diff --git a/Firmware/RTK_Surveyor/Begin.ino b/Firmware/RTK_Surveyor/Begin.ino
index 6fe9c1fc0..80366949b 100644
--- a/Firmware/RTK_Surveyor/Begin.ino
+++ b/Firmware/RTK_Surveyor/Begin.ino
@@ -787,3 +787,22 @@ void beginLBand()
 
   online.lband = true;
 }
+
+void beginIdleTasks()
+{
+  char taskName[32];
+
+  for (int index = 0; index < MAX_CPU_CORES; index++)
+  {
+    sprintf(taskName, "IdleTask%d", index);
+    if (idleTaskHandle[index] == NULL)
+      xTaskCreatePinnedToCore(
+        idleTask,
+        taskName, //Just for humans
+        2000, //Stack Size
+        NULL, //Task input parameter
+        0, // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest
+        &idleTaskHandle[index], //Task handle
+        index); //Core where task should run, 0=core, 1=Arduino
+  }
+}
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
index 5073a2c6b..34583a3eb 100644
--- a/Firmware/RTK_Surveyor/RTK_Surveyor.ino
+++ b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -41,6 +41,11 @@ const int FIRMWARE_VERSION_MINOR = 3;
 
 #include "settings.h"
 
+#define MAX_CPU_CORES               2
+#define IDLE_COUNT_PER_SECOND       196289
+#define IDLE_TIME_DISPLAY_SECONDS   5
+#define MAX_IDLE_TIME_COUNT         (IDLE_TIME_DISPLAY_SECONDS * IDLE_COUNT_PER_SECOND)
+
 //Hardware connections
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 //These pins are set in beginBoard()
@@ -417,6 +422,10 @@ unsigned long systemTestDisplayTime = 0; //Timestamp for swapping the graphic du
 uint8_t systemTestDisplayNumber = 0; //Tracks which test screen we're looking at
 unsigned long rtcWaitTime = 0; //At poweron, we give the RTC a few seconds to update during PointPerfect Key checking
 
+uint32_t cpuIdleCount[MAX_CPU_CORES];
+TaskHandle_t idleTaskHandle[MAX_CPU_CORES];
+uint32_t cpuLastIdleDisplayTime;
+
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
 void setup()
@@ -426,6 +435,11 @@ void setup()
   Wire.begin(); //Start I2C on core 1
   //Wire.setClock(400000);
 
+  //Initialize the CPU idle time counts
+  for (int index = 0; index < MAX_CPU_CORES; index++)
+    cpuIdleCount[index] = 0;
+  cpuLastIdleDisplayTime = millis();
+
   beginDisplay(); //Start display first to be able to display any errors
 
   beginGNSS(); //Connect to GNSS to get module type
@@ -463,10 +477,15 @@ void setup()
   log_d("Boot time: %d", millis());
 
   danceLEDs(); //Turn on LEDs like a car dashboard
+
+  beginIdleTasks();
 }
 
 void loop()
 {
+  uint32_t delayTime;
+
+
   if (online.gnss == true)
   {
     i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
@@ -501,7 +520,40 @@ void loop()
   //Convert current system time to minutes. This is used in F9PSerialReadTask()/updateLogs() to see if we are within max log window.
   systemTime_minutes = millis() / 1000L / 60;
 
-  delay(10); //A small delay prevents panic if no other I2C or functions are called
+  //Display the CPU idle time
+  if (settings.enablePrintIdleTime)
+    printIdleTimes();
+
+  //A small delay prevents panic if no other I2C or functions are called
+  delay(10);
+}
+
+//Print the CPU idle times
+void printIdleTimes()
+{
+  uint32_t idleCount[MAX_CPU_CORES];
+  int index;
+
+  //Determine if it is time to print the CPU idle times
+  if ((millis() - cpuLastIdleDisplayTime) >= (IDLE_TIME_DISPLAY_SECONDS * 1000))
+  {
+    //Get the idle times
+    cpuLastIdleDisplayTime = millis();
+    for (index = 0; index < MAX_CPU_CORES; index++)
+    {
+      idleCount[index] = cpuIdleCount[index];
+      cpuIdleCount[index] = 0;
+    }
+
+    //Display the idle times
+    for (int index = 0; index < MAX_CPU_CORES; index++)
+      Serial.printf("CPU %d idle time: %d%% (%d/%d)\r\n", index,
+                    idleCount[index] * 100 / MAX_IDLE_TIME_COUNT,
+                    idleCount[index], MAX_IDLE_TIME_COUNT);
+
+    //Print the task count
+    Serial.printf("%d Tasks\r\n", uxTaskGetNumberOfTasks());
+  }
 }
 
 //Create or close files as needed (startup or as user changes settings)
diff --git a/Firmware/RTK_Surveyor/Tasks.ino b/Firmware/RTK_Surveyor/Tasks.ino
index b0cb2ea0d..b5f0e5901 100644
--- a/Firmware/RTK_Surveyor/Tasks.ino
+++ b/Firmware/RTK_Surveyor/Tasks.ino
@@ -438,3 +438,30 @@ void ButtonCheckTask(void *e)
     taskYIELD();
   }
 }
+
+void idleTask(void *e)
+{
+  uint32_t lastStackPrintTime;
+
+  while (1)
+  {
+    if (settings.enablePrintIdleTime)
+    {
+      //Increment a count during the idle time
+      cpuIdleCount[xPortGetCoreID()]++;
+
+      //Let other same priority tasks run
+      yield();
+    }
+    else
+      delay(1000);
+
+    //Display the high water mark if requested
+    if ((settings.enableTaskReports == true) && ((millis() - lastStackPrintTime) >= 1000))
+    {
+      lastStackPrintTime = millis();
+      Serial.printf("idleTask %d High watermark: %d\n\r",
+                    xPortGetCoreID(), uxTaskGetStackHighWaterMark(NULL));
+    }
+  }
+}
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
index ecb636527..db4d684c2 100644
--- a/Firmware/RTK_Surveyor/menuSystem.ino
+++ b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -301,6 +301,9 @@ void menuDebug()
     Serial.print(F("16) Periodically print position: "));
     Serial.printf("%s\r\n", settings.enablePrintPosition ? "Enabled" : "Disabled");
 
+    Serial.print(F("17) Periodically print CPU idle time: "));
+    Serial.printf("%s\r\n", settings.enablePrintIdleTime ? "Enabled" : "Disabled");
+
     Serial.println(F("t) Enter Test Screen"));
 
     Serial.println(F("e) Erase LittleFS"));
@@ -429,6 +432,10 @@ void menuDebug()
       {
         settings.enablePrintPosition ^= 1;
       }
+      else if (incoming == 17)
+      {
+        settings.enablePrintIdleTime ^= 1;
+      }
       else
         printUnknown(incoming);
     }
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
index 1b43b540e..b97bf7a62 100644
--- a/Firmware/RTK_Surveyor/settings.h
+++ b/Firmware/RTK_Surveyor/settings.h
@@ -431,6 +431,7 @@ typedef struct {
   bool enablePrintNtripServerState = false;
   bool enablePrintNtripServerRtcm = false;
   bool enablePrintPosition = false;
+  bool enablePrintIdleTime = false;
 } Settings;
 Settings settings;