diff --git a/target_simulator/config.py b/target_simulator/config.py
index 6b2701f..55e72da 100644
--- a/target_simulator/config.py
+++ b/target_simulator/config.py
@@ -23,4 +23,9 @@ LOGGING_CONFIG = {
 DEBUG_CONFIG = {
     "save_tftp_scripts": True,  # Set to False to disable
     "temp_folder_name": "Temp",
+    # Enable saving of IO traces (sent/received positions) to CSV files in Temp/
+    # Set to True during debugging to collect logs.
+    "enable_io_trace": False,
+    "io_trace_sent_filename": "sent_positions.csv",
+    "io_trace_received_filename": "received_positions.csv",
 }
diff --git a/target_simulator/core/simulation_engine.py b/target_simulator/core/simulation_engine.py
index 92e9343..5f62f82 100644
--- a/target_simulator/core/simulation_engine.py
+++ b/target_simulator/core/simulation_engine.py
@@ -15,6 +15,7 @@ from target_simulator.core.models import Scenario, Target
 from target_simulator.core import command_builder
 from target_simulator.utils.logger import get_logger
 from target_simulator.analysis.simulation_state_hub import SimulationStateHub
+from target_simulator.utils.csv_logger import append_sent_position
 
 # Simulation frequency in Hertz
 TICK_RATE_HZ = 20.0
@@ -131,6 +132,19 @@ class SimulationEngine(threading.Thread):
                             self.simulation_hub.add_simulated_state(
                                 target.target_id, timestamp_for_batch, state_tuple
                             )
+                        # 1b. Optionally save the sent positions to CSV for debugging
+                        try:
+                            append_sent_position(
+                                timestamp_for_batch,
+                                target.target_id,
+                                state_tuple[0],
+                                state_tuple[1],
+                                state_tuple[2],
+                                command_builder.build_tgtset_from_target_state(target),
+                            )
+                        except Exception:
+                            # Do not break the simulation for logging failures
+                            pass
                         
                         # 2. Build the command to send to the radar
                         cmd = command_builder.build_tgtset_from_target_state(target)
diff --git a/target_simulator/core/simulation_payload_handler.py b/target_simulator/core/simulation_payload_handler.py
index dd4203f..fbacde2 100644
--- a/target_simulator/core/simulation_payload_handler.py
+++ b/target_simulator/core/simulation_payload_handler.py
@@ -10,6 +10,7 @@ from queue import Queue, Full
 
 from target_simulator.core.sfp_structures import SfpRisStatusPayload
 from target_simulator.analysis.simulation_state_hub import SimulationStateHub
+from target_simulator.utils.csv_logger import append_received_position
 
 PayloadHandlerFunc = Callable[[bytearray], None]
 
@@ -84,6 +85,11 @@ class SimulationPayloadHandler:
                         timestamp=radar_timestamp_s,
                         state=state
                     )
+                    # Optionally append the received state to CSV for debugging
+                    try:
+                        append_received_position(radar_timestamp_s, target_id, state[0], state[1], state[2])
+                    except Exception:
+                        pass
                     processed += 1
 
             # Notify GUI to refresh display (we enqueue an empty list which
diff --git a/target_simulator/utils/csv_logger.py b/target_simulator/utils/csv_logger.py
new file mode 100644
index 0000000..d8146df
--- /dev/null
+++ b/target_simulator/utils/csv_logger.py
@@ -0,0 +1,59 @@
+import csv
+import os
+import time
+from typing import Iterable, Any
+
+from target_simulator.config import DEBUG_CONFIG
+
+
+def _ensure_temp_folder():
+    temp_folder = DEBUG_CONFIG.get("temp_folder_name", "Temp")
+    if not os.path.exists(temp_folder):
+        try:
+            os.makedirs(temp_folder, exist_ok=True)
+        except Exception:
+            # If we cannot create the folder, swallow the exception; callers
+            # should handle absence of files gracefully.
+            return None
+    return temp_folder
+
+
+def append_row(filename: str, row: Iterable[Any], headers: Iterable[str] | None = None):
+    """Append a row to a CSV file inside the Temp folder.
+
+    If the file doesn't exist and headers are provided, write headers first.
+    """
+    if not DEBUG_CONFIG.get("enable_io_trace", False):
+        return False
+
+    temp_folder = _ensure_temp_folder()
+    if not temp_folder:
+        return False
+
+    file_path = os.path.join(temp_folder, filename)
+    write_headers = not os.path.exists(file_path) and headers is not None
+
+    try:
+        with open(file_path, "a", newline="", encoding="utf-8") as csvfile:
+            writer = csv.writer(csvfile)
+            if write_headers:
+                writer.writerow(list(headers))
+            writer.writerow(list(row))
+    except Exception:
+        return False
+
+    return True
+
+
+def append_sent_position(timestamp: float, target_id: int, x: float, y: float, z: float, command: str):
+    filename = DEBUG_CONFIG.get("io_trace_sent_filename", "sent_positions.csv")
+    headers = ["timestamp", "target_id", "x_ft", "y_ft", "z_ft", "command"]
+    row = [timestamp, target_id, x, y, z, command]
+    return append_row(filename, row, headers=headers)
+
+
+def append_received_position(timestamp: float, target_id: int, x: float, y: float, z: float):
+    filename = DEBUG_CONFIG.get("io_trace_received_filename", "received_positions.csv")
+    headers = ["timestamp", "target_id", "x_ft", "y_ft", "z_ft"]
+    row = [timestamp, target_id, x, y, z]
+    return append_row(filename, row, headers=headers)