                  << ", scrimmage::VariableIO::Direction::Out);" << std::endl;
+        LOG_INFO("    " << key << "_idx_ = vars_.declare(" << std::quoted(key)
+                 << ", scrimmage::VariableIO::Direction::Out);");
     }
 
-    std::cout << "Third, place the following in its step function: " << std::endl;
+    LOG_INFO("Third, place the following in its step function: ");
     for (const std::string& key : keys) {
-        std::cout << "    vars_.output(" << key << "_idx_, value_to_output);" << std::endl;
+        LOG_INFO("    vars_.output(" << key << "_idx_, value_to_output);");
     }
-    std::cout << "where value_to_output is what you want " << in_name << " to receive as its input."
-              << std::endl;
+    LOG_INFO("where value_to_output is what you want " << in_name << " to receive as its input.");
 
-    std::cout << "Third, place following in the class declaration: " << std::endl;
+    LOG_INFO("Third, place following in the class declaration: ");
     for (const std::string& key : keys) {
-        std::cout << "    uint8_t " << key << "_idx_ = 0;" << std::endl;
+        LOG_INFO("    uint8_t " << key << "_idx_ = 0;");
     }
 }
 
diff --git a/src/common/Waypoint.cpp b/src/common/Waypoint.cpp
index 22dd498334..1d852ea13c 100644
--- a/src/common/Waypoint.cpp
+++ b/src/common/Waypoint.cpp
@@ -32,11 +32,11 @@
 #include "scrimmage/common/Waypoint.h"
 
 #include <iomanip>
-#include <iostream>
 #include <limits>
 
 #include <GeographicLib/LocalCartesian.hpp>
 
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/proto/ProtoConversions.h"
 
@@ -76,7 +76,7 @@ Waypoint::Waypoint(const scrimmage_msgs::Waypoint& wp)
         if (lla.alt_oneof_case() == sc_msgs::PositionLLA::kAltMsl) {
             alt = lla.alt_msl();
         } else {
-            std::cout << "Waypoints only support alt_msl()!" << std::endl;
+            LOG_WARN("Waypoints only support alt_msl()!");
         }
         return alt;
     };
diff --git a/src/entity/Entity.cpp b/src/entity/Entity.cpp
index 05ee836312..f73d48bfb3 100644
--- a/src/entity/Entity.cpp
+++ b/src/entity/Entity.cpp
@@ -56,13 +56,11 @@
 #include "scrimmage/parse/MissionParse.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/PluginManager.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/proto/ProtoConversions.h"
 #include "scrimmage/sensor/Sensor.h"
 #include "scrimmage/simcontrol/SimUtils.h"
 
-using std::cout;
-using std::endl;
-
 namespace sp = scrimmage_proto;
 namespace br = boost::range;
 namespace ba = boost::adaptors;
@@ -71,7 +69,6 @@ namespace scrimmage {
 
 bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
     pubsub_ = sim_info.pubsub;
-    printer_ = sim_info.printer;
     global_services_ = sim_info.global_services;
     time_ = sim_info.time;
     file_search_ = sim_info.file_search;
@@ -99,7 +96,12 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
 
     id_.set_id(id);
     id_.set_sub_swarm_id(ent_desc_id);
-    id_.set_team_id(std::stoi(info["team_id"]));
+    try {
+        id_.set_team_id(std::stoi(info["team_id"]));
+    } catch (const std::exception& e) {
+        LOG_ERROR("Entity " << id << ": failed to parse team_id '" << info["team_id"] << "': " << e.what());
+        return false;
+    }
 
     if (mp == nullptr) {
         mp_ = std::make_shared<MissionParse>();
@@ -109,7 +111,11 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
     }
 
     if (info.count("health") > 0) {
-        health_points_ = std::stoi(info["health"]);
+        try {
+            health_points_ = std::stoi(info["health"]);
+        } catch (const std::exception& e) {
+            LOG_ERROR("Entity " << id << ": failed to parse health '" << info["health"] << "': " << e.what());
+        }
     }
 
     radius_ = get<double>("radius", info, 1.0);
@@ -169,9 +175,10 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
             overrides[sensor_order_name],
             plugin_tags);
         if (status.status == PluginStatus<Sensor>::cast_failed) {
-            std::cout << "Failed to open sensor plugin: " << sensor_name << std::endl;
+            LOG_ERROR("Failed to open sensor plugin: " << sensor_name);
             return false;
         } else if (status.status == PluginStatus<Sensor>::parse_failed) {
+            LOG_ERROR("Failed to parse sensor plugin config: " << sensor_name);
             return false;
         } else if (status.status == PluginStatus<Sensor>::loaded) {
             SensorPtr sensor = status.plugin;
@@ -214,11 +221,19 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
             sensor->set_name(given_name);
 
             if (debug_level > 1) {
-                cout << "--------------------------------" << endl;
-                cout << "Sensor plugin params: " << given_name << endl;
-                cout << config_parse;
+                LOG_INFO("--------------------------------");
+                LOG_INFO("Sensor plugin params: " << given_name);
+                LOG_INFO(config_parse);
+            }
+            try {
+                sensor->init(config_parse.params());
+            } catch (const std::exception& e) {
+                LOG_ERROR("Sensor plugin '" << given_name << "' threw exception during init: " << e.what());
+                return false;
+            } catch (...) {
+                LOG_ERROR("Sensor plugin '" << given_name << "' threw unknown exception during init");
+                return false;
             }
-            sensor->init(config_parse.params());
             sensors_[given_name] = sensor;
         }
         sensor_order_name = std::string("sensor") + std::to_string(++sensor_ct);
@@ -240,9 +255,10 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
             overrides["motion_model"],
             plugin_tags);
         if (status.status == PluginStatus<MotionModel>::cast_failed) {
-            cout << "Failed to open motion model plugin: " << info["motion_model"] << endl;
+            LOG_ERROR("Failed to open motion model plugin: " << info["motion_model"]);
             return false;
         } else if (status.status == PluginStatus<MotionModel>::parse_failed) {
+            LOG_ERROR("Failed to parse motion model plugin config: " << info["motion_model"]);
             return false;
         } else if (status.status == PluginStatus<MotionModel>::loaded) {
             // We have created a valid motion model
@@ -260,11 +276,19 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
             param_override_func(config_parse.params());
 
             if (debug_level > 1) {
-                cout << "--------------------------------" << endl;
-                cout << "Motion plugin params: " << info["motion_model"] << endl;
-                cout << config_parse;
+                LOG_INFO("--------------------------------");
+                LOG_INFO("Motion plugin params: " << info["motion_model"]);
+                LOG_INFO(config_parse);
+            }
+            try {
+                motion_model_->init(info, config_parse.params());
+            } catch (const std::exception& e) {
+                LOG_ERROR("MotionModel plugin '" << info["motion_model"] << "' threw exception during init: " << e.what());
+                return false;
+            } catch (...) {
+                LOG_ERROR("MotionModel plugin '" << info["motion_model"] << "' threw unknown exception during init");
+                return false;
             }
-            motion_model_->init(info, config_parse.params());
         }
     } else if (use_gpu_motion_model) {
         gpu_motion_model->add_entity(shared_from_this());
@@ -315,9 +339,10 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
             overrides[controller_name],
             plugin_tags);
         if (status.status == PluginStatus<Controller>::cast_failed) {
-            std::cout << "Failed to open controller plugin: " << controller_name << std::endl;
+            LOG_ERROR("Failed to open controller plugin: " << controller_name);
             return false;
         } else if (status.status == PluginStatus<Controller>::parse_failed) {
+            LOG_ERROR("Failed to parse controller plugin config: " << info[controller_name]);
             return false;
         } else if (status.status == PluginStatus<Controller>::loaded) {
             ControllerPtr controller = status.plugin;
@@ -358,11 +383,19 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
 
             // Initialize this controller.
             if (debug_level > 1) {
-                cout << "--------------------------------" << endl;
-                cout << "Controller plugin params: " << info[controller_name] << endl;
-                cout << config_parse;
+                LOG_INFO("--------------------------------");
+                LOG_INFO("Controller plugin params: " << info[controller_name]);
+                LOG_INFO(config_parse);
+            }
+            try {
+                controller->init(config_parse.params());
+            } catch (const std::exception& e) {
+                LOG_ERROR("Controller plugin '" << info[controller_name] << "' threw exception during init: " << e.what());
+                return false;
+            } catch (...) {
+                LOG_ERROR("Controller plugin '" << info[controller_name] << "' threw unknown exception during init");
+                return false;
             }
-            controller->init(config_parse.params());
 
             if (connect_to_motion_model && gpu_motion_model) {
                 controller->vars().create_unconnected_output();
@@ -372,17 +405,17 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
             if (connect_to_motion_model) {
                 if (!gpu_motion_model
                     && !verify_io_connection(controller->vars(), motion_model_->vars())) {
-                    std::cout << "VariableIO Error: " << std::quoted(controller->name())
+                    LOG_ERROR("VariableIO Error: " << std::quoted(controller->name())
                               << " does not provide inputs required by motion model "
-                              << std::quoted(motion_model_->name()) << ": ";
+                              << std::quoted(motion_model_->name()));
                     print_io_error(motion_model_->name(), motion_model_->vars());
                     return false;
                 }
             } else if (not connect_to_motion_model) {
                 if (!verify_io_connection(controller->vars(), controllers_.back()->vars())) {
-                    std::cout << "VariableIO Error: " << std::quoted(controller->name())
+                    LOG_ERROR("VariableIO Error: " << std::quoted(controller->name())
                               << " does not provide inputs required by next controller "
-                              << std::quoted(controllers_.back()->name()) << ": ";
+                              << std::quoted(controllers_.back()->name()));
                     print_io_error(controllers_.back()->name(), controllers_.back()->vars());
                     return false;
                 }
@@ -402,13 +435,12 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
     // this is a VariableIO error.
     if (motion_model_ != nullptr && motion_model_->vars().input_variable_index().size() > 0
         && controllers_.size() == 0) {
-        std::cout << "VariableIO Error: There are not any controllers that "
-                  << "provide the inputs required by " << std::quoted(motion_model_->name())
-                  << std::endl;
+        LOG_ERROR("VariableIO Error: There are not any controllers that "
+                  << "provide the inputs required by " << std::quoted(motion_model_->name()));
         print_io_error(motion_model_->name(), motion_model_->vars());
-        std::cout << "If you want to directly pass the outputs from the "
+        LOG_INFO("If you want to directly pass the outputs from the "
                   << "autonomy to the motion_model, see the DirectController "
-                  << "controller plugin." << std::endl;
+                  << "controller plugin.");
         return false;
     }
 
@@ -453,7 +485,11 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
 
     bool connect_entity = true;
     if (info.count("connect_entity") > 0) {
-        connect_entity = boost::lexical_cast<bool>(info["connect_entity"]);
+        try {
+            connect_entity = boost::lexical_cast<bool>(info["connect_entity"]);
+        } catch (const boost::bad_lexical_cast& e) {
+            LOG_ERROR("Entity " << id << ": failed to parse connect_entity '" << info["connect_entity"] << "': " << e.what());
+        }
     }
 
     // Verify that at least one autonomy provides the inputs to the first
@@ -464,15 +500,15 @@ bool Entity::init(const SimUtilsInfo& sim_info, EntityInitParams init_params) {
             return verify_io_connection(autonomy->vars(), controllers_.front()->vars());
         };
         if (boost::algorithm::none_of(autonomies_, verify_io)) {
-            auto out_it = std::ostream_iterator<std::string>(std::cout, ", ");
-            std::cout << "VariableIO Error: "
+            std::ostringstream autonomy_names_ss;
+            for (const auto& a : autonomies_) {
+                autonomy_names_ss << a->name() << ", ";
+            }
+            LOG_ERROR("VariableIO Error: "
                       << "no autonomies provide inputs required by Controller "
                       << std::quoted(controllers_.front()->name())
-                      << ". Add VariableIO output declarations in ";
-            auto get_name = [&](auto& p) { return p->name(); };
-            br::copy(autonomies_ | ba::transformed(get_name), out_it);
-            std::cout << "as follows " << std::endl;
-
+                      << ". Add VariableIO output declarations in "
+                      << autonomy_names_ss.str());
             print_io_error(controllers_.front()->name(), controllers_.front()->vars());
             return false;
         }
@@ -565,9 +601,9 @@ StatePtr& Entity::state() {
 
 void Entity::set_state_belief(const StatePtr& other) {
     if (state_belief_ == state_truth_) {
-        std::cout << "Decoupling State Belief and State Truth. Ensure that you "
+        LOG_WARN("Decoupling State Belief and State Truth. Ensure that you "
                      "have an explicit "
-                  << "method of updating the state belief.\n";
+                  << "method of updating the state belief.");
         state_belief_ = std::make_shared<State>();
     }
     *state_belief_ = *other;
@@ -575,9 +611,9 @@ void Entity::set_state_belief(const StatePtr& other) {
 
 void Entity::set_state_belief(const State& other) {
     if (state_belief_ == state_truth_) {
-        std::cout << "Decoupling State Belief and State Truth. Ensure that you "
+        LOG_WARN("Decoupling State Belief and State Truth. Ensure that you "
                      "have an explicit "
-                  << "method of updating the state belief.\n";
+                  << "method of updating the state belief.");
         state_belief_ = std::make_shared<State>();
     }
     *state_belief_ = other;
@@ -736,13 +772,12 @@ bool Entity::call_service(
         // First check for a global service of this name
         bool found = global_services_->call_service(req, res, service_name);
         if (!found) {
-            std::cout << "request for service (" << service_name << ") that does not exist"
-                      << std::endl;
-            std::cout << "services are: ";
+            std::ostringstream services_ss;
             for (auto& kv : services_) {
-                std::cout << kv.first << ", ";
+                services_ss << kv.first << ", ";
             }
-            std::cout << std::endl;
+            LOG_WARN("request for service (" << service_name << ") that does not exist. "
+                      << "services are: " << services_ss.str());
             return false;
         } else {
             return true;
@@ -753,7 +788,7 @@ bool Entity::call_service(
     bool success = service(req, res);
 
     if (!success) {
-        std::cout << "call to " << service_name << " failed" << std::endl;
+        LOG_WARN("call to " << service_name << " failed");
         return false;
     } else {
         return true;
@@ -761,7 +796,7 @@ bool Entity::call_service(
 }
 
 void Entity::print(const std::string& msg) {
-    std::cout << msg << std::endl;
+    LOG_INFO(msg);
 }
 
 void Entity::close(double t) {
@@ -797,7 +832,6 @@ void Entity::close(double t) {
     plugin_manager_ = nullptr;
     file_search_ = nullptr;
     pubsub_ = nullptr;
-    printer_ = nullptr;
     global_services_ = nullptr;
     time_ = nullptr;
 }
@@ -809,9 +843,6 @@ std::unordered_map<std::string, MessageBasePtr>& Entity::properties() {
 void Entity::set_time_ptr(TimePtr t) {
     time_ = t;
 }
-void Entity::set_printer(PrintPtr printer) {
-    printer_ = printer;
-}
 
 void Entity::set_gpu_controller(GPUControllerPtr gpu_controller) {
     gpu_controller_ = gpu_controller;
@@ -827,21 +858,21 @@ void Entity::set_projection(const std::shared_ptr<GeographicLib::LocalCartesian>
 }
 
 void Entity::print_plugins(std::ostream& out) const {
-    out << "----------- Sensor -------------" << endl;
+    out << "----------- Sensor -------------" << std::endl;
     for (auto& kv : sensors_) {
-        out << kv.second->name() << endl;
+        out << kv.second->name() << std::endl;
     }
-    out << "---------- Autonomy ------------" << endl;
+    out << "---------- Autonomy ------------" << std::endl;
     for (AutonomyPtr a : autonomies_) {
-        out << a->name() << endl;
+        out << a->name() << std::endl;
     }
-    out << "---------- Controller ----------" << endl;
+    out << "---------- Controller ----------" << std::endl;
     for (ControllerPtr c : controllers_) {
-        out << c->name() << endl;
+        out << c->name() << std::endl;
     }
-    out << "----------- Motion -------------" << endl;
+    out << "----------- Motion -------------" << std::endl;
     if (motion_model_->name() != "BLANK") {
-        out << motion_model_->name() << endl;
+        out << motion_model_->name() << std::endl;
     }
 }
 
diff --git a/src/entity/External.cpp b/src/entity/External.cpp
index 1826069856..aa0b505f9d 100644
--- a/src/entity/External.cpp
+++ b/src/entity/External.cpp
@@ -63,12 +63,7 @@
 #include "scrimmage/sensor/Sensor.h"
 #include "scrimmage/simcontrol/EntityInteraction.h"
 #include "scrimmage/simcontrol/SimUtils.h"
-
-using std::cout;
-using std::endl;
-
-namespace ba = boost::adaptors;
-namespace br = boost::range;
+#include "scrimmage/log/Logger.h"
 
 namespace scrimmage {
 
@@ -78,7 +73,6 @@ External::External()
       log_(std::make_shared<Log>()),
       last_t_(NAN),
       pubsub_(std::make_shared<PubSub>()),
-      printer_(std::make_shared<Print>()),
       time_(std::make_shared<Time>()),
       param_server_(std::make_shared<ParameterServer>()),
       global_services_(std::make_shared<GlobalService>()),
@@ -87,19 +81,22 @@ External::External()
       id_to_ent_map_(std::make_shared<std::unordered_map<int, EntityPtr>>()),
       shape_queue_max_size_(0) {}
 
+namespace ba = boost::adaptors;
+namespace br = boost::range;
+
 void External::print_plugins(std::ostream& out) const {
-    out << "====== SCRIMMAGE Plugins Loaded =======" << endl;
-    out << "----------- Network ------------" << endl;
+    out << "====== SCRIMMAGE Plugins Loaded =======" << std::endl;
+    out << "----------- Network ------------" << std::endl;
     for (auto& kv : *networks_) {
-        out << kv.first << endl;
+        out << kv.first << std::endl;
     }
-    out << "------ Entity Interaction ------" << endl;
+    out << "------ Entity Interaction ------" << std::endl;
     for (EntityInteractionPtr ei : ent_inters_) {
-        out << ei->name() << endl;
+        out << ei->name() << std::endl;
     }
-    out << "----------- Metrics ------------" << endl;
+    out << "----------- Metrics ------------" << std::endl;
     for (MetricsPtr m : metrics_) {
-        out << m->name() << endl;
+        out << m->name() << std::endl;
     }
     entity_->print_plugins(out);
 }
@@ -119,7 +116,7 @@ bool External::create_entity(
     // Find the mission file
     auto found_mission_file = FileSearch().find_mission(mission_file);
     if (not found_mission_file) {
-        cout << "Failed to load mission file: " << mission_file << endl;
+        LOG_ERROR("Failed to load mission file: " << mission_file);
         return false;
     }
 
@@ -127,7 +124,7 @@ bool External::create_entity(
     mp_ = std::make_shared<MissionParse>();
     mp_->set_overrides(mission_file_overrides);
     if (not mp_->parse(*found_mission_file)) {
-        cout << "Failed to parse mission file: " << *found_mission_file << endl;
+        LOG_ERROR("Failed to parse mission file: " << *found_mission_file);
         return false;
     }
 
@@ -138,7 +135,7 @@ bool External::create_entity(
     // entity name
     auto it_name_id = mp_->entity_tag_to_id().find(entity_tag);
     if (it_name_id == mp_->entity_tag_to_id().end()) {
-        cout << "Entity name (" << entity_tag << ") not found in mission file" << endl;
+        LOG_ERROR("Entity name (" << entity_tag << ") not found in mission file");
         return false;
     }
 
@@ -166,7 +163,6 @@ bool External::create_entity(
     sim_info.file_search = file_search;
     sim_info.rtree = rtree;
     sim_info.pubsub = pubsub_;
-    sim_info.printer = printer_;
     sim_info.time = time_;
     sim_info.random = random;
     sim_info.id_to_team_map = id_to_team_map_;
@@ -178,13 +174,13 @@ bool External::create_entity(
 
     networks_ = std::make_shared<NetworkMap>();
     if (!create_networks(sim_info, *networks_, plugin_tags, param_override_func)) {
-        std::cout << "External::create_entity() failed on create_networks()" << std::endl;
+        LOG_ERROR("External::create_entity() failed on create_networks()");
         return false;
     }
 
     metrics_.clear();
     if (!create_metrics(sim_info, contacts, metrics_, plugin_tags, param_override_func)) {
-        std::cout << "External::create_entity() failed on create_metrics()" << std::endl;
+        LOG_ERROR("External::create_entity() failed on create_metrics()");
         return false;
     }
 
@@ -197,7 +193,7 @@ bool External::create_entity(
             global_services_,
             plugin_tags,
             param_override_func)) {
-        std::cout << "External::create_entity() failed on create_ent_inters()" << std::endl;
+        LOG_ERROR("External::create_entity() failed on create_ent_inters()");
         return false;
     }
 
@@ -235,7 +231,7 @@ bool External::create_entity(
 
     bool ent_success = entity_->init(sim_info, init_params);
     if (!ent_success) {
-        std::cout << "External::create_entity() failed on entity_->init()" << std::endl;
+        LOG_ERROR("External::create_entity() failed on entity_->init()");
         return false;
     }
 
@@ -260,11 +256,12 @@ bool External::create_entity(
         }
         connect(ctrl->vars(), vars);
         if (!verify_io_connection(entity_->controllers().back()->vars(), vars)) {
-            std::cout << "VariableIO Error: " << ctrl->name()
-                      << " does not provide inputs required by the External class." << std::endl;
+            std::ostringstream var_ss;
+            br::copy(var_idx | ba::map_keys, std::ostream_iterator<std::string>(var_ss, ", "));
+            LOG_ERROR("VariableIO Error: " << ctrl->name()
+                      << " does not provide inputs required by the External class. "
+                      << ctrl->name() << " currently provides: " << var_ss.str());
             print_io_error("External", vars);
-            std::cout << ctrl->name() << " currently provides the following: ";
-            br::copy(var_idx | ba::map_keys, std::ostream_iterator<std::string>(std::cout, ", "));
             return false;
         }
     }
@@ -294,8 +291,10 @@ bool External::step(double t) {
     last_t_ = t;
     mutex.unlock();
 
-    if (!this->call_update_contacts(t))
+    if (!this->call_update_contacts(t)) {
+        LOG_ERROR("External::step failed during call_update_contacts");
         return false;
+    }
 
     mutex.lock();
 
@@ -337,6 +336,7 @@ bool External::step(double t) {
     }
 
     if (!send_messages()) {
+        LOG_ERROR("External::step failed during send_messages");
         mutex.unlock();
         return false;
     }
@@ -407,7 +407,7 @@ bool External::send_messages() {
     for (auto& network : *networks_ | ba::map_values) {
         auto name = network->name();
         if (!network->step(pubs[name], subs[name])) {
-            std::cout << "Network failed: " << name << std::endl;
+            LOG_ERROR("Network failed: " << name);
             return false;
         }
     }
@@ -425,6 +425,7 @@ bool External::call_update_contacts(double t) {
     if (update_contacts_task.update(t).first) {
         auto rtree = entity_->rtree();  // rtree is a shared_ptr
         if (!rtree) {
+            LOG_ERROR("call_update_contacts failed: rtree is null - entity not properly initialized");
             mutex.unlock();
             return false;
         }
diff --git a/src/gpu/GPUController.cpp b/src/gpu/GPUController.cpp
index d4116e5475..03df87b37e 100644
--- a/src/gpu/GPUController.cpp
+++ b/src/gpu/GPUController.cpp
@@ -3,6 +3,7 @@
 #include "scrimmage/common/FileSearch.h"
 #include "scrimmage/gpu/GPUMotionModel.h"
 #include "scrimmage/gpu/OpenCLUtils.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/parse/MissionParse.h"
 #include "scrimmage/parse/ParseUtils.h"
 
@@ -53,9 +54,7 @@ GPUController::GPUController() {
     // const char* kernel_dir_str = std::getenv(KERNEL_PATH_ENV_VAR);
     const char* kernel_dir_str = std::getenv(KERNEL_PATH_ENV_VAR);
     if (kernel_dir_str == nullptr) {
-        std::cerr << "SCRIMMAGE_KERNEL_PATH is not defined. Did you source your "
-                     "environment"
-                  << std::endl;
+        LOG_ERROR("SCRIMMAGE_KERNEL_PATH is not defined. Did you source your environment");
     } else {
         std::vector<std::string> kernel_dirs =
             scrimmage::str2container<std::vector<std::string>>(std::string{kernel_dir_str}, ":");
@@ -157,7 +156,9 @@ cl::Program::Sources GPUController::read_kernels(const std::vector<fs::path>& ke
             }
             ifstream.open(path);
             if (ifstream.fail()) {
-                std::cerr << "Error reading kernel file \'" << path << "\'";
+                std::stringstream ss;
+                ss << "Error reading kernel file '" << path << "'";
+                LOG_ERROR(ss.str());
             } else {
                 buffer << ifstream.rdbuf();
                 std::string src = buffer.str();
@@ -198,7 +199,9 @@ void GPUController::init(MissionParsePtr mp) {
     const std::list<std::string>& kernel_names = mp->kernel_names();
     for (const std::string& kernel_name : kernel_names) {
         if (mp->attributes().count(kernel_name) == 0) {
-            std::cerr << "No Attributes for GPU Kernel \'" << kernel_name << "\'" << std::endl;
+            std::stringstream ss;
+            ss << "No Attributes for GPU Kernel '" << kernel_name << "'";
+            LOG_WARN(ss.str());
             continue;
         }
         const std::map<std::string, std::string>& plugin_attributes =
@@ -295,10 +298,7 @@ std::optional<cl::Device> GPUController::pick_device(const KernelBuildOpts& opts
     }
 
     if (device_map.size() == 0 && !opts.single_precision) {
-        std::cerr << "Warning: No Platform found that supports double precision. "
-                     "Try enabling "
-                     "single precision."
-                  << std::endl;
+        LOG_WARN("Warning: No Platform found that supports double precision. Try enabling single precision.");
         return std::nullopt;
     }
 
@@ -316,7 +316,9 @@ std::optional<cl::Device> GPUController::pick_device(const KernelBuildOpts& opts
     } else {
         for (std::string preferred_platform : opts.preferred_platforms) {
             if (device_map.count(preferred_platform) == 0) {
-                std::cerr << "Warning: No Platform named " << preferred_platform << " found.\n";
+                std::stringstream ss;
+                ss << "Warning: No Platform named " << preferred_platform << " found.";
+                LOG_WARN(ss.str());
             } else {
                 std::vector<cl::Device>& platform_devices = device_map[preferred_platform];
                 usable_devices.insert(
diff --git a/src/log/FrameUpdateClient.cpp b/src/log/FrameUpdateClient.cpp
index 22d5384f3b..e8946d2cac 100644
--- a/src/log/FrameUpdateClient.cpp
+++ b/src/log/FrameUpdateClient.cpp
@@ -36,7 +36,6 @@
 #include "scrimmage/proto/Scrimmage.grpc.pb.h"
 #endif
 
-#include <iostream>
 #include <memory>
 #include <string>
 
@@ -44,6 +43,7 @@
 
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/log/FrameUpdateClient.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/Quaternion.h"
 
@@ -53,9 +53,6 @@ using grpc::ClientContext;
 using grpc::Status;
 #endif
 
-using std::cout;
-using std::endl;
-
 namespace scrimmage {
 
 FrameUpdateClient::FrameUpdateClient(const std::string& ip, int port)
@@ -111,8 +108,7 @@ bool FrameUpdateClient::send_frame(scrimmage_proto::Frame& frame) {
     if (status.ok()) {
         return true;
     } else {
-        cout << "Error code: " << status.error_code() << endl;
-        cout << status.error_message() << endl;
+        LOG_ERROR("Error code: " << status.error_code() << " " << status.error_message());
         return false;
     }
 #endif
diff --git a/src/log/Log.cpp b/src/log/Log.cpp
index b3a6cfafc2..d6b5b1ffbe 100644
--- a/src/log/Log.cpp
+++ b/src/log/Log.cpp
@@ -31,6 +31,7 @@
  */
 
 #include "scrimmage/log/Log.h"
+#include "scrimmage/log/Logger.h"
 
 #include <iostream>
 
@@ -52,7 +53,6 @@
 #include "scrimmage/pubsub/Message.h"
 namespace fs = boost::filesystem;
 
-using std::cout;
 using std::endl;
 
 namespace sp = scrimmage_proto;
@@ -74,7 +74,7 @@ Log::Log() : frames_output_(), shapes_output_(), utm_terrain_output_(), contact_
 bool Log::open_file(std::string filename, int& fd) {
     fd = open(filename.c_str(), O_CREAT | O_RDWR | O_TRUNC, 0644);
     if (fd == -1) {
-        cout << "Failed to open file for writing: " << filename << endl;
+        LOG_ERROR("Failed to open file for writing: " << filename);
         return false;
     }
     return true;
@@ -123,7 +123,7 @@ bool Log::write_ascii(const std::string& str) {
     }
 
     if (!ascii_output_.is_open()) {
-        cout << "Failed to open file for writing: " << ascii_filename_ << endl;
+        LOG_ERROR("Failed to open file for writing: " << ascii_filename_);
         return false;
     }
 
@@ -178,32 +178,32 @@ void Log::set_drop_bin_logging(bool enable) {
 
 bool Log::parse(std::string dir) {
     if (!fs::is_directory(dir)) {
-        cout << "Log directory doesn't exist: " << dir << endl;
+        LOG_ERROR("Log directory doesn't exist: " << dir);
         return false;
     }
 
     fs::path frame_path(frames_name_);
     if (!fs::exists(frame_path) && !fs::exists(frame_path.parent_path() / "frame_0.bin")) {
-        cout << "Frames file doesn't exist: " << frames_name_ << endl;
+        LOG_WARN("Frames file doesn't exist: " << frames_name_);
     } else {
         parse(frames_name_, FRAMES);
     }
 
     fs::path shapes_path(frames_name_);
     if (!fs::exists(shapes_path) && !fs::exists(shapes_path.parent_path() / "shapes_0.bin")) {
-        cout << "Shapes file doesn't exist: " << shapes_name_ << endl;
+        LOG_WARN("Shapes file doesn't exist: " << shapes_name_);
     } else {
         parse(shapes_name_, SHAPES);
     }
 
     if (!fs::exists(fs::path(utm_terrain_name_))) {
-        cout << "UTM Terrain file doesn't exist: " << utm_terrain_name_ << endl;
+        LOG_WARN("UTM Terrain file doesn't exist: " << utm_terrain_name_);
     } else {
         parse(utm_terrain_name_, UTMTERRAIN);
     }
 
     if (!fs::exists(fs::path(contact_visual_name_))) {
-        cout << "Contact Visual file doesn't exist: " << contact_visual_name_ << endl;
+        LOG_WARN("Contact Visual file doesn't exist: " << contact_visual_name_);
     } else {
         parse(contact_visual_name_, CONTACTVISUAL);
     }
@@ -236,7 +236,7 @@ bool Log::parse(std::string filename, Log::FileType type) {
 
     int input_fd = open(filename.c_str(), O_RDONLY);
     if (input_fd == -1) {
-        cout << "Failed to open file: " << filename.c_str() << endl;
+        LOG_ERROR("Failed to open file: " << filename.c_str());
         return false;
     }
 
@@ -244,7 +244,7 @@ bool Log::parse(std::string filename, Log::FileType type) {
         std::make_shared<google::protobuf::io::FileInputStream>(input_fd);
 
     if (!input) {
-        cout << "Failed to open FileInputStream. Filename: " << filename.c_str() << endl;
+        LOG_WARN("Failed to open FileInputStream. Filename: " << filename.c_str());
     }
 
     if (type == FRAMES) {
@@ -257,9 +257,9 @@ bool Log::parse(std::string filename, Log::FileType type) {
         parse_contact_visual(filename, input);
     } else if (type == MSG) {
         // parse_contact_visual(filename, input);
-        cout << "No parser for messages yet. " << type << endl;
+        LOG_WARN("No parser for messages yet. " << type);
     } else {
-        cout << "Log parse(): Invalid parse type: " << type << endl;
+        LOG_WARN("Log parse(): Invalid parse type: " << type);
     }
     close(input_fd);
 
@@ -280,7 +280,7 @@ bool Log::parse_frames(std::string filename, ZeroCopyInputStreamPtr input) {
     } while (success);
 
     if (!clean_eof) {
-        cout << "Frames - WARNING: Clean end-of-file not detected." << endl;
+        LOG_WARN("Frames - WARNING: Clean end-of-file not detected.");
     }
     return true;
 }
@@ -298,7 +298,7 @@ bool Log::parse_shapes(std::string filename, ZeroCopyInputStreamPtr input) {
     } while (success);
 
     if (!clean_eof) {
-        cout << "Shapes - WARNING: Clean end-of-file not detected." << endl;
+        LOG_WARN("Shapes - WARNING: Clean end-of-file not detected.");
     }
     return true;
 }
@@ -316,7 +316,7 @@ bool Log::parse_utm_terrain(std::string filename, ZeroCopyInputStreamPtr input)
     } while (success);
 
     if (!clean_eof) {
-        cout << "UTMTerrain - WARNING: Clean end-of-file not detected." << endl;
+        LOG_WARN("UTMTerrain - WARNING: Clean end-of-file not detected.");
     }
     return true;
 }
@@ -334,7 +334,7 @@ bool Log::parse_contact_visual(std::string filename, ZeroCopyInputStreamPtr inpu
     } while (success);
 
     if (!clean_eof) {
-        cout << "ContactVisual - WARNING: Clean end-of-file not detected." << endl;
+        LOG_WARN("ContactVisual - WARNING: Clean end-of-file not detected.");
     }
     return true;
 }
@@ -352,8 +352,7 @@ bool Log::writeDelimitedTo(
     // Write the size.
     const size_t raw_size = message.ByteSizeLong();
     if (raw_size > std::numeric_limits<int>::max()) {
-        std::cerr << __FILE__ << "(" << __LINE__ << "): Message size larger than max integer value"
-                  << std::endl;
+        LOG_ERROR("Message size larger than max integer value");
         return false;
     }
     const int size = static_cast<int>(raw_size);
@@ -403,12 +402,12 @@ bool Log::readDelimitedFrom(
 
     // Parse the message.
     if (!message->MergeFromCodedStream(&input)) {
-        cout << "Error: MergeFromCodedStream failed: " << filename << endl;
+        LOG_ERROR("Error: MergeFromCodedStream failed: " << filename);
         return false;
     }
 
     if (!input.ConsumedEntireMessage()) {
-        cout << "Error: ConsumedEntireMessage() failed: " << filename << endl;
+        LOG_ERROR("Error: ConsumedEntireMessage() failed: " << filename);
         return false;
     }
 
diff --git a/src/log/Logger.cpp b/src/log/Logger.cpp
new file mode 100644
index 0000000000..803ac02a12
--- /dev/null
+++ b/src/log/Logger.cpp
@@ -0,0 +1,152 @@
+/*
+ * ---------------------------------------------------------------------------
+ * @section LICENSE
+ *
+ * Copyright (c) 2020 Georgia Tech Research Institute (GTRI)
+ *               All Rights Reserved
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ * ---------------------------------------------------------------------------
+ * @file Logger.cpp
+ * @author Ethan M Boos <ethan.boos@gtri.gatech.edu>
+ * @version 1.0
+ * ---------------------------------------------------------------------------
+ * @brief Thread-safe logging implementation.
+ *
+ * Logging behavior:
+ *   - All messages are printed to stdout.
+ *   - File logging is opt-in via init_dir(). The Logger is agnostic to when
+ *     this is called; currently SimControl enables it when output_required().
+ *   - When file logging is enabled, messages also go to scrimmage.log with
+ *     [LEVEL] file:line annotations.
+ * ---------------------------------------------------------------------------
+ */
+
+#include "scrimmage/log/Logger.h"
+
+#include <cstring>
+#include <filesystem>
+#include <iostream>
+#include <sstream>
+
+namespace scrimmage {
+
+Logger::~Logger() {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (file_.is_open()) file_.close();
+}
+
+
+void Logger::init(const std::string& path) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (file_.is_open()) file_.close();
+    file_.open(path, std::ios::app);
+
+    // Flush any pending messages that were buffered before init
+    if (file_.is_open() && !pending_.empty()) {
+        for (const auto& pm : pending_) {
+            file_ << pm.formatted << std::endl;
+        }
+        file_.flush();
+        pending_.clear();
+    }
+    dir_initialized_ = true;
+}
+
+void Logger::init_dir(const std::string& log_dir) {
+    // Ensure the log directory exists
+    namespace fs = std::filesystem;
+    std::error_code ec;
+    fs::create_directories(log_dir, ec);
+
+    init(log_dir + "/scrimmage.log");
+}
+
+void Logger::close() {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (file_.is_open()) file_.close();
+}
+
+void Logger::info(const std::string& msg, const char* file, int line) {
+    write("INFO", file, line, msg);
+}
+
+void Logger::warn(const std::string& msg, const char* file, int line) {
+    write("WARN", file, line, msg);
+}
+
+void Logger::error(const std::string& msg, const char* file, int line) {
+    write("ERROR", file, line, msg);
+}
+
+void Logger::error(const std::string& msg, const std::exception& ex,
+                   const char* file, int line) {
+    error(msg + ": " + ex.what(), file, line);
+}
+
+void Logger::warn(const std::string& msg, const std::exception& ex,
+                  const char* file, int line) {
+    warn(msg + ": " + ex.what(), file, line);
+}
+
+void Logger::write(const char* level, const char* file, int line,
+                   const std::string& msg) {
+    // Strip path to filename only
+    const char* filename = std::strrchr(file, '/');
+    filename = filename ? filename + 1 : file;
+
+    // Full output for log file (with annotations)
+    std::ostringstream ss;
+    ss << "[" << level << "] ";
+    if (filename && filename[0] != '\0') {
+        ss << filename << ":" << line << " - ";
+    }
+    ss << msg;
+    std::string file_output = ss.str();
+
+    std::lock_guard<std::mutex> lock(mutex_);
+
+    // ANSI color codes for console output
+    const char* color_start = "";
+    const char* color_end = "\033[0m";
+    if (std::strcmp(level, "ERROR") == 0) {
+        color_start = "\033[31m";  // Red
+    } else if (std::strcmp(level, "WARN") == 0) {
+        color_start = "\033[33m";  // Yellow
+    } else {
+        color_end = "";  // No reset needed if no color
+    }
+
+    // Console: plain message with color only
+    std::cout << color_start << msg << color_end << std::endl;
+
+    // If not initialized yet, buffer the message for later
+    if (!dir_initialized_) {
+        PendingMessage pm;
+        pm.level = level;
+        pm.file = file;
+        pm.line = line;
+        pm.msg = msg;
+        pm.formatted = file_output;
+        pending_.push_back(std::move(pm));
+    } else if (file_.is_open()) {
+        file_ << file_output << std::endl;  // Full annotations in file
+    }
+
+    // Flush immediately on ERROR to avoid losing logs on crash
+    if (std::strcmp(level, "ERROR") == 0) {
+        std::cout.flush();
+        if (dir_initialized_ && file_.is_open()) file_.flush();
+    }
+}
+
+}  // namespace scrimmage
diff --git a/src/log/Print.cpp b/src/log/Print.cpp
deleted file mode 100644
index 0305067db1..0000000000
--- a/src/log/Print.cpp
+++ /dev/null
@@ -1,226 +0,0 @@
-/*
- * ---------------------------------------------------------------------------
- * @section LICENSE
- *
- * Copyright (c) 2020 Georgia Tech Research Institute (GTRI)
- *               All Rights Reserved
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
- * DEALINGS IN THE SOFTWARE.
- * ---------------------------------------------------------------------------
- * @file filename.ext
- * @author Kevin DeMarco <kevin.demarco@gtri.gatech.edu>
- * @author Eric Squires <eric.squires@gtri.gatech.edu>
- * @version 1.0
- * ---------------------------------------------------------------------------
- * @brief A brief description.
- *
- * @section DESCRIPTION
- * Example usage
- *
- * // Required Includes:
- *   #include "scrimmage/entity/Entity.h"
- *   #include "scrimmage/log/Print.h"
- *
- * // In a Plugin (any type):
- * In the _step() method, for example:
- *   this->parent()->printer()->printInfo(*this, "Printing from my plugin!");
- *
- *   // or
- *
- *   // requires: #include <sstream>
- *   std::ostringstream o;
- *   o << "Testing:" << std::endl;
- *   o << "    multiline " << std::endl;
- *   o << "    prints " << std::endl;
- *   this->parent()->printer()->printInfo(*this, o.str());
- *
- *
- * // In a lambda:
- *   auto mycallback = [=] (auto &somethingorother) {
- *                      ^
- *      // or
- *
- *   auto mycallback = [&,this] (auto &somethingorother) {
- *       //               ^^^^
- *       some_value_ = somethingorother->data;
- *       this->parent()->printer()->printDev(*this, "Somethingorother set!");
- *   };
- *
- * // In a utility class:
- *   'this' pointer of the calling plugin must be passed into the utility
- *   class/function/method and can be used as normal.
- *
- *
- * ---------------------------------------------------------------------------
- */
-
-#include "scrimmage/log/Print.h"
-
-#include <fstream>
-#include <iomanip>
-#include <iostream>
-#include <map>
-#include <memory>
-#include <ostream>
-#include <sstream>
-
-#include "scrimmage/common/Time.h"
-#include "scrimmage/entity/Entity.h"
-#include "scrimmage/entity/EntityPlugin.h"
-
-namespace scrimmage {
-
-void Print::init(TimePtr& time, std::string log_dir) {
-    init(time, log_dir, PrintEnums::WRITE_TO::BOTH);
-}
-void Print::init(TimePtr& time, std::string log_dir, PrintEnums::WRITE_TO flag) {
-    time_ = time;
-    log_dir_ = log_dir;
-    output_flag_ = flag;
-
-    if (write_file()) {
-        std::ostringstream filename;
-        filename << log_dir_ << '/' << "console.log";
-        log_stream_.open(filename.str());
-    }
-}
-void Print::close() {
-    if (log_stream_) {
-        log_stream_.close();
-    }
-    time_ = nullptr;
-}
-void Print::flush() {
-    if (log_stream_) {
-        log_stream_.flush();
-    }
-}
-
-void Print::printDev(PrintData& data, std::string outmessage) {
-    print(std::cout, PrintEnums::WARN_LEVEL::DEV, data, outmessage);
-}
-void Print::printInfo(PrintData& data, std::string outmessage) {
-    print(std::cout, PrintEnums::WARN_LEVEL::INFO, data, outmessage);
-}
-void Print::printWarning(PrintData& data, std::string outmessage) {
-    print(std::cout, PrintEnums::WARN_LEVEL::WARNING, data, outmessage);
-}
-void Print::printError(PrintData& data, std::string outmessage) {
-    print(std::cerr, PrintEnums::WARN_LEVEL::ERROR, data, outmessage);
-}
-
-void Print::printDev(EntityPlugin& caller, std::string outmessage) {
-    print(std::cout, PrintEnums::WARN_LEVEL::DEV, caller, outmessage);
-}
-void Print::printInfo(EntityPlugin& caller, std::string outmessage) {
-    print(std::cout, PrintEnums::WARN_LEVEL::INFO, caller, outmessage);
-}
-void Print::printWarning(EntityPlugin& caller, std::string outmessage) {
-    print(std::cerr, PrintEnums::WARN_LEVEL::WARNING, caller, outmessage);
-}
-void Print::printError(EntityPlugin& caller, std::string outmessage) {
-    print(std::cerr, PrintEnums::WARN_LEVEL::ERROR, caller, outmessage);
-}
-
-const char* Print::getWarningLevel(PrintEnums::WARN_LEVEL e) {
-    const std::map<PrintEnums::WARN_LEVEL, const char*> GetAsStrings{
-        {PrintEnums::WARN_LEVEL::DEV, "DEV"},
-        {PrintEnums::WARN_LEVEL::INFO, "INFO"},
-        {PrintEnums::WARN_LEVEL::WARNING, "WARN"},
-        {PrintEnums::WARN_LEVEL::ERROR, "ERROR"}};
-    auto it = GetAsStrings.find(e);
-    return it == GetAsStrings.end() ? GetAsStrings.begin()->second : it->second;
-}
-bool Print::write_file() {
-    return (
-        (output_flag_ == PrintEnums::WRITE_TO::BOTH)
-        || (output_flag_ == PrintEnums::WRITE_TO::FILE_ONLY));
-}
-bool Print::write_console() {
-    return (
-        (output_flag_ == PrintEnums::WRITE_TO::BOTH)
-        || (output_flag_ == PrintEnums::WRITE_TO::CONSOLE_ONLY));
-}
-
-std::string Print::formatTime(double time) {
-    if (std::isnan(time)) {
-        return "-----.---";
-    } else {
-        std::ostringstream o;
-        o << std::internal << std::fixed << std::setprecision(3) << std::setw(9)
-          << std::setfill('0') << time;
-        return o.str();
-    }
-}
-
-std::string Print::formatMsg(PrintEnums::WARN_LEVEL level, PrintData& data, std::string msg) {
-    std::ostringstream pre;
-    std::ostringstream formattedmsg;
-    std::string entitySection = "";
-
-    // add entity_id if available
-    if (data.entity_id_ > 0) {
-        entitySection = "[Entity: " + std::to_string(data.entity_id_) + "]";
-    }
-
-    // create our prefix
-    pre << formatTime(data.time_) << "s [" << data.name_ << "]" << entitySection << "["
-        << Print::getWarningLevel(level) << "]: ";
-
-    // remove last character if it's a newline
-    if (msg.back() == '\n') {
-        msg.pop_back();
-    }
-
-    // iterate and place the prefix at the beginning of each newline
-    formattedmsg << pre.str();
-    for (auto i = msg.cbegin(); i != msg.cend(); ++i) {
-        formattedmsg << *i;
-        // add prefix after each newline
-        if (*i == '\n') {
-            formattedmsg << pre.str();
-        }
-    }
-
-    return formattedmsg.str();
-}
-
-void Print::print(
-    std::ostream& stream,
-    PrintEnums::WARN_LEVEL level,
-    EntityPlugin& caller,
-    std::string msg) {
-    PrintData pd;
-    pd.time_ = caller.getTime()->t();
-    pd.name_ = caller.name();
-    pd.entity_id_ = caller.parent()->id().id();
-
-    print(stream, level, pd, msg);
-}
-void Print::print(
-    std::ostream& stream,
-    PrintEnums::WARN_LEVEL level,
-    PrintData& data,
-    std::string msg) {
-    std::ostringstream o;
-
-    o << formatMsg(level, data, msg) << std::endl;
-
-    if (write_file()) {
-        log_stream_ << o.str();
-    }  // write to log file
-    if (write_console()) {
-        stream << o.str();
-    }  // write to console
-}
-
-}  // namespace scrimmage
diff --git a/src/network/Interface.cpp b/src/network/Interface.cpp
index 49d7c5235a..b08c625207 100644
--- a/src/network/Interface.cpp
+++ b/src/network/Interface.cpp
@@ -40,18 +40,16 @@ using grpc::ClientContext;
 using grpc::Status;
 #endif
 
-#include <iostream>
+#include <sstream>
 #include <thread>  // NOLINT
 
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Contact.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/network/Interface.h"
 #include "scrimmage/proto/ProtoConversions.h"
 #include "scrimmage/proto/Shape.pb.h"
 
-using std::cout;
-using std::endl;
-
 namespace scrimmage {
 
 #if ENABLE_GRPC == 1
@@ -73,7 +71,9 @@ bool Interface::init_network(Interface::Mode_t mode, const std::string& ip, int
         builder.AddListeningPort(result, grpc::InsecureServerCredentials());
         builder.RegisterService(&frame_service);
         server_ = builder.BuildAndStart();
-        std::cout << "Server listening on " << result << std::endl;
+        std::stringstream ss;
+        ss << "Server listening on " << result;
+        LOG_INFO(ss.str());
 
         // start thread with shutdown option
         // https://stackoverflow.com/a/36182429
@@ -83,7 +83,7 @@ bool Interface::init_network(Interface::Mode_t mode, const std::string& ip, int
         server_->Shutdown();
         serving_thread.join();
 #else
-        cout << "WARNING: GRPC DISABLED!" << endl;
+        LOG_WARN("WARNING: GRPC DISABLED!");
 #endif
     } else if (mode_ == client) {
 #if ENABLE_GRPC
@@ -93,9 +93,9 @@ bool Interface::init_network(Interface::Mode_t mode, const std::string& ip, int
         std::unique_ptr<scrimmage_proto::ScrimmageService::Stub> frame_temp(
             scrimmage_proto::ScrimmageService::NewStub(channel));
         scrimmage_stub_ = std::move(frame_temp);
-        cout << "Client connecting to " << result << endl;
+        LOG_INFO("Client connecting to " << result);
 #else
-        cout << "WARNING: GRPC DISABLED!" << endl;
+        LOG_WARN("WARNING: GRPC DISABLED!");
 #endif
     }
     return true;
@@ -150,12 +150,11 @@ bool Interface::send_frame(std::shared_ptr<scrimmage_proto::Frame>& frame) {
         if (status.ok()) {
             return true;
         } else {
-            cout << "send_frame: Error code: " << status.error_code() << endl;
-            cout << status.error_message() << endl;
+            LOG_ERROR("send_frame: Error code: " << status.error_code() << " " << status.error_message());
             return false;
         }
 #else
-        cout << "WARNING: GRPC DISABLED!" << endl;
+        LOG_WARN("WARNING: GRPC DISABLED!");
 #endif
     }
     return true;
@@ -193,12 +192,11 @@ bool Interface::send_utm_terrain(std::shared_ptr<scrimmage_proto::UTMTerrain>& u
         if (status.ok()) {
             return true;
         } else {
-            cout << "send_utm_terrain: Error code: " << status.error_code() << endl;
-            cout << status.error_message() << endl;
+            LOG_ERROR("send_utm_terrain: Error code: " << status.error_code() << " " << status.error_message());
             return false;
         }
 #else
-        cout << "WARNING: GRPC DISABLED!" << endl;
+        LOG_WARN("WARNING: GRPC DISABLED!");
 #endif
     }
     return true;
@@ -230,12 +228,11 @@ bool Interface::send_contact_visual(std::shared_ptr<scrimmage_proto::ContactVisu
         if (status.ok()) {
             return true;
         } else {
-            cout << "send_contact_visual: Error code: " << status.error_code() << endl;
-            cout << status.error_message() << endl;
+            LOG_ERROR("send_contact_visual: Error code: " << status.error_code() << " " << status.error_message());
             return false;
         }
 #else
-        cout << "WARNING: GRPC DISABLED!" << endl;
+        LOG_WARN("WARNING: GRPC DISABLED!");
 #endif
     }
     return true;
@@ -263,12 +260,11 @@ bool Interface::send_gui_msg(scrimmage_proto::GUIMsg& gui_msg) {
         if (status.ok()) {
             return true;
         } else {
-            cout << "send_gui_msg: Error code: " << status.error_code() << endl;
-            cout << status.error_message() << endl;
+            LOG_ERROR("send_gui_msg: Error code: " << status.error_code() << " " << status.error_message());
             return false;
         }
 #else
-        cout << "WARNING: GRPC DISABLED!" << endl;
+        LOG_WARN("WARNING: GRPC DISABLED!");
 #endif
     }
     return true;
@@ -296,12 +292,11 @@ bool Interface::send_world_point_clicked_msg(scrimmage_proto::WorldPointClicked&
         if (status.ok()) {
             return true;
         } else {
-            cout << "send_world_point_clicked_msg: Error code: " << status.error_code() << endl;
-            cout << status.error_message() << endl;
+            LOG_ERROR("send_world_point_clicked_msg: Error code: " << status.error_code() << " " << status.error_message());
             return false;
         }
 #else
-        cout << "WARNING: GRPC DISABLED!" << endl;
+        LOG_WARN("WARNING: GRPC DISABLED!");
 #endif
     }
     return true;
@@ -329,12 +324,11 @@ bool Interface::send_sim_info(scrimmage_proto::SimInfo& sim_info) {
         if (status.ok()) {
             return true;
         } else {
-            cout << "send_sim_info: Error code: " << status.error_code() << endl;
-            cout << status.error_message() << endl;
+            LOG_ERROR("send_sim_info: Error code: " << status.error_code() << " " << status.error_message());
             return false;
         }
 #else
-        cout << "WARNING: GRPC DISABLED!" << endl;
+        LOG_WARN("WARNING: GRPC DISABLED!");
 #endif
     }
     return true;
@@ -362,12 +356,11 @@ bool Interface::send_shapes(scrimmage_proto::Shapes& shapes) {
         if (status.ok()) {
             return true;
         } else {
-            cout << "send_shapes: Error code: " << status.error_code() << endl;
-            cout << status.error_message() << endl;
+            LOG_ERROR("send_shapes: Error code: " << status.error_code() << " " << status.error_message());
             return false;
         }
 #else
-        cout << "WARNING: GRPC DISABLED!" << endl;
+        LOG_WARN("WARNING: GRPC DISABLED!");
 #endif
     }
     return true;
diff --git a/src/parse/ConfigParse.cpp b/src/parse/ConfigParse.cpp
index 1063e501fa..466450c3fe 100644
--- a/src/parse/ConfigParse.cpp
+++ b/src/parse/ConfigParse.cpp
@@ -38,6 +38,7 @@
 
 #include "scrimmage/common/FileSearch.h"
 #include "scrimmage/common/Utilities.h"
+#include "scrimmage/log/Logger.h"
 
 #define BOOST_NO_CXX11_SCOPED_ENUMS
 #include <boost/filesystem.hpp>
@@ -49,7 +50,6 @@
 namespace fs = boost::filesystem;
 namespace rx = rapidxml;
 
-using std::cout;
 using std::endl;
 
 namespace scrimmage {
@@ -113,13 +113,11 @@ bool ConfigParse::parse(
     bool status = file_search.find_file(filename, "xml", env_var, result, verbose);
     if (!status) {
         if (boost::algorithm::to_lower_copy(filename) != "sphere") {
-            // sphere does not have a filename so we do not
-            // need a warning message for this
-            cout << "Failed to find configuration: " << filename << endl;
+            LOG_WARN("Failed to find configuration: " << filename);
         }
         return false;
     } else if (verbose) {
-        cout << "ConfigParse: found " << result << std::endl;
+        LOG_INFO("ConfigParse: found " << result);
     }
     filename_ = result;
 
@@ -133,7 +131,7 @@ bool ConfigParse::parse(
 
     rx::xml_node<>* config_node = doc.first_node("params");
     if (config_node == 0) {
-        cout << "Missing tag: params" << endl;
+        LOG_ERROR("Missing tag: params");
         return false;
     }
 
@@ -154,7 +152,7 @@ bool ConfigParse::parse(
 
     for (std::string& node_name : required_) {
         if (params_.count(node_name) == 0) {
-            cout << "Config file is missing XML tag: " << node_name << endl;
+            LOG_ERROR("Config file is missing XML tag: " << node_name);
             return false;
         }
     }
@@ -192,7 +190,7 @@ std::string ConfigParse::stem() {
 
 void ConfigParse::print_params() {
     for (auto& kv : params_) {
-        cout << kv.first << "=" << kv.second << endl;
+        LOG_INFO(kv.first << "=" << kv.second);
     }
 }
 
diff --git a/src/parse/MissionParse.cpp b/src/parse/MissionParse.cpp
index 6327087e02..ed4aab3505 100644
--- a/src/parse/MissionParse.cpp
+++ b/src/parse/MissionParse.cpp
@@ -34,6 +34,7 @@
 
 #include "scrimmage/common/FileSearch.h"
 #include "scrimmage/common/Utilities.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/parse/ConfigParse.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/parse/XMLParser/RapidXMLParser.h"
@@ -45,7 +46,6 @@
 #endif
 
 #include <fstream>
-#include <iostream>
 #include <regex>  //NOLINT
 #include <string>
 #include <typeinfo>
@@ -59,9 +59,6 @@
 #include <boost/filesystem.hpp>
 #undef BOOST_NO_CXX11_SCOPED_ENUMS
 
-using std::cout;
-using std::endl;
-
 namespace fs = boost::filesystem;
 namespace scrimmage {
 
@@ -112,7 +109,7 @@ bool MissionParse::read_file_content(const std::string& filename) {
                 .find_file(mission_filename_, "xml", "SCRIMMAGE_MISSION_PATH", result, false);
         if (!status) {
             // The mission file wasn't found. Exit.
-            cout << "SCRIMMAGE mission file not found: " << mission_filename_ << endl;
+            LOG_ERROR("SCRIMMAGE mission file not found: " << mission_filename_);
             return false;
         }
         // The mission file was found, save its path.
@@ -121,7 +118,7 @@ bool MissionParse::read_file_content(const std::string& filename) {
 
     std::ifstream file(mission_filename_.c_str());
     if (!file.is_open()) {
-        std::cout << "Failed to open mission file: " << mission_filename_ << endl;
+        LOG_ERROR("Failed to open mission file: " << mission_filename_);
         return false;
     }
 
@@ -157,7 +154,15 @@ bool MissionParse::parse_filecontents(Parser& doc) {
         mission_file_content_.begin(),
         mission_file_content_.end());          // copy
     mission_file_content_vec.push_back('\0');  // shouldn't reallocate
-    return doc.parse(mission_file_content_vec);
+    try {
+        return doc.parse(mission_file_content_vec);
+    } catch (const std::exception& e) {
+        LOG_ERROR("XML parse failed in '" << mission_filename_ << "': " << e.what());
+        return false;
+    } catch (...) {
+        LOG_ERROR("XML parse failed with unknown exception in '" << mission_filename_ << "'");
+        return false;
+    }
 }
 
 #if ENABLE_LIBXML2_PARSER
@@ -171,7 +176,15 @@ bool MissionParse::parse_filecontents<LibXML2Parser>(LibXML2Parser& doc) {
     mission_file_content_vec.assign(
         mission_file_content_.begin(),
         mission_file_content_.end());  // copy
-    doc.parse(mission_file_content_vec);
+    try {
+        doc.parse(mission_file_content_vec);
+    } catch (const std::exception& e) {
+        LOG_ERROR("XML parse failed in '" << mission_filename_ << "': " << e.what());
+        return false;
+    } catch (...) {
+        LOG_ERROR("XML parse failed with unknown exception in '" << mission_filename_ << "'");
+        return false;
+    }
     mission_file_content_vec = doc.get_filecontents();
 
     mission_file_content_.assign(
@@ -180,7 +193,15 @@ bool MissionParse::parse_filecontents<LibXML2Parser>(LibXML2Parser& doc) {
     mission_file_content_ = replace_overrides(mission_file_content_);
     mission_file_content_vec.assign(mission_file_content_.begin(), mission_file_content_.end());
 
-    return doc.parse(mission_file_content_vec);
+    try {
+        return doc.parse(mission_file_content_vec);
+    } catch (const std::exception& e) {
+        LOG_ERROR("XML parse failed in '" << mission_filename_ << "': " << e.what());
+        return false;
+    } catch (...) {
+        LOG_ERROR("XML parse failed with unknown exception in '" << mission_filename_ << "'");
+        return false;
+    }
 }
 #endif
 
@@ -190,9 +211,25 @@ bool MissionParse::parse_mission() {
     //  Parse the xml tree.
 
     // Helpers to avoid passing bad strings into stoi and stod
-    auto parse_int = [&](std::string str) { return std::stoi(replace_overrides(str)); };
+    auto parse_int = [&](std::string str) {
+        const std::string val = replace_overrides(str);
+        try {
+            return std::stoi(val);
+        } catch (const std::exception& e) {
+            LOG_ERROR("Mission file: failed to parse '" << val << "' as integer: " << e.what());
+            return 0;
+        }
+    };
 
-    auto parse_double = [&](std::string str) { return std::stod(replace_overrides(str)); };
+    auto parse_double = [&](std::string str) {
+        const std::string val = replace_overrides(str);
+        try {
+            return std::stod(val);
+        } catch (const std::exception& e) {
+            LOG_ERROR("Mission file: failed to parse '" << val << "' as double: " << e.what());
+            return 0.0;
+        }
+    };
 
     Parser doc;
     // doc.set_filename(mission_filename_);
@@ -206,13 +243,13 @@ bool MissionParse::parse_mission() {
     parse_filecontents(doc);
     auto runscript_node = doc.first_node("runscript");
     if (!runscript_node.is_valid()) {
-        cout << "Missing runscript tag." << endl;
+        LOG_ERROR("Missing runscript tag.");
         return false;
     }
 
     auto run_node = runscript_node.first_node("run");
     if (!run_node.is_valid()) {
-        cout << "Missing run node" << endl;
+        LOG_ERROR("Missing run node");
         return false;
     }
 
@@ -265,7 +302,7 @@ bool MissionParse::parse_mission() {
          script_node = script_node.next_sibling("param_common")) {
         auto nm_attr = script_node.first_attribute("name");
         if (!nm_attr.is_valid()) {
-            std::cout << "warning: found param_common block without a name, skipping" << std::endl;
+            LOG_WARN("found param_common block without a name, skipping");
             continue;
         }
 
@@ -408,7 +445,7 @@ bool MissionParse::parse_mission() {
         auto nm_attr = script_node.first_attribute("name");
 
         if (!nm_attr.is_valid()) {
-            cout << "warning: found entity_common block without a name, skipping" << endl;
+            LOG_WARN("found entity_common block without a name, skipping");
             continue;
         }
 
@@ -442,8 +479,7 @@ bool MissionParse::parse_mission() {
             }
 
             if (script_info.count(node_name) > 0 && node_name.compare("team_id")) {
-                cout << "Warning: entity contains multiple tags for \"" << node_name << "\""
-                     << endl;
+                LOG_WARN("Warning: entity contains multiple tags for \"" << node_name << "\"");
             }
             script_info[node_name] = node.value();
         }
@@ -463,7 +499,7 @@ bool MissionParse::parse_mission() {
             std::string nm = nm_attr.value();
             auto it = entity_common.find(nm);
             if (it == entity_common.end()) {
-                cout << "warning: entity_common block referenced without definition" << endl;
+                LOG_WARN("entity_common block referenced without definition");
             } else {
                 script_info = it->second;
                 entity_attributes_[ent_desc_id] = entity_common_attributes[nm];
@@ -478,11 +514,11 @@ bool MissionParse::parse_mission() {
         auto team_id_node = script_node.first_node("team_id");
         if (team_id_node.is_valid()) {
             if (team_id_node.next_sibling("team_id").is_valid()) {
-                cout << "Warning: entity contains multiple tags for \"team_id\"" << endl;
+                LOG_WARN("Warning: entity contains multiple tags for \"team_id\"");
             }
             script_info["team_id"] = team_id_node.value();
         } else if (script_info.count("team_id") == 0) {
-            cout << "Warning: Team ID not set" << endl;
+            LOG_WARN("Warning: Team ID not set");
             script_info["team_id"] = std::to_string(team_id_err--);
         }
 
@@ -583,7 +619,7 @@ bool MissionParse::parse_mission() {
             }
 
             if (script_info.count(nm) > 0 && nm.compare("team_id")) {
-                cout << "Warning: entity contains multiple tags for \"" << nm << "\"" << endl;
+                LOG_WARN("Warning: entity contains multiple tags for \"" << nm << "\"");
             }
 
             script_info[nm] = trim(node.value());
@@ -634,19 +670,19 @@ bool MissionParse::parse_mission() {
         if (script_info.count("x") > 0) {
             script_info["x0"] = script_info["x"];
         } else {
-            cout << "Entity missing 'x' tag." << endl;
+            LOG_WARN("Entity missing 'x' tag.");
         }
 
         if (script_info.count("y") > 0) {
             script_info["y0"] = script_info["y"];
         } else {
-            cout << "Entity missing 'y' tag." << endl;
+            LOG_WARN("Entity missing 'y' tag.");
         }
 
         if (script_info.count("z") > 0) {
             script_info["z0"] = script_info["z"];
         } else {
-            cout << "Entity missing 'z' tag." << endl;
+            LOG_WARN("Entity missing 'z' tag.");
         }
 
         bool color_status = false;
@@ -706,9 +742,9 @@ bool MissionParse::parse_mission() {
                 gen_info.rate = rate;
 
             } else if (rate > 0 && gen_count <= 0) {
-                cout << "WARNING: Not using entity generator."
-                     << "generate_rate defined, but generate_count is "
-                     << "less than or equal to zero" << endl;
+                LOG_WARN("WARNING: Not using entity generator."
+                         "generate_rate defined, but generate_count is "
+                         "less than or equal to zero");
             }
         }
 
@@ -753,7 +789,7 @@ bool MissionParse::create_log_dir() {
     // Create the root_log_dir_ if it doesn't exist:
     if (not fs::exists(fs::path(root_log_dir_))
         && not fs::create_directories(fs::path(root_log_dir_))) {
-        cout << "Failed to create the root_log_dir: " << root_log_dir_ << endl;
+        LOG_ERROR("Failed to create the root_log_dir: " << root_log_dir_);
         return false;
     }
 
@@ -780,12 +816,11 @@ bool MissionParse::create_log_dir() {
 
     if (!log_dir_created) {
         if (!use_exact_log_path_) {
-            cout << "Unable to create log directory: " << log_dir_ << endl;
+            LOG_ERROR("Unable to create log directory: " << log_dir_);
             return false;
         } else {
-            cout << "Unable to guarantee that the directory for this run is unique and does not "
-                    "already contain scrimmage files that would be overwritten: "
-                 << log_dir_ << std::endl;
+            LOG_WARN("Unable to guarantee that the directory for this run is unique and does not "
+                     "already contain scrimmage files that would be overwritten: " << log_dir_);
             return false;
         }
     }
@@ -810,9 +845,9 @@ bool MissionParse::create_log_dir() {
     if (create_latest_dir && !use_exact_log_path_) {
         boost::system::error_code ec;
         auto print_error = [&]() {
-            cout << "Error code value: " << ec.value() << endl;
-            cout << "Error code name: " << ec.category().name() << endl;
-            cout << "Error message: " << ec.message() << endl;
+            LOG_WARN("Error code value: " << ec.value());
+            LOG_WARN("Error code name: " << ec.category().name());
+            LOG_WARN("Error message: " << ec.message());
         };
         auto fs_err = [&]() { return ec != boost::system::errc::success; };
 
@@ -822,7 +857,7 @@ bool MissionParse::create_log_dir() {
         if (fs::is_symlink(latest_sym)) {
             fs::remove(latest_sym, ec);
             if (fs_err()) {
-                cout << "WARNING: could not remove symlink to latest directory" << endl;
+                LOG_WARN("WARNING: could not remove symlink to latest directory");
                 print_error();
             }
         }
@@ -830,9 +865,9 @@ bool MissionParse::create_log_dir() {
         // Create the symlink
         fs::create_directory_symlink(fs::path(log_dir_), latest_sym, ec);
         if (fs_err()) {
-            cout << "WARNING: Unable to create latest log file symlink" << endl;
-            cout << "Couldn't create symlink log directory: " << latest_sym.string() << " -> "
-                 << fs::path(log_dir_).string() << endl;
+            LOG_WARN("WARNING: Unable to create latest log file symlink");
+            LOG_WARN("Couldn't create symlink log directory: " << latest_sym.string() << " -> "
+                     << fs::path(log_dir_).string());
             print_error();
         }
     }
@@ -963,16 +998,14 @@ bool MissionParse::parse_terrain() {
             return true;
 
         } else {
-            cout << "============================================" << endl;
-            cout << "Invalid XML Terrain settings: " << endl;
-            cout << "Hemisphere: " << terrain_parse.params()["hemisphere"] << endl;
-            cout << "Zone: " << get("zone", terrain_parse.params(), -2) << endl;
-            cout << "--------------------------------------------" << endl;
-            cout << "Geographic lib output: " << endl;
-            cout << "x_easting: " << x_easting << endl;
-            cout << "y_northing: " << y_northing << endl;
-            cout << "Zone: " << zone << endl;
-            cout << "Northern hemisphere?: " << northp << endl;
+            LOG_WARN("Invalid XML Terrain settings:"
+                     << "\n  Hemisphere: " << terrain_parse.params()["hemisphere"]
+                     << "\n  Zone: " << get("zone", terrain_parse.params(), -2)
+                     << "\n  Geographic lib output:"
+                     << "\n  x_easting: " << x_easting
+                     << "\n  y_northing: " << y_northing
+                     << "\n  Zone: " << zone
+                     << "\n  Northern hemisphere?: " << northp);
         }
     }
     return false;
diff --git a/src/parse/ParseUtils.cpp b/src/parse/ParseUtils.cpp
index 75eaa10778..a3c305eefd 100644
--- a/src/parse/ParseUtils.cpp
+++ b/src/parse/ParseUtils.cpp
@@ -33,12 +33,12 @@
 #include "scrimmage/parse/ParseUtils.h"
 
 #include <fstream>
-#include <iostream>
 #include <sstream>
 #include <vector>
 
 #include "scrimmage/common/FileSearch.h"
 #include "scrimmage/common/PID.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/parse/ConfigParse.h"
 #include "scrimmage/proto/Visual.pb.h"
@@ -52,8 +52,6 @@
 #include <boost/algorithm/string/split.hpp>
 
 namespace fs = boost::filesystem;
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
@@ -64,7 +62,7 @@ bool find_terrain_files(
     ConfigParse& terrain_parse,
     std::shared_ptr<scrimmage_proto::UTMTerrain>& utm_terrain) {
     if (utm_terrain == nullptr) {
-        cout << "utm_terrain is null." << endl;
+        LOG_ERROR("utm_terrain is null.");
         return false;
     }
 
@@ -99,6 +97,12 @@ bool find_terrain_files(
             utm_terrain->set_poly_data_file(polydata_file);
             return true;
         }
+        LOG_WARN("Terrain '" << terrain_name << "' files missing - polydata: "
+                 << polydata_file << ", texture: " << texture_file);
+    } else {
+        const char* data_path = std::getenv("SCRIMMAGE_DATA_PATH");
+        LOG_WARN("Terrain '" << terrain_name << "' config not found in SCRIMMAGE_DATA_PATH="
+                 << (data_path ? data_path : "(not set)"));
     }
     return false;
 }
@@ -112,7 +116,7 @@ bool find_model_properties(
     bool& mesh_found,
     bool& texture_found) {
     if (cv == nullptr) {
-        cout << "Contact Visual is null." << endl;
+        LOG_ERROR("Contact Visual is null.");
         return false;
     }
 
@@ -153,7 +157,7 @@ bool find_model_properties(
                 cv->add_rotate(*it);
             }
         } else {
-            cout << "Error parsing: visual_rpy" << endl;
+            LOG_WARN("Error parsing: visual_rpy");
         }
     }
     if (!valid_rotate) {
@@ -168,7 +172,7 @@ bool parse_autonomy_data(
     std::map<std::string, std::string>& params,
     std::map<std::string, std::string>& data_params) {
     if (params.count("data") == 0) {
-        cout << "Missing data tag in params" << endl;
+        LOG_WARN("Missing data tag in params");
         return false;
     }
 
@@ -178,7 +182,7 @@ bool parse_autonomy_data(
     if (data.parse(overrides, params["data"], "SCRIMMAGE_DATA_PATH", file_search)) {
         data_params = data.params();
     } else {
-        cout << "Failed to find data file: " << params["data"] << endl;
+        LOG_WARN("Failed to find data file: " << params["data"]);
         return false;
     }
     return true;
@@ -233,7 +237,7 @@ bool get_vec(
             name += "_" + std::to_string(i);
         }
         if (params.count(name) == 0) {
-            cout << "Invalid name in params: " << str << endl;
+            LOG_WARN("Invalid name in params: " << str);
             return false;
         }
         vec.push_back(params[name]);
@@ -367,20 +371,27 @@ bool set_pid_gains(sc::PID& pid, std::string str, bool is_angle) {
     boost::split(str_vals, str, boost::is_any_of(","));
 
     if (str_vals.size() != 4) {
+        LOG_ERROR("PID gains string '" << str << "' invalid format (expected: p,i,d,i_lim)");
         return false;
     } else {
-        double p = std::stod(str_vals[0]);
-        double i = std::stod(str_vals[1]);
-        double d = std::stod(str_vals[2]);
-        pid.set_parameters(p, i, d);
-
-        if (is_angle) {
-            double i_lim = sc::Angles::deg2rad(std::stod(str_vals[3]));
-            pid.set_integral_band(i_lim);
-            pid.set_is_angle(true);
-        } else {
-            double i_lim = std::stod(str_vals[3]);
-            pid.set_integral_band(i_lim);
+        try {
+            double p = std::stod(str_vals[0]);
+            double i = std::stod(str_vals[1]);
+            double d = std::stod(str_vals[2]);
+            pid.set_parameters(p, i, d);
+
+            if (is_angle) {
+                double i_lim = sc::Angles::deg2rad(std::stod(str_vals[3]));
+                pid.set_integral_band(i_lim);
+                pid.set_is_angle(true);
+            } else {
+                double i_lim = std::stod(str_vals[3]);
+                pid.set_integral_band(i_lim);
+                pid.set_is_angle(false);
+            }
+        } catch (const std::exception& e) {
+            LOG_ERROR("PID gains: failed to parse values from '" << str << "': " << e.what());
+            return false;
         }
     }
     return true;
@@ -394,12 +405,12 @@ unsigned int parse_plugin_vector(
     std::string plugins_str = sc::get<std::string>(key, params, "");
     std::vector<std::vector<std::string>> vecs_of_vecs;
     if (not sc::get_vec_of_vecs(plugins_str, vecs_of_vecs, " ")) {
-        cout << "Failed to parse vector of vectors" << endl;
+        LOG_WARN("Failed to parse vector of vectors");
         return 0;
     }
     for (std::vector<std::string> vecs : vecs_of_vecs) {
         if (vecs.size() < 1) {
-            std::cout << "Plugin name missing." << std::endl;
+            LOG_WARN("Plugin name missing.");
             continue;
         }
 
diff --git a/src/parse/XMLParser/RapidXMLParser.cpp b/src/parse/XMLParser/RapidXMLParser.cpp
index dab71fd888..134e2fd37c 100644
--- a/src/parse/XMLParser/RapidXMLParser.cpp
+++ b/src/parse/XMLParser/RapidXMLParser.cpp
@@ -140,16 +140,10 @@ bool RapidXMLParserDocument::parse_document(const std::string& filename) {
 
 bool RapidXMLParserDocument::parse_document(const std::vector<char>& filecontent) {
     filecontent_ = filecontent;
-    try {
-        // Note: This parse function can hard fail (seg fault, no exception) on
-        //       badly formatted xml data. Sometimes it'll except, sometimes not.
-        doc_.parse<rapidxml::parse_non_destructive>(filecontent_.data());
-    } catch (...) {
-        std::cerr << "scrimmage::MissionParse::parse: Exception during "
-                     "rapidxml::xml_document<>.parse<>()."
-                     "Your xml mission file may be ill-formatted\n";
-        return false;
-    }
+    // Note: This parse function can hard fail (seg fault, no exception) on
+    //       badly formatted xml data. Sometimes it'll except, sometimes not.
+    // Exceptions are caught by the caller (MissionParse) which has Logger access.
+    doc_.parse<rapidxml::parse_non_destructive>(filecontent_.data());
     return true;
 }
 
diff --git a/src/plugin_manager/Plugin.cpp b/src/plugin_manager/Plugin.cpp
index 3a51f3d2fc..073a176ea9 100644
--- a/src/plugin_manager/Plugin.cpp
+++ b/src/plugin_manager/Plugin.cpp
@@ -34,6 +34,7 @@
 #include <string>
 
 #include "scrimmage/entity/EntityPlugin.h"
+#include "scrimmage/log/Logger.h"
 
 namespace scrimmage {
 
@@ -48,8 +49,8 @@ std::string Plugin::type() {
 
 void Plugin::set_name(std::string name) {
     if (name_set_ == true) {
-        std::cout << "WARNING: Plugin name, " << name << ", being reset. "
-                  << "Should only be set once." << std::endl;
+        LOG_WARN("Plugin name, " << name << ", being reset. "
+                  << "Should only be set once.");
     }
     name_ = name;
     name_set_ = true;  // Set only once before warning.
diff --git a/src/plugin_manager/PluginManager.cpp b/src/plugin_manager/PluginManager.cpp
index 12b3f17c7b..fb72f6a4d7 100644
--- a/src/plugin_manager/PluginManager.cpp
+++ b/src/plugin_manager/PluginManager.cpp
@@ -41,6 +41,7 @@
 #include "scrimmage/common/FileSearch.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/EntityPlugin.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/parse/ConfigParse.h"
 #include "scrimmage/parse/ParseUtils.h"
 
@@ -54,9 +55,7 @@ int PluginManager::check_library(std::string lib_path) {
     lib_handle = dlopen(lib_path.c_str(), RTLD_LAZY | RTLD_LOCAL);
 #endif
     if (!lib_handle) {
-        std::cout << "Trying to open " << lib_path;
-        fprintf(stdout, ", dlopen failed: %s\n", dlerror());
-        std::cout << std::endl;
+        LOG_ERROR("Failed to open " << lib_path << ", dlopen failed: " << dlerror());
         return -1;
     }
 
@@ -67,7 +66,7 @@ int PluginManager::check_library(std::string lib_path) {
     type_func = (plugin_type_t)dlsym(lib_handle, "plugin_type");
     if ((error = dlerror()) != NULL) {
         // fputs(error, stderr);
-        std::cout << lib_path << " doesn't contain 'plugin_type'" << std::endl;
+        LOG_WARN(lib_path << " doesn't contain 'plugin_type'");
         dlclose(lib_handle);
         return 1;
     }
@@ -78,7 +77,7 @@ int PluginManager::check_library(std::string lib_path) {
     name_func = (plugin_name_t)dlsym(lib_handle, "plugin_name");
     if ((error = dlerror()) != NULL) {
         // fputs(error, stderr);
-        std::cout << lib_path << " doesn't contain 'plugin_name'" << std::endl;
+        LOG_WARN(lib_path << " doesn't contain 'plugin_name'");
         dlclose(lib_handle);
         return 3;
     }
@@ -88,7 +87,7 @@ int PluginManager::check_library(std::string lib_path) {
     dlsym(lib_handle, "maker");
     if ((error = dlerror()) != NULL) {
         fputs(error, stderr);
-        std::cout << lib_path << " doesn't contain 'maker'" << std::endl;
+        LOG_WARN(lib_path << " doesn't contain 'maker'");
         dlclose(lib_handle);
         return 4;
     }
@@ -125,25 +124,25 @@ void PluginManager::print_plugins(
         }
     }
 
-    std::cout << "------------------------------" << std::endl;
-    std::cout << title << ": " << std::endl;
-    std::cout << "------------------------------" << std::endl;
+    LOG_INFO("------------------------------");
+    LOG_INFO(title << ": ");
+    LOG_INFO("------------------------------");
     if (plugins_info_.count(plugin_type) > 0) {
         for (auto& kv : plugins_info_[plugin_type]) {
-            std::cout << kv.first << std::endl;
+            LOG_INFO(kv.first);
         }
     } else {
-        std::cout << "Plugin type doesn't exist: " << plugin_type << std::endl;
+        LOG_WARN("Plugin type doesn't exist: " << plugin_type);
     }
-    std::cout << "------------------------------" << std::endl;
+    LOG_INFO("------------------------------");
 }
 
 void PluginManager::print_returned_plugins() {
-    std::cout << "using the following plugins:" << std::endl;
+    LOG_INFO("using the following plugins:");
     for (auto& kv : plugins_info_) {
         for (auto& kv2 : kv.second) {
             if (kv2.second.returned) {
-                std::cout << kv.first << "::" << kv2.first << std::endl;
+                LOG_INFO(kv.first << "::" << kv2.first);
             }
         }
     }
@@ -165,7 +164,7 @@ PluginPtr PluginManager::make_plugin_helper(std::string& plugin_type, std::strin
             maker_func = (PluginPtr (*)(void))dlsym(it2->second.handle, "maker");
             char* error;
             if ((error = dlerror()) != NULL) {
-                fputs(error, stderr);
+                LOG_ERROR("dlsym failed for plugin '" << plugin_name << "': " << error);
                 return nullptr;
             } else {
                 return (*maker_func)();
diff --git a/src/plugins/autonomy/APITester/APITester.cpp b/src/plugins/autonomy/APITester/APITester.cpp
index 4f1ac503a7..943f3d51f6 100644
--- a/src/plugins/autonomy/APITester/APITester.cpp
+++ b/src/plugins/autonomy/APITester/APITester.cpp
@@ -36,14 +36,12 @@
 #include <limits>
 
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/MissionParse.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(scrimmage::Autonomy, scrimmage::autonomy::APITester, APITester_plugin)
@@ -78,7 +76,7 @@ void APITester::init(std::map<std::string, std::string>& params) {
 
     // Create the csv for saving the variable values
     if (!csv_.open_output(parent_->mp()->log_dir() + "/" + csv_file_name)) {
-        std::cout << "APITest: Couldn't create output file" << endl;
+        LOG_ERROR("APITest: Couldn't create output file");
     }
     csv_.set_column_headers("my_test_bool, my_test_int, my_test_float, my_test_double");
     write_my_test_values();  // Write initial values to csv
diff --git a/src/plugins/autonomy/ArduPilot/ArduPilot.cpp b/src/plugins/autonomy/ArduPilot/ArduPilot.cpp
index cfc69a7c05..8ff28b05a2 100644
--- a/src/plugins/autonomy/ArduPilot/ArduPilot.cpp
+++ b/src/plugins/autonomy/ArduPilot/ArduPilot.cpp
@@ -44,6 +44,7 @@
 #include <boost/bind/bind.hpp>
 
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/MissionParse.h"
@@ -51,10 +52,6 @@
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/sensor/Sensor.h"
 
-using std::cerr;
-using std::cout;
-using std::endl;
-
 namespace ba = boost::asio;
 namespace sc = scrimmage;
 
@@ -74,20 +71,17 @@ void ArduPilot::init(std::map<std::string, std::string>& params) {
     std::string servo_map = sc::get<std::string>("servo_map", params, "");
     std::vector<std::vector<std::string>> vecs;
     if (!sc::get_vec_of_vecs(servo_map, vecs)) {
-        cout << "Failed to parse servo map:" << servo_map << endl;
+        LOG_ERROR("Failed to parse servo map:" << servo_map);
     } else {
         for (std::vector<std::string> vec : vecs) {
             if (vec.size() != 7) {
-                cout << "Invalid servo mapping: " << endl;
-                for (std::string s : vec) {
-                    cout << s << " ";
-                }
+                LOG_ERROR("Invalid servo mapping");
                 continue;
             }
 
             int servo = std::stod(vec[1]);
             if (servo >= MAX_NUM_SERVOS) {
-                cout << "Warning: servo_map contains out-of-range servo index" << endl;
+                LOG_WARN("servo_map contains out-of-range servo index");
             } else {
                 scrimmage::controller::AxisScale at(
                     servo,
@@ -125,9 +119,8 @@ void ArduPilot::init(std::map<std::string, std::string>& params) {
         to_ardupilot_port = from_ardupilot_port + 1;
     }
 
-    cout << "ArduPilot: sending to udp: " << to_ardupilot_ip << ":" << to_ardupilot_port << endl;
-    cout << "ArduPilot: listening to udp: " << to_ardupilot_ip << ":" << from_ardupilot_port
-         << endl;
+    LOG_INFO("ArduPilot: sending to udp: " << to_ardupilot_ip << ":" << to_ardupilot_port);
+    LOG_INFO("ArduPilot: listening to udp: " << to_ardupilot_ip << ":" << from_ardupilot_port);
 
     // Setup transmit socket
     tx_socket_ = std::make_shared<ba::ip::udp::socket>(
@@ -179,7 +172,7 @@ bool ArduPilot::step_autonomy(double t, double dt) {
         ntx++;
         last_ntx++;
     } catch (std::exception& e) {
-        cerr << "Exception: " << e.what() << "\n";
+        LOG_ERROR("Exception: " << e.what());
     }
 
     // Let async receive callback run
@@ -212,9 +205,9 @@ bool ArduPilot::step_autonomy(double t, double dt) {
     if (t - last_print_t > 5) {
         const auto t0 = std::chrono::system_clock::now();
         auto d = std::chrono::duration_cast<std::chrono::microseconds>(t0 - last_print_wall_t);
-        cout << "walltime: " << t0.time_since_epoch().count() << ", simtime: " << t
+        LOG_INFO("walltime: " << t0.time_since_epoch().count() << ", simtime: " << t
              << ", packets tx: " << ntx << ", rx: " << nrx
-             << ", rate: " << double(last_ntx) / double(d.count()) * 1e6 << " hz" << endl;
+             << ", rate: " << double(last_ntx) / double(d.count()) * 1e6 << " hz");
         last_print_t = t;
         last_print_wall_t = t0;
         last_ntx = 0;
@@ -232,10 +225,10 @@ void ArduPilot::parse_receive(const boost::system::error_code& error, std::size_
 #endif
 
     if (error) {
-        cout << "error: handle_receive" << endl;
+        LOG_ERROR("handle_receive error");
     } else if (num_bytes != sizeof(servo_packet)) {
-        cout << "Received wrong number of bytes: " << num_bytes << endl;
-        cout << "Expected number of bytes: " << sizeof(servo_packet) << endl;
+        LOG_ERROR("Received wrong number of bytes: " << num_bytes);
+        LOG_ERROR("Expected number of bytes: " << sizeof(servo_packet));
     } else {
         servo_pkt_mutex_.lock();
         for (unsigned int i = 0; i < num_bytes / sizeof(uint16_t); i++) {
@@ -328,7 +321,7 @@ ArduPilot::fdm_packet ArduPilot::state6dof_to_fdm_packet(
     }
 
     if (std::isinf(fdm_pkt.airspeed)) {
-        std::cout << "ArduPilot: Warning: velocity or wind contains infinite value." << std::endl;
+        LOG_WARN("ArduPilot: Warning: velocity or wind contains infinite value.");
         fdm_pkt.airspeed = 0.0;
     }
 
diff --git a/src/plugins/autonomy/AuctionAssign/AuctionAssign.cpp b/src/plugins/autonomy/AuctionAssign/AuctionAssign.cpp
index e90e663e40..b43d08b80b 100644
--- a/src/plugins/autonomy/AuctionAssign/AuctionAssign.cpp
+++ b/src/plugins/autonomy/AuctionAssign/AuctionAssign.cpp
@@ -37,6 +37,7 @@
 #include <memory>
 
 #include "scrimmage/common/Random.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/common/Time.h"
 #include "scrimmage/entity/Entity.h"
 #include "scrimmage/math/State.h"
@@ -48,9 +49,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 using BidMsg = sc::Message<auction::BidAuction>;
@@ -75,16 +73,16 @@ void AuctionAssign::init(std::map<std::string, std::string>& params) {
 
     // Setup the lambda function to process the StartAuction message
     auto start_auction_callback = [&](scrimmage::MessagePtr<auction::StartAuction> msg) {
-        cout << "-----------------------------" << endl;
-        cout << "Time: " << time_->t() << endl;
-        cout << "StartAuction: entity ID (" << id_ << ")"
-             << " received message from entity ID: " << msg->data.sender_id() << endl;
+        LOG_INFO("-----------------------------");
+        LOG_INFO("Time: " << time_->t());
+        LOG_INFO("StartAuction: entity ID (" << id_ << ")"
+             << " received message from entity ID: " << msg->data.sender_id());
 
         auto msg_bid = std::make_shared<sc::Message<auction::BidAuction>>();
         msg_bid->data.set_sender_id(id_);
         const double bid = parent_->random()->rng_uniform() * 10.0;
         msg_bid->data.set_bid(bid);
-        cout << "Sending bid of " << bid << endl;
+        LOG_INFO("Sending bid of " << bid);
         bid_auction_pub_->publish(msg_bid);
     };
 
@@ -93,10 +91,10 @@ void AuctionAssign::init(std::map<std::string, std::string>& params) {
 
     // Setup the lambda function to process the BidAuction messages
     auto bid_auction_callback = [&](scrimmage::MessagePtr<auction::BidAuction> msg) {
-        cout << "-----------------------------" << endl;
-        cout << "Time: " << time_->t() << endl;
-        cout << "BidAuction: entity ID (" << id_ << ") received message from "
-             << "entity ID (" << msg->data.sender_id() << "),  bid: " << msg->data.bid() << endl;
+        LOG_INFO("-----------------------------");
+        LOG_INFO("Time: " << time_->t());
+        LOG_INFO("BidAuction: entity ID (" << id_ << ") received message from "
+             << "entity ID (" << msg->data.sender_id() << "),  bid: " << msg->data.bid());
 
         if (msg->data.bid() > max_bid_) {
             max_bid_ = msg->data.bid();
@@ -114,7 +112,7 @@ void AuctionAssign::init(std::map<std::string, std::string>& params) {
 
 bool AuctionAssign::step_autonomy(double t, double dt) {
     if (!auction_started_ && auctioneer_ && id_ == 1) {
-        cout << "Agent (" << id_ << ") starting auction" << endl;
+        LOG_INFO("Agent (" << id_ << ") starting auction");
 
         auto msg = std::make_shared<sc::Message<auction::StartAuction>>();
         msg->data.set_sender_id(id_);
@@ -126,11 +124,11 @@ bool AuctionAssign::step_autonomy(double t, double dt) {
     }
 
     if (auction_in_prog_ && t > auction_start_time_ + auction_max_time_ && id_ == 1) {
-        cout << "======================================" << endl;
-        cout << "Auction Complete" << endl;
-        cout << "Max Bidder: " << max_bid_champ_ << endl;
-        cout << "Bid: " << max_bid_ << endl;
-        cout << "======================================" << endl;
+        LOG_INFO("======================================");
+        LOG_INFO("Auction Complete");
+        LOG_INFO("Max Bidder: " << max_bid_champ_);
+        LOG_INFO("Bid: " << max_bid_);
+        LOG_INFO("======================================");
         auction_in_prog_ = false;
         auto msg = std::make_shared<sc::Message<auction::BidAuction>>();
         msg->data.set_sender_id(max_bid_champ_);
diff --git a/src/plugins/autonomy/AutonomyExecutor/AutonomyExecutor.cpp b/src/plugins/autonomy/AutonomyExecutor/AutonomyExecutor.cpp
index 65d432b766..49cd6e57b3 100644
--- a/src/plugins/autonomy/AutonomyExecutor/AutonomyExecutor.cpp
+++ b/src/plugins/autonomy/AutonomyExecutor/AutonomyExecutor.cpp
@@ -34,12 +34,14 @@
 
 #include <iostream>
 #include <limits>
+#include <sstream>
 
 #include <boost/algorithm/string/classification.hpp>
 #include <boost/algorithm/string/split.hpp>
 
 #include "scrimmage/common/Time.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/PluginManager.h"
@@ -47,9 +49,6 @@
 #include "scrimmage/proto/ProtoConversions.h"
 #include "scrimmage/proto/Shape.pb.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(scrimmage::Autonomy, scrimmage::autonomy::AutonomyExecutor, AutonomyExecutor_plugin)
@@ -92,7 +91,9 @@ void AutonomyExecutor::init(std::map<std::string, std::string>& params) {
         // running.
         for (sc::AutonomyPtr autonomy : running_autonomies_) {
             if (!call_init(autonomy->name(), autonomy)) {
-                cout << "AutonomyExecutor: Failed to reload init for " << autonomy->name() << endl;
+                std::stringstream ss;
+                ss << "AutonomyExecutor: Failed to reload init for " << autonomy->name();
+                LOG_ERROR(ss.str());
             }
         }
     };
@@ -104,7 +105,7 @@ void AutonomyExecutor::init(std::map<std::string, std::string>& params) {
     sc::get_vec_of_vecs(autonomies_str, vecs_of_vecs, " ");
     for (std::vector<std::string> vecs : vecs_of_vecs) {
         if (vecs.size() < 1) {
-            std::cout << "Autonomy name missing." << std::endl;
+            LOG_WARN("Autonomy name missing.");
             continue;
         }
 
@@ -142,7 +143,9 @@ void AutonomyExecutor::init(std::map<std::string, std::string>& params) {
             autonomy_params,
             std::set<std::string>{});
         if (status.status == PluginStatus<Autonomy>::cast_failed) {
-            cout << "AutonomyExecutor Failed to open autonomy plugin: " << autonomy_name << endl;
+            std::stringstream ss;
+            ss << "AutonomyExecutor Failed to open autonomy plugin: " << autonomy_name;
+            LOG_ERROR(ss.str());
         } else if (status.status == PluginStatus<Autonomy>::loaded) {
             // connect the initialized autonomy plugin's variable output with
             // the variable input to the controller. This is similar to
@@ -201,7 +204,9 @@ bool AutonomyExecutor::step_autonomy(double t, double dt) {
         }
 
         if (!autonomy->step_autonomy(time_->t(), time_->dt())) {
-            cout << "AutonomyExecutor: autonomy error- " << autonomy->name();
+            std::stringstream ss;
+            ss << "AutonomyExecutor: autonomy error- " << autonomy->name();
+            LOG_ERROR(ss.str());
         }
 
         if (show_shapes_) {
diff --git a/src/plugins/autonomy/AvoidEntityMS/AvoidEntityMS.cpp b/src/plugins/autonomy/AvoidEntityMS/AvoidEntityMS.cpp
index 339a7c0f88..d3626a4533 100644
--- a/src/plugins/autonomy/AvoidEntityMS/AvoidEntityMS.cpp
+++ b/src/plugins/autonomy/AvoidEntityMS/AvoidEntityMS.cpp
@@ -43,8 +43,6 @@
 #include "scrimmage/proto/ProtoConversions.h"
 #include "scrimmage/proto/Shape.pb.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/autonomy/BoundaryDefense/BoundaryDefense.cpp b/src/plugins/autonomy/BoundaryDefense/BoundaryDefense.cpp
index d6fa8cfab5..7b66163b2b 100644
--- a/src/plugins/autonomy/BoundaryDefense/BoundaryDefense.cpp
+++ b/src/plugins/autonomy/BoundaryDefense/BoundaryDefense.cpp
@@ -50,8 +50,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 namespace sci = scrimmage::interaction;
diff --git a/src/plugins/autonomy/CommandStringRelay/CommandStringRelay.cpp b/src/plugins/autonomy/CommandStringRelay/CommandStringRelay.cpp
index 400adfe0fc..4c63c26376 100644
--- a/src/plugins/autonomy/CommandStringRelay/CommandStringRelay.cpp
+++ b/src/plugins/autonomy/CommandStringRelay/CommandStringRelay.cpp
@@ -39,15 +39,13 @@
 #include <boost/algorithm/string/split.hpp>
 
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/msgs/Command.pb.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(
@@ -66,7 +64,7 @@ void CommandStringRelay::init(std::map<std::string, std::string>& params) {
     sc::get_vec_of_vecs(relays_str, vecs_of_vecs, " ");
     for (std::vector<std::string> vecs : vecs_of_vecs) {
         if (vecs.size() < 3) {
-            std::cout << "Invalid relay found." << std::endl;
+            LOG_WARN("Invalid relay found.");
             continue;
         }
 
@@ -88,10 +86,10 @@ void CommandStringRelay::init(std::map<std::string, std::string>& params) {
                     relay_msg->data = msg->data.value();
                     it->second->publish(relay_msg);
                 } else {
-                    cout << "CommandStringRelay: Failed to find publisher" << endl;
+                    LOG_WARN("CommandStringRelay: Failed to find publisher");
                 }
             } else {
-                cout << "CommandStrinRelay: Ignoring message" << endl;
+                LOG_WARN("CommandStringRelay: Ignoring message");
             }
         };
         subscribe<scrimmage_msgs::CommandString>(original_network, original_topic_str, cb);
diff --git a/src/plugins/autonomy/FlightGearMultiplayer/FlightGearMultiplayer.cpp b/src/plugins/autonomy/FlightGearMultiplayer/FlightGearMultiplayer.cpp
index 007df08a12..c1b346b6ae 100644
--- a/src/plugins/autonomy/FlightGearMultiplayer/FlightGearMultiplayer.cpp
+++ b/src/plugins/autonomy/FlightGearMultiplayer/FlightGearMultiplayer.cpp
@@ -48,12 +48,11 @@
 
 #include "scrimmage/common/Time.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
@@ -84,9 +83,9 @@ void FlightGearMultiplayer::init(std::map<std::string, std::string>& params) {
 
     net_address_.set(server_ip.c_str(), server_port);
     if (data_socket_->open(false) == 0) {  // Open UDP socket
-        std::cout << "Failed to open connection to: " << endl;
-        cout << "Server IP: " << net_address_.getIP() << endl;
-        cout << "Server Port: " << net_address_.getPort() << endl;
+        std::stringstream ss;
+        ss << "Failed to open connection - Server IP: " << net_address_.getIP() << ", Port: " << net_address_.getPort();
+        LOG_ERROR(ss.str());
     }
 
     // Create the flight gear header
diff --git a/src/plugins/autonomy/GoToWaypoint/GoToWaypoint.cpp b/src/plugins/autonomy/GoToWaypoint/GoToWaypoint.cpp
index bcc66b2940..87bd8231ba 100644
--- a/src/plugins/autonomy/GoToWaypoint/GoToWaypoint.cpp
+++ b/src/plugins/autonomy/GoToWaypoint/GoToWaypoint.cpp
@@ -38,15 +38,13 @@
 #include <GeographicLib/LocalCartesian.hpp>
 
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(scrimmage::Autonomy, scrimmage::autonomy::GoToWaypoint, GoToWaypoint_plugin)
@@ -71,7 +69,7 @@ bool GoToWaypoint::step_autonomy(double t, double dt) {
 
         std::string type = waypoint_[0];
         if (type != "XYZ" && type != "GPS") {
-            std::cout << "Invalid waypoint type: " << type << std::endl;
+            LOG_ERROR("Invalid waypoint type: " << type);
         } else if (type == "XYZ") {
             parent_->projection()->Reverse(lat, lon, alt, lat, lon, alt);
         }
diff --git a/src/plugins/autonomy/GraphvizFSM/GraphvizFSM.cpp b/src/plugins/autonomy/GraphvizFSM/GraphvizFSM.cpp
index 5c4f25c438..7d6d215b5a 100644
--- a/src/plugins/autonomy/GraphvizFSM/GraphvizFSM.cpp
+++ b/src/plugins/autonomy/GraphvizFSM/GraphvizFSM.cpp
@@ -38,14 +38,12 @@
 #include <boost/algorithm/string/replace.hpp>
 
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(scrimmage::Autonomy, scrimmage::autonomy::GraphvizFSM, GraphvizFSM_plugin)
@@ -71,7 +69,7 @@ void GraphvizFSM::init(std::map<std::string, std::string>& params) {
     dp.property("label", label_);
 
     if (!boost::read_graphviz(graph_str, fsm_graph_, dp)) {
-        cout << "Failed to parse graphviz fms" << endl;
+        LOG_ERROR("Failed to parse graphviz fms");
         return;
     }
 
@@ -83,8 +81,7 @@ void GraphvizFSM::init(std::map<std::string, std::string>& params) {
 
         int result = system("dot -Tpdf fsm.gv -o fsm.pdf");
         if (result != 0) {
-            cout << "Error during FSM pdf creation. Make sure the dot program "
-                 << "is installed." << endl;
+            LOG_ERROR("Error during FSM pdf creation. Make sure the dot program is installed.");
         }
     }
 
@@ -147,7 +144,7 @@ void GraphvizFSM::update_state_info(
     current_state_ = next_state;
 
     if (print_current_state_) {
-        cout << "Current State: " << fsm_graph_[current_state_].name << endl;
+        LOG_INFO("Current State: " << fsm_graph_[current_state_].name);
     }
     // Publish the state message
     auto msg = std::make_shared<sc::Message<std::string>>();
diff --git a/src/plugins/autonomy/JoystickAutonomy/JoystickAutonomy.cpp b/src/plugins/autonomy/JoystickAutonomy/JoystickAutonomy.cpp
index b86c12e896..3f4275045c 100644
--- a/src/plugins/autonomy/JoystickAutonomy/JoystickAutonomy.cpp
+++ b/src/plugins/autonomy/JoystickAutonomy/JoystickAutonomy.cpp
@@ -41,8 +41,6 @@
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/pubsub/PubSub.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/autonomy/MotorSchemas/MotorSchemas.cpp b/src/plugins/autonomy/MotorSchemas/MotorSchemas.cpp
index d3f6900b6f..c819f4d056 100644
--- a/src/plugins/autonomy/MotorSchemas/MotorSchemas.cpp
+++ b/src/plugins/autonomy/MotorSchemas/MotorSchemas.cpp
@@ -47,6 +47,7 @@
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
 #include "scrimmage/entity/EntityPluginHelper.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ConfigParse.h"
@@ -57,9 +58,6 @@
 #include "scrimmage/proto/ProtoConversions.h"
 #include "scrimmage/proto/Shape.pb.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 namespace sp = scrimmage_proto;
 namespace ms = scrimmage::autonomy::motor_schemas;
@@ -78,7 +76,7 @@ void MotorSchemas::init(std::map<std::string, std::string>& params) {
     vz_lower_bound_ = sc::get<double>("vz_lower_bound", params, -1.0);
 
     auto max_speed_cb = [&](const double& max_speed) {
-        cout << "MotorSchemas Max speed set: " << max_speed << endl;
+        LOG_INFO("MotorSchemas Max speed set: " << max_speed);
     };
     register_param<double>("max_speed", max_speed_, max_speed_cb);
 
@@ -102,7 +100,7 @@ void MotorSchemas::init(std::map<std::string, std::string>& params) {
     std::list<PluginOverrides> plugin_overrides_list;
     if (sc::parse_plugin_vector("behaviors", params, plugin_overrides_list)
         == static_cast<unsigned int>(0)) {
-        cout << "MotorSchemas: Failed to parse any behaviors." << endl;
+        LOG_WARN("MotorSchemas: Failed to parse any behaviors.");
     }
 
     // Create the plugin for each autonomy/behavior
@@ -178,7 +176,7 @@ bool MotorSchemas::step_autonomy(double t, double dt) {
             }
         }
         if (!behavior->step_autonomy(time_->t(), time_->dt())) {
-            cout << "MotorSchemas: behavior error" << endl;
+            LOG_ERROR("MotorSchemas: behavior error");
         }
 
         // Grab the desired vector and normalize to max_speed if too large
@@ -188,7 +186,7 @@ bool MotorSchemas::step_autonomy(double t, double dt) {
         }
 
         if (desired_vector.hasNaN()) {
-            cout << "Behavior error: " << behavior->name() << ", desired vector has NaN" << endl;
+            LOG_ERROR("Behavior error: " << behavior->name() << ", desired vector has NaN");
             continue;
         }
 
diff --git a/src/plugins/autonomy/MoveToGoalMS/MoveToGoalMS.cpp b/src/plugins/autonomy/MoveToGoalMS/MoveToGoalMS.cpp
index 1fca28672a..11bb3ad0f7 100644
--- a/src/plugins/autonomy/MoveToGoalMS/MoveToGoalMS.cpp
+++ b/src/plugins/autonomy/MoveToGoalMS/MoveToGoalMS.cpp
@@ -40,6 +40,7 @@
 #include <GeographicLib/LocalCartesian.hpp>
 
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
@@ -48,9 +49,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(
@@ -75,7 +73,7 @@ void MoveToGoalMS::init(std::map<std::string, std::string>& params) {
         if (sc::get_vec<double>("goal", params, ", ", goal_vec, 3)) {
             wp_local_ = sc::vec2eigen(goal_vec);
         } else {
-            cout << "Failed to parse MoveToGoalMS' initial goal" << endl;
+            LOG_ERROR("Failed to parse MoveToGoalMS' initial goal");
         }
     }
 
diff --git a/src/plugins/autonomy/ROSAirSim/ROSAirSim.cpp b/src/plugins/autonomy/ROSAirSim/ROSAirSim.cpp
index 4e8bc79813..4c98b5e7b4 100644
--- a/src/plugins/autonomy/ROSAirSim/ROSAirSim.cpp
+++ b/src/plugins/autonomy/ROSAirSim/ROSAirSim.cpp
@@ -43,9 +43,7 @@
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/plugins/sensor/AirSimSensor/AirSimSensor.h"
-
-using std::cout;
-using std::endl;
+#include "scrimmage/log/Logger.h"
 
 namespace sc = scrimmage;
 
@@ -125,30 +123,28 @@ void ROSAirSim::init(std::map<std::string, std::string>& params) {
     pub_imu_data_ = sc::get<bool>("pub_imu_data", params, "true");
     ros_python_ = sc::get<bool>("ros_python", params, "false");
     ros_cartographer_ = sc::get<bool>("ros_cartographer", params, "false");
-    cout << " " << endl;
-    cout << "[ROSAirSim] Vehicle Name: " << vehicle_name_ << endl;
+    LOG_INFO("[ROSAirSim] Vehicle Name: " << vehicle_name_);
     if (pub_image_data_) {
-        cout << "[ROSAirSim] Publishing AirSim images to ROS." << endl;
+        LOG_INFO("[ROSAirSim] Publishing AirSim images to ROS.");
     }
     if (pub_lidar_data_) {
-        cout << "[ROSAirSim] Publishing AirSim LIDAR data to ROS." << endl;
+        LOG_INFO("[ROSAirSim] Publishing AirSim LIDAR data to ROS.");
     }
     if (pub_imu_data_) {
-        cout << "[ROSAirSim] Publishing AirSim IMU data to ROS." << endl;
+        LOG_INFO("[ROSAirSim] Publishing AirSim IMU data to ROS.");
     }
 
     if (show_camera_images_) {
-        cout << "[ROSAirSim] Showing camera images in OpenCV windows." << endl;
+        LOG_INFO("[ROSAirSim] Showing camera images in OpenCV windows.");
     }
     if (ros_python_) {
-        cout << "[ROSAirSim] Using image message for ROS Python API." << endl;
+        LOG_INFO("[ROSAirSim] Using image message for ROS Python API.");
     } else {
-        cout << "[ROSAirSim] Using Image Transports ROS message" << endl;
+        LOG_INFO("[ROSAirSim] Using Image Transports ROS message");
     }
     if (ros_cartographer_) {
-        cout << "[ROSAirSim] Using transform tree structure for ROS Cartographer." << endl;
+        LOG_INFO("[ROSAirSim] Using transform tree structure for ROS Cartographer.");
     }
-    cout << " " << endl;
 
     // initialize ros
     if (!ros::isInitialized()) {
@@ -951,11 +947,7 @@ bool ROSAirSim::step_autonomy(double t, double dt) {
                 } else {
                     // other image types are int 0-255.
                     if (a.img.channels() == 4) {
-                        cout << "image channels: " << a.img.channels() << endl;
-                        cout << "Warning: Old AirSim Linux Asset Environments have 4 channels. "
-                                "Color images will not display correctly."
-                             << endl;
-                        cout << "Warning: Use Asset Environment versions Linux-v1.3.1+." << endl;
+                        LOG_WARN(\"image channels: \" << a.img.channels());\n                        LOG_WARN(\"Old AirSim Linux Asset Environments have 4 channels. Color images will not display correctly.\");\n                        LOG_WARN(\"Use Asset Environment versions Linux-v1.3.1+.\");
                         cv::Mat tempImage;
                         cv::cvtColor(a.img, tempImage, CV_RGBA2RGB);
                         cv::imshow(window_name, tempImage);
diff --git a/src/plugins/autonomy/ROSAutonomy/ROSAutonomy.cpp b/src/plugins/autonomy/ROSAutonomy/ROSAutonomy.cpp
index b9390cb2cf..a4243fb94d 100644
--- a/src/plugins/autonomy/ROSAutonomy/ROSAutonomy.cpp
+++ b/src/plugins/autonomy/ROSAutonomy/ROSAutonomy.cpp
@@ -43,8 +43,6 @@
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/plugins/sensor/RayTrace/RayTrace.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/autonomy/ShapeDraw/ShapeDraw.cpp b/src/plugins/autonomy/ShapeDraw/ShapeDraw.cpp
index 52af34ff55..ebc73cd74e 100644
--- a/src/plugins/autonomy/ShapeDraw/ShapeDraw.cpp
+++ b/src/plugins/autonomy/ShapeDraw/ShapeDraw.cpp
@@ -36,6 +36,7 @@
 #include <limits>
 
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/Quaternion.h"
 #include "scrimmage/math/State.h"
@@ -44,9 +45,6 @@
 #include "scrimmage/proto/ProtoConversions.h"
 #include "scrimmage/proto/Shape.pb.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(scrimmage::Autonomy, scrimmage::autonomy::ShapeDraw, ShapeDraw_plugin)
@@ -79,7 +77,7 @@ bool ShapeDraw::step_autonomy(double t, double dt) {
 void ShapeDraw::draw_ellipse(double t, double dt) {
     ellipse_shape_->set_opacity(1.0);
     if (t > 5) {
-        std::cout << "Setting ellipse opacity to low to hide it!" << std::endl;
+        LOG_INFO("Setting ellipse opacity to low to hide it!");
         ellipse_shape_->set_opacity(0.01);
     }
 
diff --git a/src/plugins/autonomy/Straight/Straight.cpp b/src/plugins/autonomy/Straight/Straight.cpp
index b4c5e64381..6c26d30faf 100644
--- a/src/plugins/autonomy/Straight/Straight.cpp
+++ b/src/plugins/autonomy/Straight/Straight.cpp
@@ -34,6 +34,7 @@
 #include "scrimmage/common/Time.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/math/StateWithCovariance.h"
@@ -96,8 +97,7 @@ void Straight::init(std::map<std::string, std::string>& params) {
 
     // Register the desired_z parameter with the parameter server
     auto param_cb = [&](const double& desired_z) {
-        std::cout << "desired_z param changed at: " << time_->t() << ", with value: " << desired_z
-                  << endl;
+        LOG_INFO("desired_z param changed at: " << time_->t() << ", with value: " << desired_z);
     };
     register_param<double>("desired_z", goal_(2), param_cb);
 
@@ -171,11 +171,9 @@ void Straight::init(std::map<std::string, std::string>& params) {
                 } else {
                     // other image types are int 0-255.
                     if (a.img.channels() == 4) {
-                        cout << "image channels: " << a.img.channels() << endl;
-                        cout << "Warning: Old AirSim Linux Asset Environments have 4 channels. "
-                                "Color images will not display correctly."
-                             << endl;
-                        cout << "Warning: Use Asset Environment versions Linux-v1.3.1+." << endl;
+                        LOG_INFO("image channels: " << a.img.channels());
+                        LOG_WARN("Old AirSim Linux Asset Environments have 4 channels. Color images will not display correctly.");
+                        LOG_WARN("Use Asset Environment versions Linux-v1.3.1+.");
                         cv::Mat tempImage;
                         cv::cvtColor(a.img, tempImage, CV_RGBA2RGB);
                         cv::imshow(window_name, tempImage);
diff --git a/src/plugins/autonomy/TakeFlag/TakeFlag.cpp b/src/plugins/autonomy/TakeFlag/TakeFlag.cpp
index 29fd1b1caa..18fa8d1f87 100644
--- a/src/plugins/autonomy/TakeFlag/TakeFlag.cpp
+++ b/src/plugins/autonomy/TakeFlag/TakeFlag.cpp
@@ -49,8 +49,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
 
 namespace sm = scrimmage_msgs;
 namespace sci = scrimmage::interaction;
diff --git a/src/plugins/autonomy/TrailMS/TrailMS.cpp b/src/plugins/autonomy/TrailMS/TrailMS.cpp
index 753a0129a2..f52efeefe9 100644
--- a/src/plugins/autonomy/TrailMS/TrailMS.cpp
+++ b/src/plugins/autonomy/TrailMS/TrailMS.cpp
@@ -44,8 +44,6 @@
 #include "scrimmage/proto/ProtoConversions.h"
 #include "scrimmage/proto/Shape.pb.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 namespace sp = scrimmage_proto;
diff --git a/src/plugins/autonomy/TrajectoryRecordPlayback/TrajectoryRecordPlayback.cpp b/src/plugins/autonomy/TrajectoryRecordPlayback/TrajectoryRecordPlayback.cpp
index 529e3f2510..4ca7a0c7e2 100644
--- a/src/plugins/autonomy/TrajectoryRecordPlayback/TrajectoryRecordPlayback.cpp
+++ b/src/plugins/autonomy/TrajectoryRecordPlayback/TrajectoryRecordPlayback.cpp
@@ -34,15 +34,13 @@
 #include <iostream>
 
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/MissionParse.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/plugins/autonomy/TrajectoryRecordPlayback/TrajectoryPoint.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(
@@ -72,7 +70,7 @@ void TrajectoryRecordPlayback::init(std::map<std::string, std::string>& params)
         this->set_is_controlling(false);
 
         if (!csv_.open_output(trajectory_filename_)) {
-            cout << "Unable to open log file" << endl;
+            LOG_ERROR("Unable to open log file");
             return;
         }
         csv_.set_column_headers(
@@ -85,7 +83,7 @@ void TrajectoryRecordPlayback::init(std::map<std::string, std::string>& params)
         this->set_is_controlling(true);
 
         if (!csv_.read_csv(trajectory_filename_)) {
-            cout << "Failed to read CSV file: " << trajectory_filename_ << endl;
+            LOG_ERROR("Failed to read CSV file: " << trajectory_filename_);
         }
 
         for (size_t r = 0; r < csv_.rows(); r++) {
diff --git a/src/plugins/autonomy/WaypointDispatcher/WaypointDispatcher.cpp b/src/plugins/autonomy/WaypointDispatcher/WaypointDispatcher.cpp
index a6cedf74b2..47ad65310b 100644
--- a/src/plugins/autonomy/WaypointDispatcher/WaypointDispatcher.cpp
+++ b/src/plugins/autonomy/WaypointDispatcher/WaypointDispatcher.cpp
@@ -46,8 +46,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/autonomy/WaypointGenerator/WaypointGenerator.cpp b/src/plugins/autonomy/WaypointGenerator/WaypointGenerator.cpp
index d6ce78d160..8da2f9d67d 100644
--- a/src/plugins/autonomy/WaypointGenerator/WaypointGenerator.cpp
+++ b/src/plugins/autonomy/WaypointGenerator/WaypointGenerator.cpp
@@ -40,6 +40,7 @@
 #include "scrimmage/common/VariableIO.h"
 #include "scrimmage/common/Waypoint.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -50,9 +51,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 namespace sp = scrimmage_proto;
 
@@ -77,11 +75,11 @@ void WaypointGenerator::init(std::map<std::string, std::string>& params) {
 
     std::vector<std::vector<std::string>> vecs;
     if (!sc::get_vec_of_vecs(waypoints, vecs)) {
-        cout << "Failed to parse waypoints:" << waypoints << endl;
+        LOG_ERROR("Failed to parse waypoints:" << waypoints);
     } else {
         for (std::vector<std::string> vec : vecs) {
             if (vec.size() != 10) {
-                cout << "Invalid waypoint: " << waypoints << endl;
+                LOG_ERROR("Invalid waypoint: " << waypoints);
                 continue;
             }
 
@@ -92,7 +90,7 @@ void WaypointGenerator::init(std::map<std::string, std::string>& params) {
             std::string type = vec[0];
             std::transform(type.begin(), type.end(), type.begin(), ::toupper);
             if (type != "XYZ" && type != "GPS") {
-                cout << "Invalid waypoint type: " << type << endl;
+                LOG_ERROR("Invalid waypoint type: " << type);
             } else if (type == "XYZ") {
                 // Convert to XYZ point to GPS
                 parent_->projection()->Reverse(lat, lon, alt, lat, lon, alt);
@@ -122,7 +120,7 @@ void WaypointGenerator::init(std::map<std::string, std::string>& params) {
     } else if (mode == "racetrack") {
         wp_list_.set_mode(WaypointList::WaypointMode::racetrack);
     } else {
-        cout << "WaypointGenerator: Invalid mode. Defaulting to follow_once" << endl;
+        LOG_WARN("WaypointGenerator: Invalid mode. Defaulting to follow_once");
         wp_list_.set_mode(WaypointList::WaypointMode::follow_once);
     }
 
diff --git a/src/plugins/controller/AircraftPIDController/AircraftPIDController.cpp b/src/plugins/controller/AircraftPIDController/AircraftPIDController.cpp
index e9550d0c7a..c6bfa4c576 100644
--- a/src/plugins/controller/AircraftPIDController/AircraftPIDController.cpp
+++ b/src/plugins/controller/AircraftPIDController/AircraftPIDController.cpp
@@ -40,14 +40,13 @@
 #include "scrimmage/common/Time.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
 using boost::algorithm::clamp;
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
@@ -74,7 +73,7 @@ void AircraftPIDController::init(std::map<std::string, std::string>& params) {
 
         // Outer loop heading PID
         if (!heading_pid_.init(params["heading_pid"], true)) {
-            std::cout << "Failed to set heading PID" << std::endl;
+            LOG_ERROR("Failed to set heading PID");
         }
     }
     desired_altitude_idx_ =
@@ -89,18 +88,18 @@ void AircraftPIDController::init(std::map<std::string, std::string>& params) {
 
     // Outer loop PIDs
     if (!altitude_pid_.init(params["altitude_pid"], false)) {
-        std::cout << "Failed to set altitude PID" << std::endl;
+        LOG_ERROR("Failed to set altitude PID");
     }
     if (!speed_pid_.init(params["speed_pid"], false)) {
-        std::cout << "Failed to set speed PID" << std::endl;
+        LOG_ERROR("Failed to set speed PID");
     }
 
     // Inner loop PIDs
     if (!pitch_pid_.init(params["pitch_pid"], true)) {
-        std::cout << "Failed to set pitch PID" << std::endl;
+        LOG_ERROR("Failed to set pitch PID");
     }
     if (!roll_pid_.init(params["roll_pid"], true)) {
-        std::cout << "Failed to set roll PID" << std::endl;
+        LOG_ERROR("Failed to set roll PID");
     }
 
     max_pitch_ = sc::Angles::deg2rad(sc::get<double>("max_pitch", params, max_pitch_));
diff --git a/src/plugins/controller/DirectController/DirectController.cpp b/src/plugins/controller/DirectController/DirectController.cpp
index 5ddf1a1a09..d121020dc1 100644
--- a/src/plugins/controller/DirectController/DirectController.cpp
+++ b/src/plugins/controller/DirectController/DirectController.cpp
@@ -42,8 +42,6 @@
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/controller/DoubleIntegratorControllerVelYaw/DoubleIntegratorControllerVelYaw.cpp b/src/plugins/controller/DoubleIntegratorControllerVelYaw/DoubleIntegratorControllerVelYaw.cpp
index 766fddfc84..8cf43d7ac6 100644
--- a/src/plugins/controller/DoubleIntegratorControllerVelYaw/DoubleIntegratorControllerVelYaw.cpp
+++ b/src/plugins/controller/DoubleIntegratorControllerVelYaw/DoubleIntegratorControllerVelYaw.cpp
@@ -35,11 +35,10 @@
 #include <iostream>
 
 #include "scrimmage/common/Utilities.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
@@ -63,15 +62,15 @@ void DoubleIntegratorControllerVelYaw::init(std::map<std::string, std::string>&
     turn_rate_idx_ = vars_.declare(VariableIO::Type::turn_rate, VariableIO::Direction::Out);
 
     if (!sc::set_pid_gains(yaw_pid_, params["yaw_pid"], true)) {
-        cout << "Failed to set DoubleIntegratorControllerVewYaw yaw gains" << endl;
+        LOG_ERROR("Failed to set DoubleIntegratorControllerVewYaw yaw gains");
     }
 
     if (!sc::set_pid_gains(speed_pid_, params["speed_pid"])) {
-        cout << "Failed to set DoubleIntegratorControllerVewYaw speed pid" << endl;
+        LOG_ERROR("Failed to set DoubleIntegratorControllerVewYaw speed pid");
     }
 
     if (!sc::set_pid_gains(alt_pid_, params["alt_pid"])) {
-        cout << "Failed to set DoubleIntegratorControllerVewYaw alt pid" << endl;
+        LOG_ERROR("Failed to set DoubleIntegratorControllerVewYaw alt pid");
     }
 }
 
diff --git a/src/plugins/controller/DoubleIntegratorControllerWaypoint/DoubleIntegratorControllerWaypoint.cpp b/src/plugins/controller/DoubleIntegratorControllerWaypoint/DoubleIntegratorControllerWaypoint.cpp
index ee2f952d07..3fd8c8b29b 100644
--- a/src/plugins/controller/DoubleIntegratorControllerWaypoint/DoubleIntegratorControllerWaypoint.cpp
+++ b/src/plugins/controller/DoubleIntegratorControllerWaypoint/DoubleIntegratorControllerWaypoint.cpp
@@ -35,6 +35,7 @@
 #include <iostream>
 
 #include "scrimmage/common/Utilities.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
@@ -49,8 +50,7 @@ namespace controller {
 void DoubleIntegratorControllerWaypoint::init(std::map<std::string, std::string>& params) {
     std::vector<double> gain;
     if (!scrimmage::str2container(params.at("gain"), ",", gain, 2)) {
-        std::cout << "warning: did not get gain properly in DoubleIntegratorControllerWaypoint"
-                  << std::endl;
+        LOG_WARN("warning: did not get gain properly in DoubleIntegratorControllerWaypoint");
     } else {
         gain_ << gain[0], gain[1];
     }
diff --git a/src/plugins/controller/FixedWing6DOFControllerPID/FixedWing6DOFControllerPID.cpp b/src/plugins/controller/FixedWing6DOFControllerPID/FixedWing6DOFControllerPID.cpp
index a60d1b7d13..89a0925376 100644
--- a/src/plugins/controller/FixedWing6DOFControllerPID/FixedWing6DOFControllerPID.cpp
+++ b/src/plugins/controller/FixedWing6DOFControllerPID/FixedWing6DOFControllerPID.cpp
@@ -37,12 +37,10 @@
 
 #include <boost/algorithm/string.hpp>
 
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
-using std::cout;
-using std::endl;
-
 REGISTER_PLUGIN(
     scrimmage::Controller,
     scrimmage::controller::FixedWing6DOFControllerPID,
@@ -58,7 +56,7 @@ void set_pid(sc::PID& pid, std::string str, bool is_angle) {
     boost::split(str_vals, str, boost::is_any_of(","));
 
     if (str_vals.size() != 4) {
-        std::cout << "error parsing in FixedWing6DOFControllerPID" << std::endl;
+        LOG_ERROR("error parsing in FixedWing6DOFControllerPID");
     } else {
         double p = std::stod(str_vals[0]);
         double i = std::stod(str_vals[1]);
diff --git a/src/plugins/controller/HarmonicOscillatorConstController/HarmonicOscillatorConstController.cpp b/src/plugins/controller/HarmonicOscillatorConstController/HarmonicOscillatorConstController.cpp
index eb2750d8b3..8d438a92c9 100644
--- a/src/plugins/controller/HarmonicOscillatorConstController/HarmonicOscillatorConstController.cpp
+++ b/src/plugins/controller/HarmonicOscillatorConstController/HarmonicOscillatorConstController.cpp
@@ -41,8 +41,6 @@
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/controller/JSBSimControlControllerHeadingPID/JSBSimControlControllerHeadingPID.cpp b/src/plugins/controller/JSBSimControlControllerHeadingPID/JSBSimControlControllerHeadingPID.cpp
index b555fece4b..be73490cff 100644
--- a/src/plugins/controller/JSBSimControlControllerHeadingPID/JSBSimControlControllerHeadingPID.cpp
+++ b/src/plugins/controller/JSBSimControlControllerHeadingPID/JSBSimControlControllerHeadingPID.cpp
@@ -37,6 +37,7 @@
 #include <boost/algorithm/string.hpp>
 
 #include "scrimmage/common/Utilities.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
@@ -64,13 +65,13 @@ void JSBSimControlControllerHeadingPID::init(std::map<std::string, std::string>&
     angles_to_jsbsim_.set_output_zero_axis(ang::HeadingZero::Pos_Y);
 
     if (!roll_pid_.init(params["roll_pid"], true)) {
-        std::cout << "Failed to parse roll_pid." << std::endl;
+        LOG_ERROR("Failed to parse roll_pid.");
     }
     if (!pitch_pid_.init(params["pitch_pid"], true)) {
-        std::cout << "Failed to parse pitch_pid." << std::endl;
+        LOG_ERROR("Failed to parse pitch_pid.");
     }
     if (!yaw_pid_.init(params["yaw_pid"], true)) {
-        std::cout << "Failed to parse yaw_pid." << std::endl;
+        LOG_ERROR("Failed to parse yaw_pid.");
     }
 
     // Setup variable index for controllers
diff --git a/src/plugins/controller/JoystickController/Joystick.cpp b/src/plugins/controller/JoystickController/Joystick.cpp
index 363abcdfe7..9f186a68f9 100644
--- a/src/plugins/controller/JoystickController/Joystick.cpp
+++ b/src/plugins/controller/JoystickController/Joystick.cpp
@@ -36,11 +36,9 @@
 #include <iostream>
 
 #include "scrimmage/entity/EntityPlugin.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/parse/ParseUtils.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 namespace scrimmage {
@@ -61,7 +59,7 @@ void Joystick::init(
 
     std::string dev = sc::get<std::string>("device", params, "/dev/input/js0");
     if ((joy_fd_ = open(dev.c_str(), O_RDONLY)) == -1) {
-        cout << "couldn't open joystick: " << dev << endl;
+        LOG_ERROR("couldn't open joystick: " << dev);
     }
 
     char name_of_joystick[80];
@@ -76,9 +74,9 @@ void Joystick::init(
     prev_button_state_.resize(num_of_buttons_);
 
     if (print_js_values_) {
-        cout << "Joystick detected:" << *name_of_joystick << endl;
-        cout << "\t " << num_of_axis_ << " axis" << endl;
-        cout << "\t " << num_of_buttons_ << " buttons" << endl;
+        LOG_INFO("Joystick detected:" << name_of_joystick);
+        LOG_INFO("\t " << num_of_axis_ << " axis");
+        LOG_INFO("\t " << num_of_buttons_ << " buttons");
     }
 
     fcntl(joy_fd_, F_SETFL, O_NONBLOCK);  // use non-blocking mode
@@ -86,20 +84,20 @@ void Joystick::init(
     std::string axis_map = sc::get<std::string>("axis_map", params, "");
     std::vector<std::vector<std::string>> vecs;
     if (!sc::get_vec_of_vecs(axis_map, vecs)) {
-        cout << "Failed to parse axis map:" << axis_map << endl;
+        LOG_ERROR("Failed to parse axis map:" << axis_map);
     } else {
         for (std::vector<std::string> vec : vecs) {
             if (vec.size() != 7) {
-                cout << "Invalid joystick axis mapping: " << endl;
+                LOG_ERROR("Invalid joystick axis mapping: ");
                 for (std::string s : vec) {
-                    cout << s << " ";
+                    LOG_ERROR(s << " ");
                 }
                 continue;
             }
 
             int axis = std::stod(vec[1]);
             if (axis >= num_of_axis_) {
-                cout << "Warning: axis_map contains out-of-range axis index" << endl;
+                LOG_WARN("axis_map contains out-of-range axis index");
             } else {
                 AxisScale at(
                     axis,
diff --git a/src/plugins/controller/JoystickController/JoystickController.cpp b/src/plugins/controller/JoystickController/JoystickController.cpp
index e81eef3423..837c2c0f33 100644
--- a/src/plugins/controller/JoystickController/JoystickController.cpp
+++ b/src/plugins/controller/JoystickController/JoystickController.cpp
@@ -42,8 +42,6 @@
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/pubsub/PubSub.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/controller/MotionBattery/MotionBattery.cpp b/src/plugins/controller/MotionBattery/MotionBattery.cpp
index 443a2c194e..8d4a12c1d9 100644
--- a/src/plugins/controller/MotionBattery/MotionBattery.cpp
+++ b/src/plugins/controller/MotionBattery/MotionBattery.cpp
@@ -38,15 +38,13 @@
 #include "scrimmage/common/Time.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/msgs/Battery.pb.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 namespace sm = scrimmage_msgs;
 namespace pl = std::placeholders;
@@ -74,9 +72,9 @@ void MotionBattery::init(std::map<std::string, std::string>& params) {
     if (get_vec_of_vecs(sc::get<std::string>("depletion_map", params, ""), vecs)) {
         for (auto& vec : vecs) {
             if (vec.size() != 5) {
-                cout << "Invalid depletion mapping: " << endl;
-                for (std::string s : vec) {
-                    cout << s << " ";
+                LOG_ERROR("Invalid depletion mapping");
+                for (const std::string& s : vec) {
+                    LOG_ERROR("  " << s);
                 }
                 continue;
             }
@@ -84,7 +82,7 @@ void MotionBattery::init(std::map<std::string, std::string>& params) {
             std::string name = vec[0];
             auto it_name = io_map_.find(name);
             if (it_name == io_map_.end()) {
-                cout << "MotionBattery: Invalid variable name: " << name << endl;
+                LOG_ERROR("MotionBattery: Invalid variable name: " << name);
             } else {
                 it_name->second->depletion_rate = std::stod(vec[1]);
                 it_name->second->limit_when_depleted = str2bool(vec[3]);
@@ -92,7 +90,7 @@ void MotionBattery::init(std::map<std::string, std::string>& params) {
             }
         }
     } else {
-        cout << "Failed to parse depletion_map" << endl;
+        LOG_ERROR("Failed to parse depletion_map");
     }
 
     // Charging subscriber
diff --git a/src/plugins/controller/MultirotorControllerOmega/MultirotorControllerOmega.cpp b/src/plugins/controller/MultirotorControllerOmega/MultirotorControllerOmega.cpp
index 8e2306a550..0c027caf95 100644
--- a/src/plugins/controller/MultirotorControllerOmega/MultirotorControllerOmega.cpp
+++ b/src/plugins/controller/MultirotorControllerOmega/MultirotorControllerOmega.cpp
@@ -38,15 +38,13 @@
 
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/plugins/autonomy/ArduPilot/PwmState.h"
 #include "scrimmage/plugins/motion/Multirotor/MultirotorState.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 namespace sm = scrimmage::motion;
 
@@ -68,8 +66,7 @@ void MultirotorControllerOmega::init(std::map<std::string, std::string>& params)
     multirotor_ = std::dynamic_pointer_cast<sc::motion::Multirotor>(parent_->motion());
 
     if (multirotor_ == nullptr) {
-        cout << "WARNING: MultirotorControllerOmega can't control the motion "
-             << "model for this entity." << endl;
+        LOG_WARN("MultirotorControllerOmega can't control the motion model for this entity.");
         u_.resize(10);
         return;
     }
@@ -91,7 +88,7 @@ bool MultirotorControllerOmega::step(double t, double dt) {
                 multirotor_->omega_min(),
                 multirotor_->omega_max());
         } else {
-            cout << "WARNING: Invalid MultirotorState input type" << endl;
+            LOG_WARN("Invalid MultirotorState input type");
         }
     } else if (d_state2) {
         u_ = sc::scale(
@@ -101,7 +98,7 @@ bool MultirotorControllerOmega::step(double t, double dt) {
             multirotor_->omega_min(),
             multirotor_->omega_max());
     } else {
-        cout << "Unable to cast desired_state to MultirotorState" << endl;
+        LOG_ERROR("Unable to cast desired_state to MultirotorState");
         u_ = Eigen::VectorXd::Zero(multirotor_->rotors().size());
     }
     return true;
diff --git a/src/plugins/controller/MultirotorControllerPID/MultirotorControllerPID.cpp b/src/plugins/controller/MultirotorControllerPID/MultirotorControllerPID.cpp
index c298f11404..930a30d5ba 100644
--- a/src/plugins/controller/MultirotorControllerPID/MultirotorControllerPID.cpp
+++ b/src/plugins/controller/MultirotorControllerPID/MultirotorControllerPID.cpp
@@ -36,15 +36,13 @@
 #include <limits>
 
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/plugins/controller/MultirotorControllerOmega/MultirotorControllerOmega.h"
 #include "scrimmage/plugins/motion/Multirotor/MultirotorState.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(
@@ -61,8 +59,8 @@ void MultirotorControllerPID::init(std::map<std::string, std::string>& params) {
     multirotor_ = std::dynamic_pointer_cast<sc::motion::Multirotor>(parent_->motion());
 
     if (multirotor_ == nullptr) {
-        cout << "WARNING: MultirotorControllerOmega can't control the motion "
-             << "model for this entity." << endl;
+        LOG_WARN("MultirotorControllerOmega can't control the motion "
+             << "model for this entity.");
         u_.resize(10);
         return;
     }
@@ -71,20 +69,20 @@ void MultirotorControllerPID::init(std::map<std::string, std::string>& params) {
     u_ = Eigen::VectorXd::Zero(multirotor_->rotors().size());
 
     if (!sc::set_pid_gains(yaw_pid_, params["yaw_pid"], true)) {
-        cout << "Failed to set MultirotorControllerPID yaw gains" << endl;
+        LOG_ERROR("Failed to set MultirotorControllerPID yaw gains");
     }
 
     for (int i = 0; i < 3; i++) {
         vel_pids_.push_back(sc::PID());
         if (!sc::set_pid_gains(vel_pids_[i], params["vel_pid"])) {
-            cout << "Failed to set DoubleIntegratorControllerVewYaw vel gain" << endl;
+            LOG_ERROR("Failed to set DoubleIntegratorControllerVewYaw vel gain");
         }
     }
 
     for (int i = 0; i < 3; i++) {
         angle_pids_.push_back(sc::PID());
         if (!sc::set_pid_gains(angle_pids_[i], params["angle_pid"])) {
-            cout << "Failed to set DoubleIntegratorControllerVewYaw angle PID gains." << endl;
+            LOG_ERROR("Failed to set DoubleIntegratorControllerVewYaw angle PID gains.");
         }
     }
 }
diff --git a/src/plugins/controller/RigidBody6DOFControllerPID/RigidBody6DOFControllerPID.cpp b/src/plugins/controller/RigidBody6DOFControllerPID/RigidBody6DOFControllerPID.cpp
index c6937b784f..15f3cfd084 100644
--- a/src/plugins/controller/RigidBody6DOFControllerPID/RigidBody6DOFControllerPID.cpp
+++ b/src/plugins/controller/RigidBody6DOFControllerPID/RigidBody6DOFControllerPID.cpp
@@ -36,6 +36,7 @@
 
 #include <boost/algorithm/string.hpp>
 
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
@@ -54,7 +55,7 @@ void set_pid(sc::PID& pid, std::string str, bool is_angle) {
     boost::split(str_vals, str, boost::is_any_of(","));
 
     if (str_vals.size() != 4) {
-        std::cout << "error parsing in RigidBody6DOFControllerPID" << std::endl;
+        LOG_ERROR("error parsing in RigidBody6DOFControllerPID");
     } else {
         double p = std::stod(str_vals[0]);
         double i = std::stod(str_vals[1]);
diff --git a/src/plugins/controller/SimpleAircraftControllerPID/SimpleAircraftControllerPID.cpp b/src/plugins/controller/SimpleAircraftControllerPID/SimpleAircraftControllerPID.cpp
index 2b7e0550ae..5d52237ea4 100644
--- a/src/plugins/controller/SimpleAircraftControllerPID/SimpleAircraftControllerPID.cpp
+++ b/src/plugins/controller/SimpleAircraftControllerPID/SimpleAircraftControllerPID.cpp
@@ -35,6 +35,7 @@
 #include <boost/algorithm/string.hpp>
 
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -52,13 +53,13 @@ namespace sc = scrimmage;
 
 void SimpleAircraftControllerPID::init(std::map<std::string, std::string>& params) {
     if (!heading_pid_.init(params["heading_pid"], true)) {
-        std::cout << "Failed to set heading PID" << std::endl;
+        LOG_ERROR("Failed to set heading PID");
     }
     if (!alt_pid_.init(params["alt_pid"], false)) {
-        std::cout << "Failed to set altitude PID" << std::endl;
+        LOG_ERROR("Failed to set altitude PID");
     }
     if (!vel_pid_.init(params["vel_pid"], false)) {
-        std::cout << "Failed to set velocity PID" << std::endl;
+        LOG_ERROR("Failed to set velocity PID");
     }
     use_roll_ = sc::str2bool(params.at("use_roll"));
     use_glide_slope_ = sc::str2bool(params.at("use_glide_slope"));
diff --git a/src/plugins/controller/UUV6DOFLinearEnergy/UUV6DOFLinearEnergy.cpp b/src/plugins/controller/UUV6DOFLinearEnergy/UUV6DOFLinearEnergy.cpp
index 4cbf178a03..0507533713 100644
--- a/src/plugins/controller/UUV6DOFLinearEnergy/UUV6DOFLinearEnergy.cpp
+++ b/src/plugins/controller/UUV6DOFLinearEnergy/UUV6DOFLinearEnergy.cpp
@@ -41,8 +41,6 @@
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/controller/UUV6DOFPIDController/UUV6DOFPIDController.cpp b/src/plugins/controller/UUV6DOFPIDController/UUV6DOFPIDController.cpp
index 9de2f0f041..22bbc3607b 100644
--- a/src/plugins/controller/UUV6DOFPIDController/UUV6DOFPIDController.cpp
+++ b/src/plugins/controller/UUV6DOFPIDController/UUV6DOFPIDController.cpp
@@ -38,12 +38,12 @@
 #include "scrimmage/common/Time.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
-using std::cout;
-using std::endl;
+namespace sc = scrimmage;
 
 REGISTER_PLUGIN(
     scrimmage::Controller,
@@ -67,13 +67,13 @@ void UUV6DOFPIDController::init(std::map<std::string, std::string>& params) {
     rudder_idx_ = vars_.declare(VariableIO::Type::rudder, VariableIO::Direction::Out);
 
     if (!heading_pid_.init(params["heading_pid"], true)) {
-        std::cout << "Failed to set UUV6DOFPIDController heading_pid" << endl;
+        LOG_ERROR("Failed to set UUV6DOFPIDController heading_pid");
     }
     if (!speed_pid_.init(params["speed_pid"], false)) {
-        std::cout << "Failed to set UUV6DOFPIDController speed_pid" << endl;
+        LOG_ERROR("Failed to set UUV6DOFPIDController speed_pid");
     }
     if (!pitch_pid_.init(params["pitch_pid"], false)) {
-        std::cout << "Failed to set UUV6DOFPIDController pitch_pid" << endl;
+        LOG_ERROR("Failed to set UUV6DOFPIDController pitch_pid");
     }
 }
 
diff --git a/src/plugins/controller/UnicyclePID/UnicyclePID.cpp b/src/plugins/controller/UnicyclePID/UnicyclePID.cpp
index 1cf177ff88..7448baa884 100644
--- a/src/plugins/controller/UnicyclePID/UnicyclePID.cpp
+++ b/src/plugins/controller/UnicyclePID/UnicyclePID.cpp
@@ -38,15 +38,13 @@
 #include "scrimmage/common/Time.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/proto/ProtoConversions.h"
 #include "scrimmage/proto/Shape.pb.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(scrimmage::Controller, scrimmage::controller::UnicyclePID, UnicyclePID_plugin)
@@ -79,16 +77,16 @@ void UnicyclePID::init(std::map<std::string, std::string>& params) {
 
     // Outer loop PIDs
     if (!heading_pid_.init(params["heading_pid"], true)) {
-        std::cout << "Failed to set heading PID" << std::endl;
+        LOG_ERROR("Failed to set heading PID");
     }
     if (!pitch_pid_.init(params["pitch_pid"], false)) {
-        std::cout << "Failed to set pitch PID" << std::endl;
+        LOG_ERROR("Failed to set pitch PID");
     }
     if (!roll_pid_.init(params["roll_pid"], false)) {
-        std::cout << "Failed to set roll PID" << std::endl;
+        LOG_ERROR("Failed to set roll PID");
     }
     if (!speed_pid_.init(params["speed_pid"], false)) {
-        std::cout << "Failed to set speed PID" << std::endl;
+        LOG_ERROR("Failed to set speed PID");
     }
 }
 
diff --git a/src/plugins/interaction/Boundary/Boundary.cpp b/src/plugins/interaction/Boundary/Boundary.cpp
index cd33548548..e9b62b7e76 100644
--- a/src/plugins/interaction/Boundary/Boundary.cpp
+++ b/src/plugins/interaction/Boundary/Boundary.cpp
@@ -39,6 +39,7 @@
 #include "scrimmage/common/Random.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
@@ -50,9 +51,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(scrimmage::EntityInteraction, scrimmage::interaction::Boundary, Boundary_plugin)
@@ -83,14 +81,14 @@ bool Boundary::init(
     if (type == "cuboid") {
         std::vector<double> center;
         if (!sc::get_vec<double>("center", plugin_params, " ,", center, 3)) {
-            std::cout << "Failed to parse 'center'" << endl;
+            LOG_ERROR("Failed to parse 'center'");
             return false;
         }
         sc::set(boundary_shape_->mutable_cuboid()->mutable_center(), sc::vec2eigen(center));
 
         std::vector<double> lengths;
         if (!sc::get_vec<double>("lengths", plugin_params, " ,", lengths, 3)) {
-            std::cout << "Failed to parse 'lengths'" << endl;
+            LOG_ERROR("Failed to parse 'lengths'");
             return false;
         }
         boundary_shape_->mutable_cuboid()->set_x_length(lengths[0]);
@@ -99,7 +97,7 @@ bool Boundary::init(
 
         std::vector<double> rpy;
         if (!sc::get_vec<double>("rpy", plugin_params, " ,", rpy, 3)) {
-            std::cout << "Failed to parse 'rpy'" << endl;
+            LOG_ERROR("Failed to parse 'rpy'");
             return false;
         }
         sc::Quaternion quat(rpy[0], rpy[1], rpy[2]);
@@ -111,14 +109,14 @@ bool Boundary::init(
 
         std::vector<std::vector<std::string>> vecs;
         if (!sc::get_vec_of_vecs(polyhedron_points, vecs)) {
-            cout << "Failed to parse polyhedron_points." << endl;
+            LOG_ERROR("Failed to parse polyhedron_points.");
             return false;
         }
 
         // Convert string representation of points into Eigen::Vector3d
         for (std::vector<std::string> vec : vecs) {
             if (vec.size() != 3) {
-                cout << "Invalid vector size in: " << polyhedron_points << endl;
+                LOG_ERROR("Invalid vector size in: " << polyhedron_points);
                 return false;
             }
             sp::Vector3d* point = boundary_shape_->mutable_polyhedron()->add_point();
@@ -130,21 +128,21 @@ bool Boundary::init(
         boundary_shape_->mutable_sphere()->set_radius(sc::get<double>("radius", plugin_params, 10));
         std::vector<double> center;
         if (!sc::get_vec<double>("center", plugin_params, " ,", center, 3)) {
-            std::cout << "Failed to parse 'center'" << endl;
+            LOG_ERROR("Failed to parse 'center'");
             return false;
         }
         sc::set(boundary_shape_->mutable_sphere()->mutable_center(), sc::vec2eigen(center));
     } else if (type == "plane") {
         std::vector<double> center;
         if (!sc::get_vec<double>("center", plugin_params, " ,", center, 3)) {
-            std::cout << "Failed to parse 'center'" << endl;
+            LOG_ERROR("Failed to parse 'center'");
             return false;
         }
         sc::set(boundary_shape_->mutable_plane()->mutable_center(), sc::vec2eigen(center));  // TODO
 
         std::vector<double> rpy;
         if (!sc::get_vec<double>("rpy", plugin_params, " ,", rpy, 3)) {
-            std::cout << "Failed to parse 'rpy'" << endl;
+            LOG_ERROR("Failed to parse 'rpy'");
             return false;
         }
         sc::Quaternion quat(rpy[0], rpy[1], rpy[2]);
@@ -152,7 +150,7 @@ bool Boundary::init(
 
         std::vector<double> lengths;
         if (!sc::get_vec<double>("lengths", plugin_params, " ,", lengths, 2)) {
-            std::cout << "Failed to parse 'lengths'" << endl;
+            LOG_ERROR("Failed to parse 'lengths'");
             return false;
         }
         boundary_shape_->mutable_plane()->set_x_length(lengths[0]);
@@ -167,7 +165,7 @@ bool Boundary::init(
         boundary_shape_->mutable_plane()->set_diffuse_lighting(diffuse);
 
     } else {
-        cout << "Invalid type: " << type << endl;
+        LOG_ERROR("Invalid type: " << type);
         return false;
     }
 
@@ -175,7 +173,7 @@ bool Boundary::init(
         double opacity = sc::get<double>("opacity", plugin_params, 1.0);
         std::vector<int> color;
         if (!sc::get_vec("color", plugin_params, " ", color, 3)) {
-            cout << "Failed to parse color" << endl;
+            LOG_WARN("Failed to parse color");
             color.clear();
             color = {255, 0, 0};
         }
diff --git a/src/plugins/interaction/BulletCollision/BulletCollision.cpp b/src/plugins/interaction/BulletCollision/BulletCollision.cpp
index 57d9f47a7f..c3b60c8781 100644
--- a/src/plugins/interaction/BulletCollision/BulletCollision.cpp
+++ b/src/plugins/interaction/BulletCollision/BulletCollision.cpp
@@ -40,6 +40,7 @@
 #include "scrimmage/common/Time.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/motion/MotionModel.h"
 #include "scrimmage/msgs/Collision.pb.h"
@@ -614,7 +615,7 @@ bool BulletCollision::get_ray_tracing(
     auto request_cast = std::dynamic_pointer_cast<sc::Message<RayTrace::PointCloudWithId>>(request);
 
     if (request_cast == nullptr) {
-        std::cout << "Could not cast to sc::Message<RayTrace::PointCloudId> request" << std::endl;
+        LOG_ERROR("Could not cast to sc::Message<RayTrace::PointCloudId> request");
         return false;
     }
 
diff --git a/src/plugins/interaction/CaptureInBoundaryInteraction/CaptureInBoundaryInteraction.cpp b/src/plugins/interaction/CaptureInBoundaryInteraction/CaptureInBoundaryInteraction.cpp
index 9ae258782c..50e2b7b340 100644
--- a/src/plugins/interaction/CaptureInBoundaryInteraction/CaptureInBoundaryInteraction.cpp
+++ b/src/plugins/interaction/CaptureInBoundaryInteraction/CaptureInBoundaryInteraction.cpp
@@ -49,8 +49,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 namespace sci = scrimmage::interaction;
diff --git a/src/plugins/interaction/EnforceBoundaryInteraction/EnforceBoundaryInteraction.cpp b/src/plugins/interaction/EnforceBoundaryInteraction/EnforceBoundaryInteraction.cpp
index bb33162f87..ea9102e626 100644
--- a/src/plugins/interaction/EnforceBoundaryInteraction/EnforceBoundaryInteraction.cpp
+++ b/src/plugins/interaction/EnforceBoundaryInteraction/EnforceBoundaryInteraction.cpp
@@ -38,14 +38,12 @@
 
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/plugins/interaction/Boundary/Boundary.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 namespace sci = scrimmage::interaction;
 namespace sp = scrimmage_proto;
@@ -66,7 +64,7 @@ bool EnforceBoundaryInteraction::init(
 
     std::vector<int> active_boundary_ids;
     if (!sc::get_vec<int>("active_boundary_ids", plugin_params, ", ", active_boundary_ids)) {
-        std::cout << "Failed to parse 'active_boundary_ids'" << endl;
+        LOG_ERROR("Failed to parse 'active_boundary_ids'");
         return false;
     } else {
         active_boundary_ids_ =
diff --git a/src/plugins/interaction/ExternalForceField/ExternalForceField.cpp b/src/plugins/interaction/ExternalForceField/ExternalForceField.cpp
index a3ab0d548a..15babfd382 100644
--- a/src/plugins/interaction/ExternalForceField/ExternalForceField.cpp
+++ b/src/plugins/interaction/ExternalForceField/ExternalForceField.cpp
@@ -42,6 +42,7 @@
 #include "scrimmage/common/Time.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/motion/MotionModel.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -49,9 +50,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(
@@ -109,7 +107,7 @@ bool ExternalForceField::init(
                 force_change_period_vec[0],
                 force_change_period_vec[1]);
         } else {
-            cout << "Failed to parse force_change_period" << endl;
+            LOG_ERROR("Failed to parse force_change_period");
             return false;
         }
 
@@ -125,7 +123,7 @@ bool ExternalForceField::init(
                     parent_->random()->make_rng_normal(var_force_vec[0], var_force_vec[1]);
                 force_noise_.push_back(force_noise);
             } else {
-                cout << "Failed to parse variable_force_" << i << endl;
+                LOG_ERROR("Failed to parse variable_force_" << i);
                 return false;
             }
         }
@@ -134,7 +132,7 @@ bool ExternalForceField::init(
         sample_force();
 
     } else {
-        cout << "Invalid force type: " << force_type_str << endl;
+        LOG_ERROR("Invalid force type: " << force_type_str);
         return false;
     }
 
diff --git a/src/plugins/interaction/FlagCaptureInteraction/FlagCaptureInteraction.cpp b/src/plugins/interaction/FlagCaptureInteraction/FlagCaptureInteraction.cpp
index d9934a7303..1bbb10f212 100644
--- a/src/plugins/interaction/FlagCaptureInteraction/FlagCaptureInteraction.cpp
+++ b/src/plugins/interaction/FlagCaptureInteraction/FlagCaptureInteraction.cpp
@@ -47,8 +47,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 namespace sm = scrimmage_msgs;
diff --git a/src/plugins/interaction/GRPCCommandString/GRPCCommandString.cpp b/src/plugins/interaction/GRPCCommandString/GRPCCommandString.cpp
index fde6fa6978..75fb18d827 100644
--- a/src/plugins/interaction/GRPCCommandString/GRPCCommandString.cpp
+++ b/src/plugins/interaction/GRPCCommandString/GRPCCommandString.cpp
@@ -39,15 +39,13 @@
 
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/plugins/interaction/GRPCCommandString/ScrimmageMsgServiceImpl.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(
@@ -111,7 +109,7 @@ void GRPCCommandString::run_server() {
     builder.AddListeningPort(result, grpc::InsecureServerCredentials());
     builder.RegisterService(&service);
     std::unique_ptr<grpc::Server> server(builder.BuildAndStart());
-    std::cout << "GRPCCommandString listening on " << result << std::endl;
+    LOG_INFO("GRPCCommandString listening on " << result);
     server->Wait();  // this function blocks (should be in thread now)
 }
 
diff --git a/src/plugins/interaction/GraphInteraction/GraphInteraction.cpp b/src/plugins/interaction/GraphInteraction/GraphInteraction.cpp
index fc4e0e5229..8f45a3de49 100644
--- a/src/plugins/interaction/GraphInteraction/GraphInteraction.cpp
+++ b/src/plugins/interaction/GraphInteraction/GraphInteraction.cpp
@@ -49,6 +49,7 @@
 #include "scrimmage/common/FileSearch.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/msgs/Graph.pb.h"
 #include "scrimmage/parse/MissionParse.h"
@@ -60,8 +61,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
 using std::stoi;
 
 namespace fs = ::boost::filesystem;
@@ -119,7 +118,7 @@ bool GraphInteraction::init(
 
     if (graph_file.is_open()) {
         boost::read_graphml(graph_file, g_, dp);
-        cout << "read graph file" << endl;
+        LOG_INFO("read graph file");
         graph_file.close();
     }
 
diff --git a/src/plugins/interaction/MapGen2D/MapGen2D.cpp b/src/plugins/interaction/MapGen2D/MapGen2D.cpp
index a30d70d100..a5cc3e27c5 100644
--- a/src/plugins/interaction/MapGen2D/MapGen2D.cpp
+++ b/src/plugins/interaction/MapGen2D/MapGen2D.cpp
@@ -43,6 +43,7 @@
 #include "scrimmage/common/FileSearch.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ConfigParse.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -51,9 +52,6 @@
 #include "scrimmage/proto/ProtoConversions.h"
 #include "scrimmage/pubsub/Message.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 namespace sp = scrimmage_proto;
 
@@ -80,7 +78,7 @@ bool MapGen2D::init(
     sc::FileSearch file_search;
     std::map<std::string, std::string> overrides;  // empty, no overrides
     if (!map_parse.parse(overrides, plugin_params["map"], "SCRIMMAGE_DATA_PATH", file_search)) {
-        cout << "Failed to find map: " << plugin_params["map"] << endl;
+        LOG_ERROR("Failed to find map: " << plugin_params["map"]);
         return false;
     }
 
@@ -101,7 +99,7 @@ bool MapGen2D::init(
     std::vector<int> color;
     bool color_status = sc::str2container(color_str, " ", color, 3);
     if (!color_status) {
-        cout << "Warning: Failed to parse wall color." << endl;
+        LOG_WARN("Failed to parse wall color.");
         color = {0, 0, 255};
     }
 
@@ -109,7 +107,7 @@ bool MapGen2D::init(
 
     map_img_ = cv::imread(filename, cv::IMREAD_COLOR);
     if (!map_img_.data) {
-        cout << "Failed to open file: " << filename << endl;
+        LOG_ERROR("Failed to open file: " << filename);
         return false;
     }
 
@@ -146,7 +144,7 @@ bool MapGen2D::init(
     }
 
     // Publish the shapes for visualization and physics
-    cout << "Publishing shapes: " << msg->data.shape_size() << endl;
+    LOG_INFO("Publishing shapes: " << msg->data.shape_size());
     pub_shape_gen_->publish(msg);
 
     return true;
@@ -236,7 +234,7 @@ std::list<cv::Rect> MapGen2D::find_rectangles(cv::Mat& img, int threshold) {
     }
 
     if (show_map_debug_) {
-        cout << "Number of rectangles: " << rects.size() << endl;
+        LOG_INFO("Number of rectangles: " << rects.size());
         cv::imshow("Original", img);
         cv::imshow("Gray", gray);
         cv::imshow("Thresh", thresh);
diff --git a/src/plugins/interaction/ROSClockServer/ROSClockServer.cpp b/src/plugins/interaction/ROSClockServer/ROSClockServer.cpp
index 601d6b5c70..925fa1c5e3 100644
--- a/src/plugins/interaction/ROSClockServer/ROSClockServer.cpp
+++ b/src/plugins/interaction/ROSClockServer/ROSClockServer.cpp
@@ -45,8 +45,6 @@
 #include "scrimmage/math/State.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/interaction/ROSShapeViz/ROSShapeViz.cpp b/src/plugins/interaction/ROSShapeViz/ROSShapeViz.cpp
index 0b8155d307..6711a5c3d9 100644
--- a/src/plugins/interaction/ROSShapeViz/ROSShapeViz.cpp
+++ b/src/plugins/interaction/ROSShapeViz/ROSShapeViz.cpp
@@ -42,8 +42,6 @@
 #include "scrimmage/math/State.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/interaction/RandomAttrit/RandomAttrit.cpp b/src/plugins/interaction/RandomAttrit/RandomAttrit.cpp
index 30f1b72983..a2cb67d1c7 100644
--- a/src/plugins/interaction/RandomAttrit/RandomAttrit.cpp
+++ b/src/plugins/interaction/RandomAttrit/RandomAttrit.cpp
@@ -39,13 +39,11 @@
 #include "scrimmage/common/Random.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(
@@ -111,8 +109,9 @@ bool RandomAttrit::step_entity_interaction(std::list<sc::EntityPtr>& ents, doubl
         double slope = -start_num_ent_ / duration_s_;
         num_ent_ = slope * (t - start_wait_time_s_) + start_num_ent_;
     } else {
-        std::cout << "RandomAttrit: Decay method, " << decay_method_ << ", is not implemented."
-                  << std::endl;
+        std::stringstream ss;
+        ss << "RandomAttrit: Decay method, " << decay_method_ << ", is not implemented.";
+        LOG_WARN(ss.str());
     }
 
     // else if (decay_method_ == "exponential") {
diff --git a/src/plugins/interaction/TerrainGenerator/TerrainGenerator.cpp b/src/plugins/interaction/TerrainGenerator/TerrainGenerator.cpp
index 68b79cd162..9d381e9f73 100644
--- a/src/plugins/interaction/TerrainGenerator/TerrainGenerator.cpp
+++ b/src/plugins/interaction/TerrainGenerator/TerrainGenerator.cpp
@@ -39,15 +39,13 @@
 #include "scrimmage/common/Random.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 #include "scrimmage/proto/Shape.pb.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 namespace sp = scrimmage_proto;
 
@@ -83,7 +81,7 @@ bool TerrainGenerator::init(
     } else if (technique_str == "LINEAR_WALK") {
         technique = TerrainMap::Technique::LINEAR_WALK;
     } else {
-        cout << "WARNING: Invalid terrain generation technique" << endl;
+        LOG_WARN("Invalid terrain generation technique");
         technique = TerrainMap::Technique::RANDOM_WALK;
     }
 
diff --git a/src/plugins/interaction/TerrainGenerator/TerrainMap.cpp b/src/plugins/interaction/TerrainGenerator/TerrainMap.cpp
index d038e71642..3f0bf7ad59 100644
--- a/src/plugins/interaction/TerrainGenerator/TerrainMap.cpp
+++ b/src/plugins/interaction/TerrainGenerator/TerrainMap.cpp
@@ -34,14 +34,12 @@
 
 #include <boost/algorithm/clamp.hpp>
 
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/proto/ProtoConversions.h"
 
 namespace sc = scrimmage;
 namespace sp = scrimmage_proto;
 
-using std::cout;
-using std::endl;
-
 using boost::algorithm::clamp;
 
 namespace scrimmage {
@@ -104,7 +102,7 @@ TerrainMap::TerrainMap(const scrimmage_msgs::Terrain& terrain)
 
 bool TerrainMap::generate() {
     if (gener_ == nullptr || rng_ == nullptr) {
-        cout << "default_random_enginer is nullptr" << endl;
+        LOG_ERROR("default_random_enginer is nullptr");
         return false;
     }
 
diff --git a/src/plugins/metrics/CPA/CPA.cpp b/src/plugins/metrics/CPA/CPA.cpp
index 12eec3ebcf..5b625b573a 100644
--- a/src/plugins/metrics/CPA/CPA.cpp
+++ b/src/plugins/metrics/CPA/CPA.cpp
@@ -32,6 +32,8 @@
 
 #include "scrimmage/plugins/metrics/CPA/CPA.h"
 
+#include <scrimmage/log/Logger.h>
+
 #include <iostream>
 #include <limits>
 
@@ -48,8 +50,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 namespace sm = scrimmage_msgs;
@@ -127,12 +127,12 @@ void CPA::calc_team_scores() {
 
 void CPA::print_team_summaries() {
     for (auto& kv : cpa_map_) {
-        cout << "Entity: " << kv.first;
-        cout << " | CPA: " << kv.second.distance();
-        cout << " | Closest Entity: " << kv.second.closest_entity();
-        cout << " | Time: " << kv.second.time() << std::endl;
+        LOG_INFO("Entity: " << kv.first
+            << " | CPA: " << kv.second.distance()
+            << " | Closest Entity: " << kv.second.closest_entity()
+            << " | Time: " << kv.second.time());
     }
-    cout << sc::generate_chars("-", 70) << endl;
+    LOG_INFO(sc::generate_chars("-", 70));
 }
 
 }  // namespace metrics
diff --git a/src/plugins/metrics/FlagCaptureMetrics/FlagCaptureMetrics.cpp b/src/plugins/metrics/FlagCaptureMetrics/FlagCaptureMetrics.cpp
index e885076835..ca50d82b92 100644
--- a/src/plugins/metrics/FlagCaptureMetrics/FlagCaptureMetrics.cpp
+++ b/src/plugins/metrics/FlagCaptureMetrics/FlagCaptureMetrics.cpp
@@ -32,6 +32,8 @@
 
 #include "scrimmage/plugins/metrics/FlagCaptureMetrics/FlagCaptureMetrics.h"
 
+#include <scrimmage/log/Logger.h>
+
 #include <iostream>
 #include <limits>
 
@@ -47,8 +49,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 namespace sm = scrimmage_msgs;
@@ -115,11 +115,11 @@ void FlagCaptureMetrics::print_team_summaries() {
          it != team_flag_scores_.end();
          ++it) {
 
-        cout << "Team ID: " << it->first << endl;
-        cout << "Score: " << it->second.score() << endl;
-        cout << "Flags Taken: " << it->second.flags_taken() << endl;
-        cout << "Flags Captured: " << it->second.flags_captured() << endl;
-        cout << sc::generate_chars("-", 70) << endl;
+        LOG_INFO("Team ID: " << it->first);
+        LOG_INFO("Score: " << it->second.score());
+        LOG_INFO("Flags Taken: " << it->second.flags_taken());
+        LOG_INFO("Flags Captured: " << it->second.flags_captured());
+        LOG_INFO(sc::generate_chars("-", 70));
     }
 }
 
diff --git a/src/plugins/metrics/OpenAIRewards/OpenAIRewards.cpp b/src/plugins/metrics/OpenAIRewards/OpenAIRewards.cpp
index 9cfa8ccce6..53679375cc 100644
--- a/src/plugins/metrics/OpenAIRewards/OpenAIRewards.cpp
+++ b/src/plugins/metrics/OpenAIRewards/OpenAIRewards.cpp
@@ -34,10 +34,12 @@
 
 #include <iostream>
 #include <limits>
+#include <sstream>
 
 #include "scrimmage/common/CSV.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/metrics/Metrics.h"
 #include "scrimmage/msgs/Collision.pb.h"
@@ -48,9 +50,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 namespace sm = scrimmage_msgs;
 
@@ -81,7 +80,9 @@ void OpenAIRewards::init(std::map<std::string, std::string>& /*params*/) {
 
 void OpenAIRewards::print_team_summaries() {
     for (auto& kv : rewards_) {
-        std::cout << "Reward for id " << kv.first << " = " << kv.second << std::endl;
+        std::stringstream ss;
+        ss << "Reward for id " << kv.first << " = " << kv.second;
+        LOG_INFO(ss.str());
     }
 }
 
@@ -90,7 +91,7 @@ void OpenAIRewards::calc_team_scores() {
     std::string filename = parent_->mp()->log_dir() + "/rewards.csv";
 
     if (!csv.open_output(filename)) {
-        std::cout << "Couldn't create output file" << endl;
+        LOG_ERROR("Couldn't create output file");
     }
 
     csv.set_column_headers("id, reward");
diff --git a/src/plugins/metrics/SimpleCaptureMetrics/SimpleCaptureMetrics.cpp b/src/plugins/metrics/SimpleCaptureMetrics/SimpleCaptureMetrics.cpp
index 294fb141c9..a3998eaccd 100644
--- a/src/plugins/metrics/SimpleCaptureMetrics/SimpleCaptureMetrics.cpp
+++ b/src/plugins/metrics/SimpleCaptureMetrics/SimpleCaptureMetrics.cpp
@@ -32,6 +32,8 @@
 
 #include "scrimmage/plugins/metrics/SimpleCaptureMetrics/SimpleCaptureMetrics.h"
 
+#include <scrimmage/log/Logger.h>
+
 #include <iostream>
 #include <limits>
 
@@ -46,8 +48,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 namespace sm = scrimmage_msgs;
@@ -124,11 +124,11 @@ void SimpleCaptureMetrics::print_team_summaries() {
         int team_id = kv.first;
         Score& score = kv.second;
 
-        cout << "Team ID: " << team_id << endl;
-        cout << "Score: " << score.score() << endl;
-        cout << "Team Captures: " << score.count("TeamCapture") << endl;
-        cout << "Non Team Captures: " << score.count("NonTeamCapture") << endl;
-        cout << sc::generate_chars("-", 70) << endl;
+        LOG_INFO("Team ID: " << team_id);
+        LOG_INFO("Score: " << score.score());
+        LOG_INFO("Team Captures: " << score.count("TeamCapture"));
+        LOG_INFO("Non Team Captures: " << score.count("NonTeamCapture"));
+        LOG_INFO(sc::generate_chars("-", 70));
     }
 }
 
diff --git a/src/plugins/metrics/SimpleCollisionMetrics/SimpleCollisionMetrics.cpp b/src/plugins/metrics/SimpleCollisionMetrics/SimpleCollisionMetrics.cpp
index 5d9e4132da..dc0a27ad6b 100644
--- a/src/plugins/metrics/SimpleCollisionMetrics/SimpleCollisionMetrics.cpp
+++ b/src/plugins/metrics/SimpleCollisionMetrics/SimpleCollisionMetrics.cpp
@@ -31,7 +31,7 @@
  */
 
 #include "scrimmage/plugins/metrics/SimpleCollisionMetrics/SimpleCollisionMetrics.h"
-
+#include <scrimmage/log/Logger.h>
 #include <fstream>
 #include <iostream>
 
@@ -50,8 +50,6 @@
 
 namespace sc = scrimmage;
 namespace sm = scrimmage_msgs;
-using std::cout;
-using std::endl;
 
 REGISTER_PLUGIN(
     scrimmage::Metrics,
@@ -193,20 +191,16 @@ void SimpleCollisionMetrics::print_team_summaries() {
         if (it_survive != surviving_teams_.end())
             survived = true;
 
-        cout << "Team ID: " << it->first;
-        if (survived) {
-            cout << "\t(Survived round)" << endl;
-        } else {
-            cout << "\t(Didn't survive round)" << endl;
-        }
-        cout << "Score: " << it->second.score() << endl;
-        cout << "Entity Count: " << it->second.entity_count() << endl;
-        cout << "Total Flight Time: " << it->second.flight_time() << endl;
-        cout << "Total Normalized Flight Time: " << it->second.flight_time_norm() << endl;
-        cout << "Non-Team Collisions: " << it->second.non_team_collisions() << endl;
-        cout << "Team Collisions: " << it->second.team_collisions() << endl;
-        cout << "Ground Collisions: " << it->second.ground_collisions() << endl;
-        cout << sc::generate_chars("-", 70) << endl;
+        std::string survive_status = survived ? "\t(Survived round)" : "\t(Didn't survive round)";
+        LOG_INFO("Team ID: " << it->first << survive_status);
+        LOG_INFO("Score: " << it->second.score());
+        LOG_INFO("Entity Count: " << it->second.entity_count());
+        LOG_INFO("Total Flight Time: " << it->second.flight_time());
+        LOG_INFO("Total Normalized Flight Time: " << it->second.flight_time_norm());
+        LOG_INFO("Non-Team Collisions: " << it->second.non_team_collisions());
+        LOG_INFO("Team Collisions: " << it->second.team_collisions());
+        LOG_INFO("Ground Collisions: " << it->second.ground_collisions());
+        LOG_INFO(sc::generate_chars("-", 70));
     }
 }
 
diff --git a/src/plugins/motion/FixedWing6DOF/FixedWing6DOF.cpp b/src/plugins/motion/FixedWing6DOF/FixedWing6DOF.cpp
index 71bf1859c4..3275cf31aa 100644
--- a/src/plugins/motion/FixedWing6DOF/FixedWing6DOF.cpp
+++ b/src/plugins/motion/FixedWing6DOF/FixedWing6DOF.cpp
@@ -41,6 +41,7 @@
 #include "scrimmage/common/Time.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/parse/MissionParse.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -48,9 +49,6 @@
 #include "scrimmage/proto/ProtoConversions.h"
 #include "scrimmage/proto/Shape.pb.h"
 
-using std::cout;
-using std::endl;
-
 using boost::algorithm::clamp;
 
 REGISTER_PLUGIN(scrimmage::MotionModel, scrimmage::motion::FixedWing6DOF, FixedWing6DOF_plugin)
@@ -152,12 +150,12 @@ bool FixedWing6DOF::init(
     // Parse inertia matrix
     bool valid_inertia = false;
     if (!sc::get_vec_of_vecs(inertia_matrix, vecs)) {
-        cout << "Failed to parse inertia_matrix:" << inertia_matrix << endl;
+        LOG_ERROR("Failed to parse inertia_matrix:" << inertia_matrix);
     } else {
         int row = 0;
         for (std::vector<std::string> vec : vecs) {
             if (vec.size() != 3) {
-                cout << "Invalid vector size in: " << inertia_matrix << endl;
+                LOG_ERROR("Invalid vector size in: " << inertia_matrix);
                 break;
             }
             for (int i = 0; i < 3; i++) {
@@ -174,7 +172,7 @@ bool FixedWing6DOF::init(
         }
     }
     if (!valid_inertia) {
-        cout << "Using identity matrix for inertia." << endl;
+        LOG_WARN("Using identity matrix for inertia.");
         I_ = Eigen::Matrix3d::Identity();
     }
     I_inv_ = I_.inverse();
@@ -188,9 +186,8 @@ bool FixedWing6DOF::init(
     if (write_csv_) {
         csv_.open_output(
             parent_->mp()->log_dir() + "/" + std::to_string(parent_->id().id()) + "-states.csv");
-        cout << "Writing log to " + parent_->mp()->log_dir() + "/"
-                    + std::to_string(parent_->id().id()) + "-states.csv"
-             << endl;
+        LOG_INFO("Writing log to " + parent_->mp()->log_dir() + "/"
+                    + std::to_string(parent_->id().id()) + "-states.csv");
 
         csv_.set_column_headers(
             sc::CSV::Headers{
diff --git a/src/plugins/motion/JSBSimControl/JSBSimControl.cpp b/src/plugins/motion/JSBSimControl/JSBSimControl.cpp
index d1d9f9235b..6fbbbf8d5c 100644
--- a/src/plugins/motion/JSBSimControl/JSBSimControl.cpp
+++ b/src/plugins/motion/JSBSimControl/JSBSimControl.cpp
@@ -56,9 +56,6 @@
 #include <GeographicLib/LocalCartesian.hpp>
 #include <boost/algorithm/clamp.hpp>
 
-using std::cerr;
-using std::cout;
-using std::endl;
 
 #define meters2feet 3.28084
 #define feet2meters (1.0 / meters2feet)
diff --git a/src/plugins/motion/JSBSimModel/FGOutputFGMod.cpp b/src/plugins/motion/JSBSimModel/FGOutputFGMod.cpp
index d4fc0c44ec..0c8ad954ad 100644
--- a/src/plugins/motion/JSBSimModel/FGOutputFGMod.cpp
+++ b/src/plugins/motion/JSBSimModel/FGOutputFGMod.cpp
@@ -37,6 +37,7 @@
 #include <stdio.h>
 #include <string.h>
 
+#include "scrimmage/log/Logger.h"
 #include "models/FGAerodynamics.h"
 #include "models/FGAuxiliary.h"
 #include "models/FGFCS.h"
@@ -99,27 +100,24 @@ FGOutputFGMod::FGOutputFGMod(FGFDMExec* fdmex) : FGOutputFG(fdmex) {
     if (fdmex->GetDebugLevel() > 0) {
         // Engine status
         if (Propulsion->GetNumEngines() > FG_MAX_ENGINES)
-            cerr << "This vehicle has " << Propulsion->GetNumEngines()
-                 << " engines, but the current " << endl
-                 << "version of FlightGear's FGNetFDM only supports " << FG_MAX_ENGINES
-                 << " engines." << endl
-                 << "Only the first " << FG_MAX_ENGINES << " engines will be used." << endl;
+            LOG_WARN("This vehicle has " << Propulsion->GetNumEngines()
+                     << " engines, but the current version of FlightGear's FGNetFDM only supports "
+                     << FG_MAX_ENGINES << " engines. Only the first " << FG_MAX_ENGINES
+                     << " engines will be used.");
 
         // Consumables
         if (Propulsion->GetNumTanks() > FG_MAX_TANKS)
-            cerr << "This vehicle has " << Propulsion->GetNumTanks() << " tanks, but the current "
-                 << endl
-                 << "version of FlightGear's FGNetFDM only supports " << FG_MAX_TANKS << " tanks."
-                 << endl
-                 << "Only the first " << FG_MAX_TANKS << " tanks will be used." << endl;
+            LOG_WARN("This vehicle has " << Propulsion->GetNumTanks()
+                     << " tanks, but the current version of FlightGear's FGNetFDM only supports "
+                     << FG_MAX_TANKS << " tanks. Only the first " << FG_MAX_TANKS
+                     << " tanks will be used.");
 
         // Gear status
         if (GroundReactions->GetNumGearUnits() > FG_MAX_WHEELS)
-            cerr << "This vehicle has " << GroundReactions->GetNumGearUnits()
-                 << " bogeys, but the current " << endl
-                 << "version of FlightGear's FGNetFDM only supports " << FG_MAX_WHEELS << " bogeys."
-                 << endl
-                 << "Only the first " << FG_MAX_WHEELS << " bogeys will be used." << endl;
+            LOG_WARN("This vehicle has " << GroundReactions->GetNumGearUnits()
+                     << " bogeys, but the current version of FlightGear's FGNetFDM only supports "
+                     << FG_MAX_WHEELS << " bogeys. Only the first " << FG_MAX_WHEELS
+                     << " bogeys will be used.");
     }
 }
 
diff --git a/src/plugins/motion/Multirotor/Multirotor.cpp b/src/plugins/motion/Multirotor/Multirotor.cpp
index e56abe56c0..e150b5486d 100644
--- a/src/plugins/motion/Multirotor/Multirotor.cpp
+++ b/src/plugins/motion/Multirotor/Multirotor.cpp
@@ -38,6 +38,7 @@
 
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/parse/MissionParse.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -47,9 +48,6 @@
 
 namespace sc = scrimmage;
 
-using std::cout;
-using std::endl;
-
 REGISTER_PLUGIN(scrimmage::MotionModel, scrimmage::motion::Multirotor, Multirotor_plugin)
 
 namespace scrimmage {
@@ -99,12 +97,12 @@ bool Multirotor::init(
     std::string inertia_matrix = sc::get<std::string>("inertia_matrix", params, "");
     bool valid_inertia = false;
     if (!sc::get_vec_of_vecs(inertia_matrix, vecs)) {
-        cout << "Failed to parse inertia_matrix:" << inertia_matrix << endl;
+        LOG_ERROR("Failed to parse inertia_matrix:" << inertia_matrix);
     } else {
         int row = 0;
         for (std::vector<std::string> vec : vecs) {
             if (vec.size() != 3) {
-                cout << "Invalid vector size in: " << inertia_matrix << endl;
+                LOG_ERROR("Invalid vector size in: " << inertia_matrix);
                 break;
             }
             I_(row, 0) = std::stod(vec[0]);
@@ -117,7 +115,7 @@ bool Multirotor::init(
         }
     }
     if (!valid_inertia) {
-        cout << "Using identity matrix for inertia." << endl;
+        LOG_WARN("Using identity matrix for inertia.");
         I_ = Eigen::Matrix3d::Identity();
     }
     I_inv_ = I_.inverse();
@@ -132,13 +130,13 @@ bool Multirotor::init(
     std::vector<std::vector<std::string>> vecs_r;
     std::string rotor_config = sc::get<std::string>("rotor_config", params, "");
     if (!sc::get_vec_of_vecs(rotor_config, vecs_r)) {
-        cout << "Failed to parse rotor_config:" << rotor_config << endl;
+        LOG_ERROR("Failed to parse rotor_config:" << rotor_config);
         return false;
     }
 
     for (std::vector<std::string> vec : vecs_r) {
         if (vec.size() != 7) {
-            cout << "Invalid rotor_config: " << rotor_config << endl;
+            LOG_ERROR("Invalid rotor_config: " << rotor_config);
             return false;
         }
 
@@ -148,7 +146,7 @@ bool Multirotor::init(
         } else if (vec[0] == "CCW") {
             r.set_direction(Rotor::Direction::CCW);
         } else {
-            cout << "Invalid rotor direction: " << vec[0] << endl;
+            LOG_ERROR("Invalid rotor direction: " << vec[0]);
             r.set_direction(Rotor::Direction::CW);
         }
 
diff --git a/src/plugins/motion/UUV6DOF/UUV6DOF.cpp b/src/plugins/motion/UUV6DOF/UUV6DOF.cpp
index 110096fde0..b8f4ae66a4 100644
--- a/src/plugins/motion/UUV6DOF/UUV6DOF.cpp
+++ b/src/plugins/motion/UUV6DOF/UUV6DOF.cpp
@@ -38,14 +38,13 @@
 
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/parse/MissionParse.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
 
 using boost::algorithm::clamp;
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
@@ -119,12 +118,12 @@ bool UUV6DOF::init(
         // Parse inertia matrix
         bool valid_inertia = false;
         if (!sc::get_vec_of_vecs(inertia_matrix, vecs)) {
-            cout << "Failed to parse inertia_matrix:" << inertia_matrix << endl;
+            LOG_ERROR("Failed to parse inertia_matrix:" << inertia_matrix);
         } else {
             int row = 0;
             for (std::vector<std::string> vec : vecs) {
                 if (vec.size() != 3) {
-                    cout << "Invalid vector size in: " << inertia_matrix << endl;
+                    LOG_ERROR("Invalid vector size in: " << inertia_matrix);
                     break;
                 }
                 for (int i = 0; i < 3; i++) {
@@ -137,7 +136,7 @@ bool UUV6DOF::init(
             }
         }
         if (!valid_inertia) {
-            cout << "Using identity matrix for inertia." << endl;
+            LOG_WARN("Using identity matrix for inertia.");
             I_ = Eigen::Matrix3d::Identity();
         }
         I_inv_ = I_.inverse();
@@ -179,9 +178,8 @@ bool UUV6DOF::init(
     if (write_csv_) {
         csv_.open_output(
             parent_->mp()->log_dir() + "/" + std::to_string(parent_->id().id()) + "-states.csv");
-        cout << "Writing log to " + parent_->mp()->log_dir() + "/"
-                    + std::to_string(parent_->id().id()) + "-states.csv"
-             << endl;
+        LOG_INFO("Writing log to " + parent_->mp()->log_dir() + "/"
+                    + std::to_string(parent_->id().id()) + "-states.csv");
 
         csv_.set_column_headers(sc::CSV::Headers{"t",      "x",        "y",     "z",     "U",
                                                  "V",      "W",        "P",     "Q",     "R",
@@ -203,7 +201,7 @@ bool UUV6DOF::init(
         if (sc::get_vec<double>("c_g", params, ", ", c_g_vec, 3)) {
             c_g_ = sc::vec2eigen(c_g_vec);
         } else {
-            cout << "Warning: Invalid center of gravity, c_g." << endl;
+            LOG_WARN("Invalid center of gravity, c_g.");
         }
     }
 
@@ -213,7 +211,7 @@ bool UUV6DOF::init(
         if (sc::get_vec<double>("c_b", params, ", ", c_b_vec, 3)) {
             c_b_ = sc::vec2eigen(c_b_vec);
         } else {
-            cout << "Warning: Invalid center of buoyancy, c_b." << endl;
+            LOG_WARN("Invalid center of buoyancy, c_b.");
         }
     }
 
diff --git a/src/plugins/network/GPUSphereNetwork/GPUSphereNetwork.cpp b/src/plugins/network/GPUSphereNetwork/GPUSphereNetwork.cpp
index 84416a7a3d..ede5d38720 100644
--- a/src/plugins/network/GPUSphereNetwork/GPUSphereNetwork.cpp
+++ b/src/plugins/network/GPUSphereNetwork/GPUSphereNetwork.cpp
@@ -45,6 +45,7 @@
 #include "scrimmage/entity/Entity.h"
 #include "scrimmage/gpu/GPUController.h"
 #include "scrimmage/gpu/OpenCLUtils.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
@@ -307,8 +308,9 @@ bool GPUSphereNetwork::is_reachable(
     for (sc::ID id : neigh) {
         auto ent_neighbor = id_to_ent_map_->find(id.id());
         if (ent_neighbor == id_to_ent_map_->end()) {
-            std::cout << "Warning: Sphere Network entity id doesn't exists: " << id.id()
-                      << std::endl;
+            std::stringstream ss;
+            ss << "Warning: Sphere Network entity id doesn't exists: " << id.id();
+            LOG_WARN(ss.str());
             continue;
         }
         if (not filter_comms_plane_) {
diff --git a/src/plugins/network/GlobalNetwork/GlobalNetwork.cpp b/src/plugins/network/GlobalNetwork/GlobalNetwork.cpp
index bdaec4ea95..ff495584af 100644
--- a/src/plugins/network/GlobalNetwork/GlobalNetwork.cpp
+++ b/src/plugins/network/GlobalNetwork/GlobalNetwork.cpp
@@ -48,9 +48,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(scrimmage::Network, scrimmage::network::GlobalNetwork, GlobalNetwork_plugin)
diff --git a/src/plugins/network/LocalNetwork/LocalNetwork.cpp b/src/plugins/network/LocalNetwork/LocalNetwork.cpp
index 540afd751d..5c12a780c5 100644
--- a/src/plugins/network/LocalNetwork/LocalNetwork.cpp
+++ b/src/plugins/network/LocalNetwork/LocalNetwork.cpp
@@ -48,9 +48,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 
 REGISTER_PLUGIN(scrimmage::Network, scrimmage::network::LocalNetwork, LocalNetwork_plugin)
diff --git a/src/plugins/network/SphereNetwork/SphereNetwork.cpp b/src/plugins/network/SphereNetwork/SphereNetwork.cpp
index ce3166215f..06878537fb 100644
--- a/src/plugins/network/SphereNetwork/SphereNetwork.cpp
+++ b/src/plugins/network/SphereNetwork/SphereNetwork.cpp
@@ -33,6 +33,7 @@
 #include "scrimmage/plugins/network/SphereNetwork/SphereNetwork.h"
 
 #include <iostream>
+#include <sstream>
 #include <vector>
 
 #include <boost/range/adaptor/map.hpp>
@@ -42,6 +43,7 @@
 #include "scrimmage/common/Random.h"
 #include "scrimmage/common/Time.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
 #include "scrimmage/plugin_manager/RegisterPlugin.h"
@@ -51,8 +53,6 @@
 
 REGISTER_PLUGIN(scrimmage::Network, scrimmage::network::SphereNetwork, SphereNetwork_plugin)
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 namespace ba = boost::adaptors;
@@ -112,8 +112,9 @@ bool SphereNetwork::is_reachable(
     for (sc::ID id : neigh) {
         auto ent_neighbor = id_to_ent_map_->find(id.id());
         if (ent_neighbor == id_to_ent_map_->end()) {
-            std::cout << "Warning: Sphere Network entity id doesn't exists: " << id.id()
-                      << std::endl;
+            std::stringstream ss;
+            ss << "Warning: Sphere Network entity id doesn't exists: " << id.id();
+            LOG_WARN(ss.str());
             continue;
         }
         if (not filter_comms_plane_) {
diff --git a/src/plugins/sensor/AirSimSensor/AirSimSensor.cpp b/src/plugins/sensor/AirSimSensor/AirSimSensor.cpp
index dcbf1e91fa..58962dcb4e 100644
--- a/src/plugins/sensor/AirSimSensor/AirSimSensor.cpp
+++ b/src/plugins/sensor/AirSimSensor/AirSimSensor.cpp
@@ -49,6 +49,7 @@
 #include "scrimmage/common/Random.h"
 #include "scrimmage/common/Time.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/Quaternion.h"
 #include "scrimmage/math/State.h"
@@ -59,9 +60,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 using ang = scrimmage::Angles;
 
 namespace sc = scrimmage;
@@ -139,7 +137,7 @@ void AirSimSensor::parse_camera_configs(std::map<std::string, std::string>& para
                         c.img_type = ma::ImageCaptureBase::ImageType::Infrared;
                         c.img_type_name = "Infrared";
                     } else {
-                        cout << "Error: Unknown image type: " << tokens_2[2] << endl;
+                        LOG_ERROR("Unknown image type: " << tokens_2[2]);
                         c.img_type = ma::ImageCaptureBase::ImageType::Scene;
                         c.img_type_name = "Scene";
                     }
@@ -149,12 +147,12 @@ void AirSimSensor::parse_camera_configs(std::map<std::string, std::string>& para
                     c.height = std::stoi(tokens_2[4]);
                     c.fov = std::stoi(tokens_2[5]);
 
-                    cout << "[AirSimSensor] Adding camera to Vehicle '" << vehicle_name_ << "' "
-                         << c << endl;
+                    LOG_INFO("[AirSimSensor] Adding camera to Vehicle '" << vehicle_name_ << "' "
+                         << c);
                     cam_configs_.push_back(c);
                 } catch (boost::bad_lexical_cast) {
                     // Parsing whitespace and possibily malformed XML.
-                    cout << "Parse Error: Check camera_config's in AirSimSensor.xml" << endl;
+                    LOG_ERROR("Parse Error: Check camera_config's in AirSimSensor.xml");
                 }  // end try, catch
             }
         }  // end check token_1 size
@@ -175,8 +173,8 @@ void AirSimSensor::parse_lidar_configs(std::map<std::string, std::string>& param
 
             if ((tokens_2.size() == 2) && (tokens_2[0] == vehicle_name_)) {
                 try {
-                    cout << "[AirSimSensor] Adding LIDAR sensor '" << tokens_2[1]
-                         << "' to Vehicle '" << vehicle_name_ << "'." << endl;
+                    LOG_INFO("[AirSimSensor] Adding LIDAR sensor '" << tokens_2[1]
+                         << "' to Vehicle '" << vehicle_name_ << "'.");
                     lidar_names_.push_back(tokens_2[1]);
                 } catch (boost::bad_lexical_cast) {
                     // Parsing whitespace and possibily malformed XML.
@@ -200,8 +198,8 @@ void AirSimSensor::parse_imu_configs(std::map<std::string, std::string>& params)
 
             if ((tokens_2.size() == 2) && (tokens_2[0] == vehicle_name_)) {
                 try {
-                    cout << "[AirSimSensor] Adding IMU sensor '" << tokens_2[1] << "' to Vehicle '"
-                         << vehicle_name_ << "'." << endl;
+                    LOG_INFO("[AirSimSensor] Adding IMU sensor '" << tokens_2[1] << "' to Vehicle '"
+                         << vehicle_name_ << "'.");
                     imu_names_.push_back(tokens_2[1]);
                 } catch (boost::bad_lexical_cast) {
                     // Parsing whitespace and possibily malformed XML.
@@ -219,12 +217,10 @@ void AirSimSensor::init(std::map<std::string, std::string>& params) {
 
     // Mission File params
     vehicle_name_ = sc::get<std::string>("vehicle_name", params, "robot1");
-    cout << "[AirSimSensor] Vehicle Name: " << vehicle_name_ << endl;
+    LOG_INFO("[AirSimSensor] Vehicle Name: " << vehicle_name_);
     save_airsim_data_ = sc::get<bool>("save_airsim_data", params, "true");
     if (save_airsim_data_) {
-        cout << "[AirSimSensor] Saving camera images and airsim_data.csv of pose to SCRIMMAGE Logs "
-                "Directory."
-             << endl;
+        LOG_INFO("[AirSimSensor] Saving camera images and airsim_data.csv of pose to SCRIMMAGE Logs Directory.");
     }
     get_image_data_ = sc::get<bool>("get_image_data", params, "true");
     get_lidar_data_ = sc::get<bool>("get_lidar_data", params, "true");
@@ -238,16 +234,15 @@ void AirSimSensor::init(std::map<std::string, std::string>& params) {
     std::string csv_filename = parent_->mp()->log_dir() + "/airsim_data_robot"
                                + std::to_string(parent_->id().id()) + ".csv";
     if (!csv.open_output(csv_filename, std::ios_base::app))
-        std::cout << "Couldn't create csv file" << endl;
+        LOG_ERROR("Couldn't create csv file");
     if (!csv.output_is_open())
-        cout << "File isn't open. Can't write to CSV" << endl;
+        LOG_ERROR("File isn't open. Can't write to CSV");
     csv.set_column_headers("frame, t, x, y, z, roll, pitch, yaw");
 
     //// Publish Images
     if (get_image_data_) {
-        cout << "[AirSimSensor] Retrieving image data within AirSimSensor::request_images() thread."
-             << endl;
-        cout << "[AirSimSensor] Image Acquisition Period = " << image_acquisition_period_ << endl;
+        LOG_INFO("[AirSimSensor] Retrieving image data within AirSimSensor::request_images() thread.");
+        LOG_INFO("[AirSimSensor] Image Acquisition Period = " << image_acquisition_period_);
         // Get camera configurations
         AirSimSensor::parse_camera_configs(params);
         img_pub_ = advertise("LocalNetwork", "AirSimImages");
@@ -258,9 +253,8 @@ void AirSimSensor::init(std::map<std::string, std::string>& params) {
 
     //// Publish Lidar
     if (get_lidar_data_) {
-        cout << "[AirSimSensor] Retrieving LIDAR data within AirSimSensor::request_lidar() thread."
-             << endl;
-        cout << "[AirSimSensor] LIDAR Acquisition Period = " << lidar_acquisition_period_ << endl;
+        LOG_INFO("[AirSimSensor] Retrieving LIDAR data within AirSimSensor::request_lidar() thread.");
+        LOG_INFO("[AirSimSensor] LIDAR Acquisition Period = " << lidar_acquisition_period_);
         AirSimSensor::parse_lidar_configs(params);
         lidar_pub_ = advertise("LocalNetwork", "AirSimLidar");
         auto lidar_msg_ = std::make_shared<sc::Message<std::vector<AirSimLidarType>>>();
@@ -270,9 +264,8 @@ void AirSimSensor::init(std::map<std::string, std::string>& params) {
 
     //// Publish Imu
     if (get_imu_data_) {
-        cout << "[AirSimSensor] Retrieving IMU data within AirSimSensor::request_imu() thread."
-             << endl;
-        cout << "[AirSimSensor] IMU Acquisition Period = " << imu_acquisition_period_ << endl;
+        LOG_INFO("[AirSimSensor] Retrieving IMU data within AirSimSensor::request_imu() thread.");
+        LOG_INFO("[AirSimSensor] IMU Acquisition Period = " << imu_acquisition_period_);
         AirSimSensor::parse_imu_configs(params);
         imu_pub_ = advertise("LocalNetwork", "AirSimImu");
         auto imu_msg_ = std::make_shared<sc::Message<std::vector<AirSimImuType>>>();
@@ -291,11 +284,8 @@ void AirSimSensor::request_images() {
             std::this_thread::sleep_for(std::chrono::seconds(1));
             // If we haven't been able to connect to AirSim, warn the user and return
             if (i == 10) {
-                cout << "\n[AirSimSensor] Warning: Image client could not connect to AirSim."
-                     << endl;
-                cout << "[AirSimSensor] Warning: Please start Unreal/AirSim before the SCRIMMAGE "
-                        "mission.\n"
-                     << endl;
+                LOG_WARN("[AirSimSensor] Image client could not connect to AirSim.");
+                LOG_WARN("[AirSimSensor] Please start Unreal/AirSim before the SCRIMMAGE mission.");
                 return;
             }
             std::shared_ptr<ma::RpcLibClientBase> img_client =
@@ -450,11 +440,8 @@ void AirSimSensor::request_lidar() {
             std::this_thread::sleep_for(std::chrono::seconds(1));
             // If we haven't been able to connect to AirSim, warn the user and return
             if (i == 10) {
-                cout << "\n[AirSimSensor] Warning: LIDAR client could not connect to AirSim."
-                     << endl;
-                cout << "[AirSimSensor] Warning: Please start Unreal/AirSim before the SCRIMMAGE "
-                        "mission.\n"
-                     << endl;
+                LOG_WARN("[AirSimSensor] LIDAR client could not connect to AirSim.");
+                LOG_WARN("[AirSimSensor] Please start Unreal/AirSim before the SCRIMMAGE mission.");
                 return;
             }
             std::shared_ptr<ma::RpcLibClientBase> lidar_client =
@@ -538,10 +525,8 @@ void AirSimSensor::request_imu() {
             std::this_thread::sleep_for(std::chrono::seconds(1));
             // If we haven't been able to connect to AirSim, warn the user and return
             if (i == 10) {
-                cout << "\n[AirSimSensor] Warning: IMU client could not connect to AirSim." << endl;
-                cout << "[AirSimSensor] Warning: Please start Unreal/AirSim before the SCRIMMAGE "
-                        "mission.\n"
-                     << endl;
+                LOG_WARN("[AirSimSensor] IMU client could not connect to AirSim.");
+                LOG_WARN("[AirSimSensor] Please start Unreal/AirSim before the SCRIMMAGE mission.");
                 return;
             }
             std::shared_ptr<ma::RpcLibClientBase> imu_client =
@@ -619,7 +604,7 @@ bool AirSimSensor::step() {
     ///////////////////////////////////////////////////////////////////////////
 
     if (!client_connected_) {
-        cout << vehicle_name_ << " Sim Client waiting for Unreal/AirSim connection - " << endl;
+        LOG_INFO(vehicle_name_ << " Sim Client waiting for Unreal/AirSim connection");
         sim_client_ = std::make_shared<ma::MultirotorRpcLibClient>(
             airsim_ip_,
             airsim_port_,
@@ -629,15 +614,11 @@ bool AirSimSensor::step() {
         for (int i = 0; i < 11; i++) {
             if (sim_client_->getConnectionState()
                 != ma::RpcLibClientBase::ConnectionState::Connected) {
-                cout << "X" << std::flush;
                 std::this_thread::sleep_for(std::chrono::seconds(1));
                 // If we haven't been able to connect to AirSim, warn the user and return.
                 if (i == 10) {
-                    cout << "\n[AirSimSensor] Warning: Sim client could not connect to AirSim."
-                         << endl;
-                    cout << "[AirSimSensor] Warning: Please start Unreal/AirSim before the "
-                            "SCRIMMAGE mission.\n"
-                         << endl;
+                    LOG_WARN("[AirSimSensor] Sim client could not connect to AirSim.");
+                    LOG_WARN("[AirSimSensor] Please start Unreal/AirSim before the SCRIMMAGE mission.");
                     return false;
                 }
                 std::shared_ptr<ma::RpcLibClientBase> imu_client =
@@ -647,9 +628,8 @@ bool AirSimSensor::step() {
                         airsim_timeout_s_);
             } else {
                 client_connected_ = true;
-                cout << "[AirSimSensor] Sim Client for " << vehicle_name_
-                     << " connected to AirSim: ip " << airsim_ip_ << ", port " << airsim_port_
-                     << endl;
+                LOG_INFO("[AirSimSensor] Sim Client for " << vehicle_name_
+                     << " connected to AirSim: ip " << airsim_ip_ << ", port " << airsim_port_);
                 break;
             }
         }
@@ -776,7 +756,7 @@ bool AirSimSensor::save_data(
 
     // Write the CSV file to the root log directory file name = airsim_data.csv
     if (!csv.output_is_open()) {
-        cout << "[AirSimSensor] File isn't open. Can't append to CSV" << endl;
+        LOG_ERROR(\"[AirSimSensor] File isn't open. Can't append to CSV\");
     }
     csv.append(
         sc::CSV::Pairs{
diff --git a/src/plugins/sensor/AltitudeAboveTerrain/AltitudeAboveTerrain.cpp b/src/plugins/sensor/AltitudeAboveTerrain/AltitudeAboveTerrain.cpp
index 1656eb3131..13d427947f 100644
--- a/src/plugins/sensor/AltitudeAboveTerrain/AltitudeAboveTerrain.cpp
+++ b/src/plugins/sensor/AltitudeAboveTerrain/AltitudeAboveTerrain.cpp
@@ -39,6 +39,7 @@
 
 #include "scrimmage/common/Random.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Quaternion.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -48,9 +49,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
-
 namespace sc = scrimmage;
 namespace sp = scrimmage_proto;
 
@@ -107,7 +105,7 @@ bool AltitudeAboveTerrain::step() {
         msg_noise->data = alt + (*noise_)(*gener_);
         pub_noise_->publish(msg_noise);
     } else {
-        std::cout << "AltitudeAboveTerrain: vehicle out of terrain map bounds" << endl;
+        LOG_WARN("AltitudeAboveTerrain: vehicle out of terrain map bounds");
     }
     return true;
 }
diff --git a/src/plugins/sensor/ContactBlobCamera/ContactBlobCamera.cpp b/src/plugins/sensor/ContactBlobCamera/ContactBlobCamera.cpp
index 7a7d377a22..469a570d1f 100644
--- a/src/plugins/sensor/ContactBlobCamera/ContactBlobCamera.cpp
+++ b/src/plugins/sensor/ContactBlobCamera/ContactBlobCamera.cpp
@@ -47,6 +47,7 @@
 #include "scrimmage/common/Time.h"
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/Quaternion.h"
 #include "scrimmage/math/State.h"
@@ -218,8 +219,7 @@ void ContactBlobCamera::draw_frustum(
     double y_rot,
     double z_rot) {
     if (frustum_shapes.size() != 8) {
-        std::cerr << "ContactBlobCamera::draw_frustum: ERROR: input shape vector must be size 8"
-                  << std::endl;
+        LOG_ERROR("ContactBlobCamera::draw_frustum: ERROR: input shape vector must be size 8");
         return;
     }
     double sensor_footprint_height = max_detect_range_ * tan(el_thresh_ / 2) * 2;
diff --git a/src/plugins/sensor/GPS/GPS.cpp b/src/plugins/sensor/GPS/GPS.cpp
index 15f5f0ad92..1d895a9979 100644
--- a/src/plugins/sensor/GPS/GPS.cpp
+++ b/src/plugins/sensor/GPS/GPS.cpp
@@ -49,8 +49,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 namespace sp = scrimmage_proto;
diff --git a/src/plugins/sensor/NoisyContacts/NoisyContacts.cpp b/src/plugins/sensor/NoisyContacts/NoisyContacts.cpp
index 5b35318c91..83af96f7aa 100644
--- a/src/plugins/sensor/NoisyContacts/NoisyContacts.cpp
+++ b/src/plugins/sensor/NoisyContacts/NoisyContacts.cpp
@@ -46,8 +46,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/sensor/ROSAltimeter/ROSAltimeter.cpp b/src/plugins/sensor/ROSAltimeter/ROSAltimeter.cpp
index 9b416ea75b..e073ee175f 100644
--- a/src/plugins/sensor/ROSAltimeter/ROSAltimeter.cpp
+++ b/src/plugins/sensor/ROSAltimeter/ROSAltimeter.cpp
@@ -47,8 +47,6 @@
 #define meters2feet 3.28084
 #define feet2meters (1.0 / meters2feet)
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/sensor/ROSCompass/ROSCompass.cpp b/src/plugins/sensor/ROSCompass/ROSCompass.cpp
index 2dbfcfe40d..f43407d706 100644
--- a/src/plugins/sensor/ROSCompass/ROSCompass.cpp
+++ b/src/plugins/sensor/ROSCompass/ROSCompass.cpp
@@ -44,8 +44,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
 
 namespace sc = scrimmage;
 
diff --git a/src/plugins/sensor/ROSIMUSensor/ROSIMUSensor.cpp b/src/plugins/sensor/ROSIMUSensor/ROSIMUSensor.cpp
index f20574959c..0e96aa8c3c 100644
--- a/src/plugins/sensor/ROSIMUSensor/ROSIMUSensor.cpp
+++ b/src/plugins/sensor/ROSIMUSensor/ROSIMUSensor.cpp
@@ -40,6 +40,7 @@
 #include "scrimmage/common/Random.h"
 #include "scrimmage/common/Time.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Angles.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -50,9 +51,6 @@
 #include "scrimmage/pubsub/Publisher.h"
 #include "scrimmage/pubsub/Subscriber.h"
 
-using std::cout;
-using std::endl;
-
 namespace geo = GeographicLib;
 namespace sc = scrimmage;
 
@@ -87,9 +85,9 @@ void ROSIMUSensor::init(std::map<std::string, std::string>& params) {
     std::string csv_filename =
         parent_->mp()->log_dir() + "/imu_data_robot" + std::to_string(parent_->id().id()) + ".csv";
     if (!csv.open_output(csv_filename, std::ios_base::app))
-        std::cout << "Couldn't create csv file" << endl;
+        LOG_ERROR("Couldn't create csv file");
     if (!csv.output_is_open())
-        cout << "File isn't open. Can't write to CSV" << endl;
+        LOG_ERROR("File isn't open. Can't write to CSV");
 
     csv.set_column_headers(
         "time, dt, ECEF_POSX, ECEF_POSY, ECEF_POSZ, ECEF_VELX, ECEF_VELY, ECEF_VELZ, bodyToEcef_X, "
@@ -255,7 +253,7 @@ Eigen::Vector3d ROSIMUSensor::get_delta_theta(
     // % .0035 deg/Hr is the quoted gyro bias for the HG9900, a navigation grade
     // % IMU
     if (errVect.norm() >= 0.0035 * (M_PI / 180.0) * (1 / 3600.0) * (inertialDeltaT) * (1 / 100.0)) {
-        cout << "Warning: Check delta-theta calculations inside get_delta_theta!!!" << endl;
+        LOG_WARN("Check delta-theta calculations inside get_delta_theta!!!");
     }
     Eigen::Vector3d DeltaThetaBodyWRTECEFInBody = dTHat;
 
@@ -455,7 +453,7 @@ bool ROSIMUSensor::step() {
         // Write IMU data to CSV
         // Write the CSV file to the root log directory file name = imu_data.csv
         if (!csv.output_is_open()) {
-            cout << "File isn't open. Can't append to CSV" << endl;
+            LOG_ERROR("File isn't open. Can't append to CSV");
         }
         csv.append(
             sc::CSV::Pairs{
diff --git a/src/plugins/sensor/RigidBody6DOFStateSensor/RigidBody6DOFStateSensor.cpp b/src/plugins/sensor/RigidBody6DOFStateSensor/RigidBody6DOFStateSensor.cpp
index 7aca15ec23..2abc8f8890 100644
--- a/src/plugins/sensor/RigidBody6DOFStateSensor/RigidBody6DOFStateSensor.cpp
+++ b/src/plugins/sensor/RigidBody6DOFStateSensor/RigidBody6DOFStateSensor.cpp
@@ -36,6 +36,7 @@
 
 #include "scrimmage/common/Random.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/math/Quaternion.h"
 #include "scrimmage/math/State.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -46,9 +47,6 @@
 #include "scrimmage/pubsub/Message.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 REGISTER_PLUGIN(
     scrimmage::Sensor,
     scrimmage::sensor::RigidBody6DOFStateSensor,
@@ -87,9 +85,9 @@ bool RigidBody6DOFStateSensor::step() {
         motion_ =
             std::dynamic_pointer_cast<scrimmage::motion::RigidBody6DOFBase>(parent_->motion());
         if (motion_ == nullptr) {
-            cout << "WARNING: Failed to get motion model. Currently only "
-                 << "scrimmage::motion::RigidBody6DOFBase and subclasses "
-                 << "are supported by RigidBody6DOFStateSensor" << endl;
+            LOG_WARN("Failed to get motion model. Currently only "
+                     << "scrimmage::motion::RigidBody6DOFBase and subclasses "
+                     << "are supported by RigidBody6DOFStateSensor");
             return false;
         }
     }
diff --git a/src/pubsub/Network.cpp b/src/pubsub/Network.cpp
index 2220e483d0..c3bd863a47 100644
--- a/src/pubsub/Network.cpp
+++ b/src/pubsub/Network.cpp
@@ -38,6 +38,7 @@
 #include "scrimmage/common/RTree.h"
 #include "scrimmage/common/Time.h"
 #include "scrimmage/entity/Entity.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/msgs/Simple.pb.h"
 #include "scrimmage/parse/MissionParse.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -88,7 +89,7 @@ bool Network::network_init(
     // Should we write a CSV file? What values should be written?
     std::string filename = get<std::string>("csv_filename", plugin_params, "");
     if (filename != "") {
-        std::cout << "Writing to CSV..." << std::endl;
+        LOG_INFO("Writing to CSV...");
         write_csv_ = true;
         csv_.open_output(mp_->log_dir() + "/" + filename);
 
diff --git a/src/pubsub/NetworkDevice.cpp b/src/pubsub/NetworkDevice.cpp
index 8dc0bb19fd..7687ac1505 100644
--- a/src/pubsub/NetworkDevice.cpp
+++ b/src/pubsub/NetworkDevice.cpp
@@ -32,9 +32,8 @@
 
 #include "scrimmage/pubsub/NetworkDevice.h"
 
-#include <iostream>
-
 #include "scrimmage/entity/EntityPlugin.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/pubsub/MessageBase.h"
 
 namespace scrimmage {
@@ -121,7 +120,7 @@ void NetworkDevice::clear_msg_list() {
 }
 
 void NetworkDevice::print_str(const std::string& msg) {
-    std::cout << msg << std::endl;
+    LOG_INFO(msg);
 }
 
 EntityPluginPtr& NetworkDevice::plugin() {
diff --git a/src/pubsub/PubSub.cpp b/src/pubsub/PubSub.cpp
index e21d32da90..597c92cd2e 100644
--- a/src/pubsub/PubSub.cpp
+++ b/src/pubsub/PubSub.cpp
@@ -32,16 +32,12 @@
 
 #include "scrimmage/pubsub/PubSub.h"
 
-#include <iostream>
-
 #include <boost/optional.hpp>
 
 #include "scrimmage/entity/EntityPlugin.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/pubsub/Publisher.h"
 
-using std::cout;
-using std::endl;
-
 namespace scrimmage {
 
 PubSub::PubSub() {}
@@ -58,8 +54,8 @@ PublisherPtr PubSub::advertise(
     const bool& enable_queue_size,
     EntityPluginPtr plugin) {
     if (pub_map_.count(network_name) == 0) {
-        cout << "WARNING: " << plugin->name() << " - Publisher unable to connect to network ("
-             << network_name << ") on topic (" << topic << ")" << endl;
+        LOG_WARN(plugin->name() << " - Publisher unable to connect to network ("
+             << network_name << ") on topic (" << topic << ")");
     }
 
     PublisherPtr pub =
@@ -75,15 +71,15 @@ boost::optional<std::list<NetworkDevicePtr>> PubSub::find_devices(
 
     auto it_network = devs.find(network_name);
     if (it_network == devs.end()) {
-        cout << "Failed to find network while setting up device." << endl;
-        cout << "Network name: " << network_name << endl;
-        cout << "Topic name: " << topic_name << endl;
+        LOG_WARN("Failed to find network while setting up device.\n"
+             << "Network name: " << network_name << "\n"
+             << "Topic name: " << topic_name);
     } else {
         auto it_topic_pub = it_network->second.find(topic_name);
         if (it_topic_pub == it_network->second.end()) {
-            cout << "Failed to find topic while setting up device." << endl;
-            cout << "Network name: " << network_name << endl;
-            cout << "Topic name: " << topic_name << endl;
+            LOG_WARN("Failed to find topic while setting up device.\n"
+                 << "Network name: " << network_name << "\n"
+                 << "Topic name: " << topic_name);
         } else {
             return boost::optional<std::list<NetworkDevicePtr>>(it_topic_pub->second);
         }
@@ -104,7 +100,7 @@ boost::optional<std::list<NetworkDevicePtr>> PubSub::find_subs(
 }
 
 void PubSub::print_str(const std::string& s) {
-    std::cout << s << std::endl;
+    LOG_INFO(s);
 }
 
 }  // namespace scrimmage
diff --git a/src/pubsub/SubscriberBase.cpp b/src/pubsub/SubscriberBase.cpp
index e537f94c56..5d2c50dab2 100644
--- a/src/pubsub/SubscriberBase.cpp
+++ b/src/pubsub/SubscriberBase.cpp
@@ -33,20 +33,18 @@
 #include "scrimmage/pubsub/SubscriberBase.h"
 
 #include <iomanip>
-#include <iostream>
 
 #include "scrimmage/entity/Entity.h"
 #include "scrimmage/entity/EntityPlugin.h"
+#include "scrimmage/log/Logger.h"
 
 namespace scrimmage {
 
 void SubscriberBase::print_err(const std::string& type, MessageBasePtr msg) const {
-    std::cout << "WARNING: could not cast on topic " << std::quoted(topic_) << std::endl;
-    std::cout << "  subscriber: type (" << type << "), plugin (" << plugin_->name() << "), id ("
-              << plugin_->parent()->id().id() << ")" << std::endl;
-    if (msg->debug_info != "") {
-        std::cout << msg->debug_info << std::endl;
-    }
+    LOG_WARN("could not cast on topic " << std::quoted(topic_) << "\n"
+              << "  subscriber: type (" << type << "), plugin (" << plugin_->name() << "), id ("
+              << plugin_->parent()->id().id() << ")" 
+              << (msg->debug_info != "" ? "\n" + msg->debug_info : ""));
 }
 
 }  // namespace scrimmage
diff --git a/src/simcontrol/SimControl.cpp b/src/simcontrol/SimControl.cpp
index 394d89bf26..81518e39aa 100644
--- a/src/simcontrol/SimControl.cpp
+++ b/src/simcontrol/SimControl.cpp
@@ -44,7 +44,7 @@
 #include "scrimmage/entity/Contact.h"
 #include "scrimmage/entity/Entity.h"
 #include "scrimmage/log/Log.h"
-#include "scrimmage/log/Print.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/metrics/Metrics.h"
 #include "scrimmage/motion/Controller.h"
 #include "scrimmage/motion/MotionModel.h"
@@ -105,8 +105,6 @@ namespace sm = scrimmage_msgs;
 namespace br = boost::range;
 namespace ba = boost::adaptors;
 
-using std::cout;
-using std::endl;
 using NormDistribution = std::normal_distribution<double>;
 
 namespace scrimmage {
@@ -122,7 +120,6 @@ SimControl::SimControl()
       global_services_(std::make_shared<GlobalService>()),
       timer_(Timer()),
       log_(std::make_shared<Log>()),
-      printer_(std::make_shared<Print>()),
       random_(std::make_shared<Random>()),
       plugin_manager_(std::make_shared<PluginManager>()),
       networks_(std::make_shared<std::map<std::string, NetworkPtr>>()),
@@ -148,27 +145,38 @@ void SimControl::send_terrain() {
     log_->save_utm_terrain(mp_->utm_terrain());
 }
 
+// Logging behavior:
+//   - All messages are printed to stdout.
+//   - File logging is opt-in via init_dir() when output_required() is true.
+//     When enabled, messages also go to a log file with [LEVEL] file:line annotations.
+//   - IMPORTANT: setup_logging() is called AFTER mp_->parse() succeeds in init().
+//     Mission parse errors are therefore stdout-only and will NOT appear in the
+//     timestamped log directory. They are buffered in-memory by Logger but no
+//     fallback flush occurs since init_dir() is never invoked on parse failure.
 bool SimControl::setup_logging() {
     limited_verbosity_ = mp_->output_required();
 
-    // Setup the log directory if it is required
+    // Configure logging based on mission output settings.
     if (mp_->output_required()) {
+        // Create log directory and enable file logging
         mp_->create_log_dir();
+        Logger::instance().init_dir(mp_->log_dir());
+
         log_->set_enable_log(true);
         log_->set_drop_bin_logging(mp_->get_no_bin_logging());
         log_->init(mp_->log_dir(), Log::WRITE);
     } else {
+        // No file logging - stdout only
         log_->set_enable_log(false);
-        log_->init(mp_->log_dir(), Log::NONE);
+        log_->init("", Log::NONE);
     }
 
-    // Setup the printer
-    printer_->init(time_, mp_->log_dir());
-
     return true;
 }
 
 bool SimControl::init(const std::string& mission_file, const bool& init_python) {
+    LOG_INFO("SimControl::init started, mission: " << mission_file);
+
 #if ENABLE_PYTHON_BINDINGS == 1
     if (init_python) {
         Py_Initialize();
@@ -188,9 +196,10 @@ bool SimControl::init(const std::string& mission_file, const bool& init_python)
     gpu_motion_models_.clear();
 
     if (!mp_->parse(mission_file)) {
-        cout << "Failed to parse file: " << mission_file << endl;
+        LOG_ERROR("Failed to parse file: " << mission_file);
         return false;
     }
+    setup_logging();
 
 #if ENABLE_GPU_ACCELERATION == 1
     // Needs to be done after parsing mission file
@@ -208,7 +217,7 @@ bool SimControl::init(const std::string& mission_file, const bool& init_python)
     if (const char* env_p = std::getenv("JSBSIM_ROOT")) {
         jsbsim_root_ = std::string(env_p);
     } else {
-        cout << "Missing JSBSIM_ROOT env variable, using ./" << endl;
+        LOG_WARN("Missing JSBSIM_ROOT env variable, using ./");
     }
 #endif
 
@@ -232,8 +241,8 @@ void SimControl::init_gpu() {
             const bool kernel_exists = plugin_params.count(motion_model_kernel_name) > 0;
 
             if (!kernel_exists) {
-                std::cerr << "GPU Motion Model Kernel \'" << motion_model_kernel_name
-                          << "\' is not defined in mission!" << std::endl;
+                LOG_ERROR("GPU Motion Model Kernel '" << motion_model_kernel_name
+                          << "' is not defined in mission!");
             } else if (!motion_model_built) {
                 const GPUPluginBuildParams& plugin_param =
                     plugin_params.at(motion_model_kernel_name);
@@ -243,9 +252,8 @@ void SimControl::init_gpu() {
         }
     }
 #else
-    std::cout << "GPU Acceleration Disabled. Using CPU for motion updates.\n"
-                 "Enable GPU Motion Updates by compiling with "
-                 "-DENABLE_GPU_ACCELERATION \n";
+    LOG_INFO("GPU Acceleration Disabled. Using CPU for motion updates.\n"
+             "Enable GPU Motion Updates by compiling with -DENABLE_GPU_ACCELERATION");
 #endif
 }
 
@@ -292,8 +300,8 @@ bool SimControl::generate_entities(const double& t) {
                 // save next gen time to pointer to next gen time
                 gen_time = norm_dist(*random_->gener());
                 if (gen_time <= t) {
-                    cout << "Next generation time less than current time. "
-                         << "generate_time_variance is too large." << endl;
+                    LOG_WARN("Next generation time less than current time. "
+                         << "generate_time_variance is too large.");
                     gen_time = t + (1.0 / gen_info.rate);
                 }
             }
@@ -321,6 +329,7 @@ bool SimControl::generate_entity(const int& ent_desc_id) {
     // Get the entity's params
     auto it_params = mp_->entity_descriptions().find(ent_desc_id);
     if (it_params == mp_->entity_descriptions().end()) {
+        LOG_ERROR("Entity description ID " << ent_desc_id << " not found in mission file");
         return false;
     }
 
@@ -373,11 +382,11 @@ bool SimControl::generate_entity(
         }
 
         if (ct >= max_ct) {
-            cout << "----------------------------------" << endl;
-            cout << "ERROR: Having difficulty finding collision-free location for "
+            LOG_ERROR("----------------------------------\n"
+                    "Having difficulty finding collision-free location for "
                     "entity at: "
-                 << "(" << x0 << "," << y0 << "," << z0 << ")" << endl
-                 << "With variance: (" << pos(0) << "," << pos(1) << "," << pos(2) << ")" << endl;
+                 << "(" << x0 << "," << y0 << "," << z0 << ")\n"
+                 << "With variance: (" << pos(0) << "," << pos(1) << "," << pos(2) << ")");
             return false;
         } else if (exit_) {
             return false;
@@ -408,7 +417,6 @@ bool SimControl::generate_entity(
     info.file_search = file_search_;
     info.rtree = rtree_;
     info.pubsub = pubsub_;
-    info.printer = printer_;
     info.time = time_;
     info.param_server = param_server_;
     info.random = random_;
@@ -437,8 +445,8 @@ bool SimControl::generate_entity(
     contacts_mutex_.unlock();
 
     if (!ent_status) {
-        cout << "Failed to parse entity at start position: "
-             << "x=" << x0 << ", y=" << y0 << endl;
+        LOG_ERROR("Failed to parse entity at start position: "
+             << "x=" << x0 << ", y=" << y0);
         return false;
     }
 
@@ -527,10 +535,16 @@ void SimControl::set_autonomy_contacts() {
 bool SimControl::run_networks() {
     bool all_true = true;
     for (auto& kv : *networks_) {
-        bool result =
-            kv.second->step(pubsub_->pubs()[kv.second->name()], pubsub_->subs()[kv.second->name()]);
+        bool result = false;
+        try {
+            result = kv.second->step(pubsub_->pubs()[kv.second->name()], pubsub_->subs()[kv.second->name()]);
+        } catch (const std::exception& e) {
+            LOG_ERROR("Network plugin '" << kv.second->name() << "' threw exception: " << e.what());
+        } catch (...) {
+            LOG_ERROR("Network plugin '" << kv.second->name() << "' threw unknown exception");
+        }
         if (!result && kv.second->print_err_on_exit) {
-            cout << "Network requested simulation termination: " << kv.second->name() << endl;
+            LOG_INFO("Network requested simulation termination: " << kv.second->name());
         }
         all_true &= result;
 
@@ -542,12 +556,19 @@ bool SimControl::run_networks() {
 
 bool SimControl::run_interaction_detection() {
     auto run_interaction = [&](auto ent_inter) {
-        bool result = ent_inter->step_entity_interaction(ents_, t_, dt_);
-        if (!result && ent_inter->print_err_on_exit) {
-            cout << "Entity interaction requested simulation termination: " << ent_inter->name()
-                 << endl;
+        try {
+            bool result = ent_inter->step_entity_interaction(ents_, t_, dt_);
+            if (!result && ent_inter->print_err_on_exit) {
+                LOG_INFO("Entity interaction requested simulation termination: " << ent_inter->name());
+            }
+            return result;
+        } catch (const std::exception& e) {
+            LOG_ERROR("EntityInteraction plugin '" << ent_inter->name() << "' threw exception: " << e.what());
+            return false;
+        } catch (...) {
+            LOG_ERROR("EntityInteraction plugin '" << ent_inter->name() << "' threw unknown exception");
+            return false;
         }
-        return result;
     };
 
     auto handle_shapes = [&](auto ent_inter) {
@@ -575,7 +596,7 @@ bool SimControl::run_interaction_detection() {
             if (it_cnt != contacts_->end()) {
                 it_cnt->second.set_active(false);
             } else {
-                cout << "Failed to find contact to set inactive." << endl;
+                LOG_WARN("Failed to find contact to set inactive.");
             }
         }
     }
@@ -584,7 +605,17 @@ bool SimControl::run_interaction_detection() {
 
 bool SimControl::run_metrics() {
     br::for_each(metrics_, run_callbacks);
-    auto run_metric = [&](auto& metric) { return metric->step_metrics(t_, dt_); };
+    auto run_metric = [&](auto& metric) {
+        try {
+            return metric->step_metrics(t_, dt_);
+        } catch (const std::exception& e) {
+            LOG_ERROR("Metrics plugin '" << metric->name() << "' threw exception: " << e.what());
+            return false;
+        } catch (...) {
+            LOG_ERROR("Metrics plugin '" << metric->name() << "' threw unknown exception");
+            return false;
+        }
+    };
     return std::all_of(metrics_.begin(), metrics_.end(), run_metric);
 }
 
@@ -615,8 +646,7 @@ void SimControl::run_remove_inactive() {
             // entity from the id_to_team_map.
             auto it_id_ent = id_to_ent_map_->find(id);
             if (it_id_ent == id_to_ent_map_->end()) {
-                cout << "WARNING: Failed to remove entity ID (" << id << ") from id_to_ent_map"
-                     << endl;
+                LOG_WARN("Failed to remove entity ID (" << id << ") from id_to_ent_map");
             } else {
                 id_to_ent_map_->erase(it_id_ent);
             }
@@ -634,7 +664,7 @@ bool SimControl::run_single_step(const int& loop_number) {
     start_loop_timer();
 
     if (!generate_entities(t)) {
-        cout << "Failed to generate entity" << endl;
+        LOG_ERROR("Failed to generate entity");
         return false;
     }
 
@@ -654,7 +684,7 @@ bool SimControl::run_single_step(const int& loop_number) {
 
     if (!run_logging()) {
         if (!limited_verbosity_) {
-            std::cout << "Exiting due to logging exception" << std::endl;
+            LOG_ERROR("Exiting due to logging exception");
         }
         return false;
     }
@@ -692,20 +722,21 @@ bool SimControl::run_single_step(const int& loop_number) {
     } while (paused() && !exit_loop);
 
     if (!wait_for_ready()) {
+        LOG_ERROR("Simulation step failed: entity ready check returned false");
         return false;
     }
 
     set_autonomy_contacts();
     if (!run_entities()) {
         if (!limited_verbosity_) {
-            std::cout << "Exiting due to plugin request." << std::endl;
+            LOG_ERROR("Exiting: entity plugin (autonomy/controller/motion) failed");
         }
         return false;
     }
 
     if (!run_sensors()) {
         if (!limited_verbosity_) {
-            std::cout << "Exiting due to plugin request." << std::endl;
+            LOG_ERROR("Exiting: sensor plugin failed");
         }
         return false;
     }
@@ -720,14 +751,14 @@ bool SimControl::run_single_step(const int& loop_number) {
     // published on the final time stamp can be processed by the metrics.
     if (!run_networks()) {
         if (!limited_verbosity_) {
-            std::cout << "Exiting due to network plugin request." << std::endl;
+            LOG_ERROR("Exiting: network plugin failed");
         }
         return false;
     }
 
     if (!run_metrics()) {
         if (!limited_verbosity_) {
-            std::cout << "Exiting due to metrics plugin exception" << std::endl;
+            LOG_ERROR("Exiting due to metrics plugin exception");
         }
         return false;
     }
@@ -760,8 +791,6 @@ void SimControl::set_running_in_thread(bool running_in_thread) {
 }
 
 bool SimControl::start() {
-    setup_logging();
-
     send_terrain();
 
     // Set the time parameters based on the mission file input
@@ -892,7 +921,6 @@ bool SimControl::start() {
     info.file_search = file_search_;
     info.rtree = rtree_;
     info.pubsub = pubsub_;
-    info.printer = printer_;
     info.time = time_;
     info.param_server = param_server_;
     info.random = random_;
@@ -923,15 +951,15 @@ bool SimControl::start() {
     auto gen_ent_cb = [&](auto& msg) {
         auto it_ent_desc_id = mp_->entity_tag_to_id().find(msg->data.entity_tag());
         if (it_ent_desc_id == mp_->entity_tag_to_id().end()) {
-            cout << "ERROR: Failed to find entity_tag, " << msg->data.entity_tag()
-                 << ", in mission file." << endl;
+            LOG_ERROR("Failed to find entity_tag, " << msg->data.entity_tag()
+                 << ", in mission file.");
             return;
         }
         // Get the vehicle's params block:
         auto it_params = mp_->entity_descriptions().find(it_ent_desc_id->second);
         if (it_params == mp_->entity_descriptions().end()) {
-            cout << "ERROR: Failed to find entity block id, " << it_ent_desc_id->second
-                 << ", for entity_tag: " << msg->data.entity_tag() << ", in mission file." << endl;
+            LOG_ERROR("Failed to find entity block id, " << it_ent_desc_id->second
+                 << ", for entity_tag: " << msg->data.entity_tag() << ", in mission file.");
             return;
         }
 
@@ -969,7 +997,7 @@ bool SimControl::start() {
         this->create_rtree(1);
 
         if (not this->generate_entity(it_ent_desc_id->second, params, plugin_attr_map)) {
-            cout << "Failed to generate entity with tag: " << msg->data.entity_tag() << endl;
+            LOG_ERROR("Failed to generate entity with tag: " << msg->data.entity_tag());
             return;
         }
     };
@@ -1077,7 +1105,7 @@ bool SimControl::start() {
 
     // Initialize entities before simulation begings
     if (!generate_entities(t0_ - dt_)) {
-        cout << "Failed to generate entity" << endl;
+        LOG_ERROR("Failed to generate entity");
         return false;
     }
 
@@ -1129,8 +1157,9 @@ bool SimControl::finalize() {
 
     run_logging();
 
-    if (display_progress_)
-        cout << endl;
+    if (display_progress_) {
+        std::cout << std::endl;  // End progress line
+    }
 
     // Tell the visualizers that the simulation is complete
     set_finished(true);
@@ -1141,7 +1170,7 @@ bool SimControl::finalize() {
 
     if (mp_->output_type_required("summary")) {
         if (not output_summary()) {
-            cout << "Failed to write Metrics summary" << endl;
+            LOG_ERROR("Failed to write Metrics summary");
         }
     }
 
@@ -1151,10 +1180,10 @@ bool SimControl::finalize() {
 
     // Close the log file
     log_->close_log();
-    printer_->close();
+    Logger::instance().close();
 
     if (not limited_verbosity_) {
-        cout << "Simulation Complete" << endl;
+        LOG_INFO("Simulation Complete");
     }
     return true;
 }
@@ -1256,7 +1285,7 @@ bool SimControl::wait_for_ready() {
         bool exit = exit_;
         exit_mutex_.unlock();
         if (exit) {
-            cout << "Simulation ended waiting for entity to be ready" << endl;
+            LOG_INFO("Simulation ended waiting for entity to be ready");
             return false;
         }
 
@@ -1266,7 +1295,7 @@ bool SimControl::wait_for_ready() {
             boost::this_thread::sleep_for(boost::chrono::milliseconds(10));
         }
         if (not_ready_loop > 1e4) {
-            cout << "Warning: Entities taking a long time to be ready" << endl;
+            LOG_WARN("Entities taking a long time to be ready");
             not_ready_loop = 0;
         }
         not_ready_loop++;
@@ -1286,7 +1315,7 @@ bool SimControl::end_condition_reached() {
         pub_no_teams_->publish(msg);
         if (end_conditions_.count(EndConditionFlags::ALL_DEAD)
             || end_conditions_.count(EndConditionFlags::ONE_TEAM)) {
-            std::cout << std::endl << "End of Simulation: No Entities Remaining" << std::endl;
+            LOG_INFO("\nEnd of Simulation: No Entities Remaining");
             return true;
         }
     } else if (end_conditions_.count(EndConditionFlags::ONE_TEAM)) {
@@ -1297,8 +1326,7 @@ bool SimControl::end_condition_reached() {
         if (all_same_team) {
             auto msg = std::make_shared<Message<sm::OneTeamPresent>>();
             pub_one_team_->publish(msg);
-            std::cout << std::endl
-                      << "End of Simulation: One Team (" << team1_id << ")" << std::endl;
+            LOG_INFO("\nEnd of Simulation: One Team (" << team1_id << ")");
             return true;
         }
     }
@@ -1325,10 +1353,6 @@ PubSubPtr SimControl::pubsub() const {
     return pubsub_;
 }
 
-PrintPtr SimControl::printer() const {
-    return printer_;
-}
-
 GlobalServicePtr SimControl::global_services() const {
     return global_services_;
 }
@@ -1585,27 +1609,58 @@ void SimControl::worker() {
             entity_pool_mutex_.unlock();
 
             bool success = false;
-            if (task_type == Task::Type::AUTONOMY) {
-                auto& autonomies = ent->autonomies();
-                br::for_each(autonomies, run_callbacks);
-                auto run = [&](auto& a) {
-                    return a->step_loop_timer(temp_dt) ? a->step_autonomy(temp_t, temp_dt) : true;
-                };
-                success = std::all_of(autonomies.begin(), autonomies.end(), run);
-            } else if (task_type == Task::Type::CONTROLLER) {
-                auto& controllers = ent->controllers();
-                br::for_each(controllers, run_callbacks);
-                auto run = [&](auto& c) {
-                    return c->step_loop_timer(temp_dt) ? c->step(temp_t, temp_dt) : true;
-                };
-                success = std::all_of(controllers.begin(), controllers.end(), run);
-            } else if (task_type == Task::Type::MOTION) {
-                success = ent->motion()->step(temp_t, temp_dt);
-            } else if (task_type == Task::Type::SENSOR) {
-                auto sensors = ent->sensors() | ba::map_values;
-                br::for_each(sensors, run_callbacks);
-                auto run = [&](auto& s) { return s->step_loop_timer(temp_dt) ? s->step() : true; };
-                success = std::all_of(sensors.begin(), sensors.end(), run);
+            try {
+                // DEVNOTE: Why we use temp_t and temp_dt from the Task struct
+                //
+                // Definitions:
+                //   t_               : Current simulation time (seconds), updated at end of each timestep
+                //   dt_              : Simulation timestep from mission XML <dt> tag (e.g., 0.1s for 10Hz sim)
+                //   motion_multiplier: Integer from mission XML <motion_multiplier> tag; runs controllers
+                //                      and motion models this many times per timestep for physics fidelity
+                //   motion_dt        : Sub-step size in run_entities() (= dt_ / motion_multiplier)
+                //   temp_t           : Time for this specific sub-step iteration (t_ + i * motion_dt)
+                //   temp_dt          : Same as motion_dt; stored in Task struct and passed to worker
+                //
+                // step_loop_timer(dt) is a rate-limiting mechanism. Each plugin has an
+                // internal loop_timer that decrements by dt each call. When loop_timer
+                // reaches <= 0, the plugin actually executes and the timer resets based
+                // on its configured loop_rate. This allows plugins to run at different
+                // rates than the simulation timestep (e.g., a 10Hz autonomy in a 100Hz sim).
+                //
+                // The temp_t and temp_dt come from the Task struct, which is populated by
+                // add_tasks(). The caller (run_entities) may call add_tasks() multiple
+                // times with different t/dt values (e.g., when motion_multiplier > 1).
+                // By using temp_t/temp_dt, this worker remains agnostic to how the caller
+                // subdivides time - it just processes whatever (t, dt) it's given.
+                //
+                if (task_type == Task::Type::AUTONOMY) {
+                    auto& autonomies = ent->autonomies();
+                    br::for_each(autonomies, run_callbacks);
+                    auto run = [&](auto& a) {
+                        return a->step_loop_timer(temp_dt) ? a->step_autonomy(temp_t, temp_dt) : true;
+                    };
+                    success = std::all_of(autonomies.begin(), autonomies.end(), run);
+                } else if (task_type == Task::Type::CONTROLLER) {
+                    auto& controllers = ent->controllers();
+                    br::for_each(controllers, run_callbacks);
+                    auto run = [&](auto& c) {
+                        return c->step_loop_timer(temp_dt) ? c->step(temp_t, temp_dt) : true;
+                    };
+                    success = std::all_of(controllers.begin(), controllers.end(), run);
+                } else if (task_type == Task::Type::MOTION) {
+                    success = ent->motion()->step(temp_t, temp_dt);
+                } else if (task_type == Task::Type::SENSOR) {
+                    auto sensors = ent->sensors() | ba::map_values;
+                    br::for_each(sensors, run_callbacks);
+                    auto run = [&](auto& s) { return s->step_loop_timer(temp_dt) ? s->step() : true; };
+                    success = std::all_of(sensors.begin(), sensors.end(), run);
+                }
+            } catch (const std::exception& e) {
+                LOG_ERROR("Threaded plugin step for entity " << ent->id().id() << " threw exception: " << e.what());
+                success = false;
+            } catch (...) {
+                LOG_ERROR("Threaded plugin step for entity " << ent->id().id() << " threw unknown exception");
+                success = false;
             }
 
             entity_pool_mutex_.lock();
@@ -1615,14 +1670,6 @@ void SimControl::worker() {
     }
 }
 
-void print_err(EntityPluginPtr p) {
-    if (p->print_err_on_exit) {
-        std::cout << "failed to update entity " << p->parent()->id().id() << ", plugin type \""
-                  << p->type() << "\""
-                  << ", plugin name \"" << p->name() << "\"" << std::endl;
-    }
-}
-
 bool SimControl::run_sensors() {
     bool success = true;
     if (entity_thread_types_.count(Task::Type::SENSOR)) {
@@ -1633,7 +1680,11 @@ bool SimControl::run_sensors() {
             for (auto& sensor : ent->sensors() | ba::map_values) {
                 if (sensor->step_loop_timer(dt_)) {
                     if (!sensor->step()) {
-                        print_err(sensor);
+                        if (sensor->print_err_on_exit) {
+                            LOG_ERROR("failed to update entity " << sensor->parent()->id().id()
+                                      << ", plugin type \"" << sensor->type() << "\""
+                                      << ", plugin name \"" << sensor->name() << "\"");
+                        }
                         success = false;
                     }
                 }
@@ -1687,11 +1738,22 @@ bool SimControl::run_entities() {
 
     auto exec_step = [&](auto p, auto step_func) {
         run_callbacks(p);
-        if (!step_func(p)) {
-            print_err(p);
-            return false;
-        } else {
+        try {
+            if (!step_func(p)) {
+                if (p->print_err_on_exit) {
+                    LOG_ERROR("failed to update entity " << p->parent()->id().id()
+                              << ", plugin type \"" << p->type() << "\""
+                              << ", plugin name \"" << p->name() << "\"");
+                }
+                return false;
+            }
             return true;
+        } catch (const std::exception& e) {
+            LOG_ERROR("Plugin '" << p->name() << "' (type: " << p->type() << ") threw exception: " << e.what());
+            return false;
+        } catch (...) {
+            LOG_ERROR("Plugin '" << p->name() << "' (type: " << p->type() << ") threw unknown exception");
+            return false;
         }
     };
 
@@ -1708,18 +1770,50 @@ bool SimControl::run_entities() {
         }
     }
 
+    // DEVNOTE: Controller/Motion Sub-stepping with motion_multiplier
+    //
+    // When motion_multiplier > 1 (set in mission XML), we run controllers and
+    // motion models multiple times per simulation timestep for higher fidelity.
+    // This is useful when the physics (motion model) needs smaller integration
+    // steps than the autonomy or sensor update rate.
+    //
+    // Example: dt_ = 0.1s, motion_multiplier = 10
+    //   - motion_dt = 0.1 / 10 = 0.01s (the sub-step size)
+    //   - We loop 10 times, each time:
+    //       Iteration 0: ctrl_t = t_,           motion_dt = 0.01
+    //       Iteration 1: ctrl_t = t_ + 0.01,    motion_dt = 0.01
+    //       ...
+    //       Iteration 9: ctrl_t = t_ + 0.09,    motion_dt = 0.01
+    //
+    // Why this matters for step_loop_timer():
+    //   step_loop_timer(dt) decrements an internal timer by dt. If we passed
+    //   the full dt_ (0.1s) instead of motion_dt (0.01s), the timer would
+    //   decrement 10x too fast, causing plugins with loop_rate limiting to
+    //   skip steps they should run. By passing motion_dt, plugins remain
+    //   agnostic to the sub-stepping - they just see a normal (t, dt) as if
+    //   the sim were running at 100Hz instead of 10Hz.
+    //
+    // The loop_t capture is necessary because lambdas capture by reference,
+    // and ctrl_t changes each iteration. We need the value at capture time.
+    //
     double motion_dt = dt_ / mp_->motion_multiplier();
-    double temp_t = t_;
+    double ctrl_t = t_;
     for (int i = 0; i < mp_->motion_multiplier(); i++) {
         // run controllers in a single thread since they are serially connected
         for (EntityPtr& ent : ents_) {
             for (auto c : ent->controllers()) {
-                success &= exec_step(c, [&](auto c) {
-                    return c->step_loop_timer(dt_) ? c->step(t_, dt_) : true;
+                double loop_t = ctrl_t;  // Capture current time for this iteration
+                success &= exec_step(c, [loop_t, motion_dt](auto c) {
+                    if (c->step_loop_timer(motion_dt)) {
+                        return c->step(loop_t, motion_dt);
+                    }
+                    return true;
                 });
             }
         }
+        ctrl_t += motion_dt;
     }
+    double temp_t = t_;
 #if ENABLE_GPU_ACCELERATION == 1
     for (auto gpu_motion_model_pair : gpu_motion_models_) {
         GPUMotionModelPtr gpu_motion_model = gpu_motion_model_pair.second;
@@ -1749,11 +1843,11 @@ bool SimControl::run_entities() {
     // Check if any entity has NaN in its state
     for (EntityPtr& ent : ents_) {
         if (ent->state_truth()->pos().hasNaN()) {
-            cout << "WARNING: Entity with motion model, " << ent->motion()->name()
-                 << ", contains a NaN value." << endl
+            LOG_WARN("Entity with motion model, " << ent->motion()->name()
+                 << ", contains a NaN value. "
                  << "Check your time step values and for NaN values coming "
-                 << "from Autonomy and Controller plugins." << endl;
-            cout << "Removing entity ID: " << ent->id().id() << endl;
+                 << "from Autonomy and Controller plugins.");
+            LOG_WARN("Removing entity ID: " << ent->id().id());
             ent->collision();
         }
     }
@@ -1854,9 +1948,9 @@ bool SimControl::output_summary() {
     // Loop through each of the metrics plugins.
     for (auto metrics : metrics_) {
         if (metrics->get_print_team_summary()) {
-            cout << sc::generate_chars("=", 80) << endl;
-            cout << metrics->name() << endl;
-            cout << sc::generate_chars("=", 80) << endl;
+            LOG_INFO(sc::generate_chars("=", 80));
+            LOG_INFO(metrics->name());
+            LOG_INFO(sc::generate_chars("=", 80));
             metrics->calc_team_scores();
             metrics->print_team_summaries();
         }
@@ -1914,7 +2008,7 @@ bool SimControl::output_summary() {
     std::string out_file = mp_->log_dir() + "/summary.csv";
     std::ofstream summary_file(out_file);
     if (!summary_file.is_open()) {
-        std::cout << "could not open " << out_file << " for writing metrics" << std::endl;
+        LOG_ERROR("could not open " << out_file << " for writing metrics");
         return false;
     }
     summary_file << csv_str << std::flush;
@@ -1922,13 +2016,13 @@ bool SimControl::output_summary() {
 
     // Print Overall Scores
     if (!metrics_empty) {
-        cout << sc::generate_chars("=", 80) << endl;
-        cout << "Overall Scores" << endl;
-        cout << sc::generate_chars("=", 80) << endl;
+        LOG_INFO(sc::generate_chars("=", 80));
+        LOG_INFO("Overall Scores");
+        LOG_INFO(sc::generate_chars("=", 80));
         for (auto const& team_score : team_scores) {
-            cout << "Team ID: " << team_score.first << endl;
-            cout << "Score: " << team_score.second << endl;
-            cout << sc::generate_chars("-", 80) << endl;
+            LOG_INFO("Team ID: " << team_score.first);
+            LOG_INFO("Score: " << team_score.second);
+            LOG_INFO(sc::generate_chars("-", 80));
         }
     }
     return true;
@@ -1967,8 +2061,7 @@ int SimControl::find_available_id(const std::map<std::string, std::string>& para
         try {
             id = std::stoi(it_id->second);
         } catch (...) {
-            cout << "Failed to convert the following <id> tag into an integer: " << it_id->second
-                 << endl;
+            LOG_WARN("Failed to convert the following <id> tag into an integer: " << it_id->second);
             id = 0;
         }
     }
diff --git a/src/simcontrol/SimUtils.cpp b/src/simcontrol/SimUtils.cpp
index 56dff806af..fda30805af 100644
--- a/src/simcontrol/SimUtils.cpp
+++ b/src/simcontrol/SimUtils.cpp
@@ -41,6 +41,7 @@
 #include "scrimmage/common/Utilities.h"
 #include "scrimmage/entity/Entity.h"
 #include "scrimmage/log/Log.h"
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/metrics/Metrics.h"
 #include "scrimmage/network/Interface.h"
 #include "scrimmage/parse/ConfigParse.h"
@@ -51,9 +52,6 @@
 #include "scrimmage/simcontrol/EntityInteraction.h"
 #include "scrimmage/simcontrol/SimControl.h"
 
-using std::cout;
-using std::endl;
-
 namespace scrimmage {
 
 bool create_ent_inters(
@@ -79,7 +77,7 @@ bool create_ent_inters(
                 plugin_tags);
 
         if (status.status == PluginStatus<EntityInteraction>::cast_failed) {
-            cout << "Failed to load entity interaction plugin: " << ent_inter_name << endl;
+            LOG_ERROR("Failed to load entity interaction plugin: " << ent_inter_name);
         } else if (status.status == PluginStatus<EntityInteraction>::loaded) {
             EntityInteractionPtr ent_inter = status.plugin;
 
@@ -92,7 +90,6 @@ bool create_ent_inters(
             ent_inter->parent()->rtree() = info.rtree;
             ent_inter->parent()->contacts() = contacts;
             ent_inter->parent()->set_global_services(global_services);
-            ent_inter->parent()->set_printer(info.printer);
 
             // Plugin specific members
             ent_inter->set_name(name);
@@ -105,9 +102,9 @@ bool create_ent_inters(
             param_override_func(config_parse.params());
 
             if (debug_level > 1) {
-                cout << "--------------------------------" << endl;
-                cout << "Entity interaction plugin params: " << name << endl;
-                cout << config_parse;
+                LOG_INFO("--------------------------------");
+                LOG_INFO("Entity interaction plugin params: " << name);
+                LOG_INFO(config_parse);
             }
             ent_inter->init(info.mp->params(), config_parse.params());
 
@@ -143,7 +140,7 @@ bool create_metrics(
             plugin_tags);
 
         if (status.status == PluginStatus<Metrics>::cast_failed) {
-            cout << "Failed to load metrics: " << metrics_name << endl;
+            LOG_ERROR("Failed to load metrics: " << metrics_name);
             return false;
         } else if (status.status == PluginStatus<Metrics>::loaded) {
             MetricsPtr metrics = status.plugin;
@@ -153,7 +150,6 @@ bool create_metrics(
             metrics->parent()->set_projection(info.mp->projection());
             metrics->parent()->rtree() = info.rtree;
             metrics->parent()->contacts() = contacts;
-            metrics->parent()->set_printer(info.printer);
 
             // Plugin specific members
             metrics->set_name(metrics_name);
@@ -166,9 +162,9 @@ bool create_metrics(
             param_override_func(config_parse.params());
 
             if (debug_level > 1) {
-                cout << "--------------------------------" << endl;
-                cout << "Metrics plugin params: " << metrics_name << endl;
-                cout << config_parse;
+                LOG_INFO("--------------------------------");
+                LOG_INFO("Metrics plugin params: " << metrics_name);
+                LOG_INFO(config_parse);
             }
             metrics->init(config_parse.params());
             metrics_list.push_back(metrics);
@@ -202,7 +198,7 @@ boost::optional<std::string> run_test(
     const bool& shutdown_python) {
     SimControl simcontrol;
     if (not simcontrol.init(mission, init_python)) {
-        cout << "Failed to initialize SimControl." << endl;
+        LOG_ERROR("Failed to initialize SimControl.");
         return boost::none;
     }
 
@@ -210,7 +206,7 @@ boost::optional<std::string> run_test(
     struct sigaction sa;
     memset(&sa, 0, sizeof(sa));
     shutdown_handler = [&](int /*s*/) {
-        cout << endl << "Exiting gracefully" << endl;
+        LOG_INFO("Exiting gracefully");
         simcontrol.force_exit();
     };
     sa.sa_handler = signal_handler;
@@ -256,13 +252,12 @@ bool create_networks(
             plugin_tags);
 
         if (status.status == PluginStatus<Network>::cast_failed) {
-            cout << "Failed to load network plugin: " << network_name << endl;
+            LOG_ERROR("Failed to load network plugin: " << network_name);
             return false;
         } else if (status.status == PluginStatus<Network>::loaded) {
             NetworkPtr network = status.plugin;
             // If the name was overridden, use the override.
             std::string name = get<std::string>("name", config_parse.params(), network_name);
-            network->parent()->set_printer(info.printer);
             network->parent()->set_gpu_controller(info.gpu);
             network->set_name(name);
             network->set_mission_parse(info.mp);
@@ -279,9 +274,9 @@ bool create_networks(
             param_override_func(config_parse.params());
 
             if (debug_level > 1) {
-                cout << "--------------------------------" << endl;
-                cout << "Network plugin params: " << name << endl;
-                cout << config_parse;
+                LOG_INFO("--------------------------------");
+                LOG_INFO("Network plugin params: " << name);
+                LOG_INFO(config_parse);
             }
 
             network->init(info.mp->params(), config_parse.params());
diff --git a/src/viewer/Updater.cpp b/src/viewer/Updater.cpp
index b207a076f5..c0692b0a8e 100644
--- a/src/viewer/Updater.cpp
+++ b/src/viewer/Updater.cpp
@@ -33,6 +33,7 @@
 #include "scrimmage/viewer/Updater.h"
 
 #include <iostream>
+#include <sstream>
 #include <vtksys/SystemTools.hxx>
 
 #include <vtkArcSource.h>
@@ -105,8 +106,8 @@
 
 #include <boost/filesystem.hpp>
 
-using std::cout;
-using std::endl;
+#include "scrimmage/log/Logger.h"
+
 namespace fs = boost::filesystem;
 
 #define BILLION 1000000000L
@@ -206,8 +207,10 @@ void Updater::Execute(
         bool time_near = std::abs(msg.time() - frame_time_) < 1e-7;
 
         if (time_near and !fs::exists(log_dir_) and !log_dir_warning_) {
-            std::cout << "Updater cannot save screenshot because the log dir " << log_dir_
-                      << " does not exist" << std::endl;
+            std::stringstream ss;
+            ss << "Updater cannot save screenshot because the log dir " << log_dir_
+               << " does not exist";
+            LOG_WARN(ss.str());
             log_dir_warning_ = true;
         }
         if (time_near && fs::exists(log_dir_)) {
@@ -2010,7 +2013,9 @@ bool Updater::draw_mesh(
             base_rot);
 
         if (!model_file_found) {
-            std::cout << "Updater: Couldn't find model for " << m.name() << std::endl;
+            std::stringstream ss;
+            ss << "Updater: Couldn't find model for " << m.name();
+            LOG_WARN(ss.str());
             return false;
         }
 
@@ -2074,8 +2079,9 @@ bool Updater::draw_plane(
     // sanity checks
     if (std::abs(p.x_length()) < std::numeric_limits<double>::epsilon()
         || std::abs(p.y_length()) < std::numeric_limits<double>::epsilon()) {
-        std::cout << "Cannot draw plane: bad dimensions (" << p.x_length() << ", " << p.y_length()
-                  << ")\n";
+        std::stringstream ss;
+        ss << "Cannot draw plane: bad dimensions (" << p.x_length() << ", " << p.y_length() << ")";
+        LOG_WARN(ss.str());
         return false;
     }
     // Load texture
diff --git a/src/viewer/Viewer.cpp b/src/viewer/Viewer.cpp
index a61500091c..04eef9ef95 100644
--- a/src/viewer/Viewer.cpp
+++ b/src/viewer/Viewer.cpp
@@ -32,9 +32,12 @@
 
 #include "scrimmage/viewer/Viewer.h"
 
+#include <sstream>
+
 #include <boost/algorithm/string.hpp>
 #include <vtkCamera.h>
 
+#include "scrimmage/log/Logger.h"
 #include "scrimmage/network/Interface.h"
 #include "scrimmage/parse/MissionParse.h"
 #include "scrimmage/parse/ParseUtils.h"
@@ -150,7 +153,7 @@ bool Viewer::run() {
 
     std::vector<double> camera_pos;
     if (!str2container(camera_pos_str, ",", camera_pos, 3)) {
-        std::cout << "camera_position should have 3 comma separated entries" << std::endl;
+        LOG_ERROR("camera_position should have 3 comma separated entries");
         return false;
     }
 
@@ -158,7 +161,7 @@ bool Viewer::run() {
 
     std::vector<double> camera_focal_pos;
     if (!str2container(camera_focal_pos_str, ",", camera_focal_pos, 3)) {
-        std::cout << "camera_focal_point should have 3 comma separated entries" << std::endl;
+        LOG_ERROR("camera_focal_point should have 3 comma separated entries");
         return false;
     }
 
@@ -184,8 +187,9 @@ bool Viewer::run() {
     } else if (view_mode == "OFFSET") {
         updater->set_view_mode(Updater::ViewMode::OFFSET);
     } else {
-        std::cout << "Unrecognized attribute \"" << view_mode << "\" for camera_view_mode"
-                  << std::endl;
+        std::stringstream ss;
+        ss << "Unrecognized attribute \"" << view_mode << "\" for camera_view_mode";
+        LOG_WARN(ss.str());
         updater->set_view_mode(Updater::ViewMode::FOLLOW);
     }