diff --git a/src/Messages/BinaryMsg.cs b/src/Messages/BinaryMsg.cs
index 408ba94..d9ab9f2 100644
--- a/src/Messages/BinaryMsg.cs
+++ b/src/Messages/BinaryMsg.cs
@@ -60,7 +60,9 @@ namespace RoboidControl {
             if (buffer.Length < BinaryMsg.length + this.data.Length || this.data.Length == 0)
                 return 0;
             
-            System.Console.Write($"sending Binary [{this.networkId}/{this.thingId}]");
+#if DEBUG
+            System.Console.WriteLine($"Send BinaryMsg [{this.networkId}/{this.thingId}] {this.dataLength}");
+#endif
             byte ix = 0;
             buffer[ix++] = BinaryMsg.Id;
             buffer[ix++] = this.networkId;
diff --git a/src/Messages/ModelUrlMsg.cs b/src/Messages/ModelUrlMsg.cs
index 3a2d3fc..64efac5 100644
--- a/src/Messages/ModelUrlMsg.cs
+++ b/src/Messages/ModelUrlMsg.cs
@@ -21,6 +21,10 @@ namespace RoboidControl {
         /// </summary>
         public byte thingId;
         /// <summary>
+        /// The length of the url string, excluding the null terminator
+        /// </summary>
+        public byte urlLength;
+        /// <summary>
         /// The URL of the model
         /// </summary>
         public string url = null;
@@ -33,6 +37,7 @@ namespace RoboidControl {
         public ModelUrlMsg(byte networkId, Thing thing) {
             this.networkId = networkId;
             this.thingId = thing.id;
+            this.urlLength = (byte)thing.modelUrl.Length;
             this.url = thing.modelUrl;
         }
         /// <summary>
@@ -41,19 +46,20 @@ namespace RoboidControl {
         /// <param name="networkId">The network ID of the thing</param>
         /// <param name="thingId">The ID of the thing</param>
         /// <param name="url">The URL to send</param>
-        public ModelUrlMsg(byte networkId, byte thingId, string url) {
-            this.networkId = networkId;
-            this.thingId = thingId;
-            this.url = url;
-        }
+        // public ModelUrlMsg(byte networkId, byte thingId, string url) {
+        //     this.networkId = networkId;
+        //     this.thingId = thingId;
+        //     this.urlLength = (byte)url.Length;
+        //     this.url = url;
+        // }
         /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
         public ModelUrlMsg(byte[] buffer) {
             byte ix = 1;
             this.networkId = buffer[ix++];
             this.thingId = buffer[ix++];
 
-            int strlen = buffer[ix++];
-            url = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, strlen);
+            this.urlLength = buffer[ix++];
+            this.url = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, this.urlLength);
         }
 
         /// @copydoc Passer::RoboidControl::IMessage::Serialize
@@ -61,6 +67,9 @@ namespace RoboidControl {
             if (string.IsNullOrEmpty(this.url))
                 return 0;
 
+#if DEBUG
+            System.Console.WriteLine($"Send ModelUrlMsg [{this.networkId}/{this.thingId}] {this.urlLength} {this.url}");
+#endif
             byte ix = 0;
             buffer[ix++] = ModelUrlMsg.Id;
             buffer[ix++] = this.networkId;
diff --git a/src/Messages/NameMsg.cs b/src/Messages/NameMsg.cs
index c1b5faa..04bd745 100644
--- a/src/Messages/NameMsg.cs
+++ b/src/Messages/NameMsg.cs
@@ -66,6 +66,9 @@ namespace RoboidControl {
             if (buffer.Length < NameMsg.length + this.name.Length || string.IsNullOrEmpty(this.name))
                 return 0;
 
+#if DEBUG
+            System.Console.WriteLine($"Send NameMsg [{this.networkId}/{this.thingId}] {this.nameLength} {this.name}");
+#endif
             byte ix = 0;
             buffer[ix++] = NameMsg.Id;
             buffer[ix++] = this.networkId;
diff --git a/src/Messages/NetworkIdMsg.cs b/src/Messages/NetworkIdMsg.cs
index 8d81e27..ed51018 100644
--- a/src/Messages/NetworkIdMsg.cs
+++ b/src/Messages/NetworkIdMsg.cs
@@ -33,7 +33,10 @@ namespace RoboidControl {
         public override byte Serialize(ref byte[] buffer) {
             if (buffer.Length < NetworkIdMsg.length)
                 return 0;
-                
+
+#if DEBUG
+            System.Console.WriteLine($"Send NetworkIdMsg {this.networkId}");
+#endif
             buffer[0] = NetworkIdMsg.Id;
             buffer[1] = this.networkId;
             return NetworkIdMsg.length;
diff --git a/src/Messages/TextMsg.cs b/src/Messages/TextMsg.cs
index a1de990..6fdfc0c 100644
--- a/src/Messages/TextMsg.cs
+++ b/src/Messages/TextMsg.cs
@@ -13,6 +13,10 @@ namespace RoboidControl {
         /// </summary>
         public const byte length = 2;
         /// <summary>
+        /// The length of the text without the null terminator
+        /// </summary>
+        public byte textLength;
+        /// <summary>
         /// The text
         /// </summary>
         public string text = "";
@@ -22,20 +26,27 @@ namespace RoboidControl {
         /// </summary>
         /// <param name="text">The text to send</param>
         public TextMsg(string text) {
+            this.textLength = (byte)text.Length;
             this.text = text;
         }
 
         /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
-        public TextMsg(byte[] buffer) : base(buffer) { }
+        public TextMsg(byte[] buffer) : base(buffer) {
+            this.textLength = buffer[0];
+            this.text = System.Text.Encoding.UTF8.GetString(buffer, 1, this.textLength);
+         }
 
         /// @copydoc Passer::RoboidControl::IMessage::Serialize
         public override byte Serialize(ref byte[] buffer) {
             if (buffer.Length < TextMsg.length + this.text.Length || this.text.Length == 0)
                 return 0;
 
+#if DEBUG
+            System.Console.WriteLine($"Send TextMsg {this.textLength} {this.text}");
+#endif
             byte ix = 0;
             buffer[ix++] = TextMsg.Id;
-            buffer[ix++] = (byte)this.text.Length;
+            buffer[ix++] = this.textLength;
             for (int textIx = 0; textIx < this.text.Length; textIx++)
                 buffer[ix++] = (byte)this.text[textIx];
             return ix;
diff --git a/src/Messages/ThingMsg.cs b/src/Messages/ThingMsg.cs
index 9725e23..bf93a75 100644
--- a/src/Messages/ThingMsg.cs
+++ b/src/Messages/ThingMsg.cs
@@ -77,6 +77,9 @@ namespace RoboidControl {
             if (buffer.Length < ThingMsg.length)
                 return 0;
                 
+#if DEBUG
+            System.Console.WriteLine($"Send ThingMsg [{this.networkId}/{this.thingId}] {this.thingType} {this.parentId}");
+#endif
             byte ix = 0;
             buffer[ix++] = ThingMsg.id;
             buffer[ix++] = this.networkId;
diff --git a/src/ParticipantUDP.cs b/src/ParticipantUDP.cs
index 9021123..01071b5 100644
--- a/src/ParticipantUDP.cs
+++ b/src/ParticipantUDP.cs
@@ -189,7 +189,7 @@ namespace RoboidControl {
                 return true;
 
             IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(owner.ipAddress), owner.port);
-            Console.WriteLine($"msg to {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
+            // Console.WriteLine($"msg to {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
             this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
             return true;
         }
@@ -241,7 +241,6 @@ namespace RoboidControl {
                 return;
             }
 
-            System.Console.Write($"Receive msg {msgId}");
             switch (msgId) {
                 case ParticipantMsg.Id: // 0xA0 / 160
                     this.Process(sender, new ParticipantMsg(data));
@@ -284,11 +283,16 @@ namespace RoboidControl {
         #region Process
 
         protected virtual void Process(Participant sender, ParticipantMsg msg) {
-            Console.WriteLine($"{this.name} Process participant {msg.networkId}");
+#if DEBUG
+            Console.WriteLine($"{this.name} Process participantMsg {msg.networkId}");
+#endif
         }
 
         protected virtual void Process(Participant sender, NetworkIdMsg msg) {
-            Console.WriteLine($"{this.name} Process network id {this.networkId} {msg.networkId}");
+#if DEBUG            
+            Console.WriteLine($"{this.name} Process SiteMsg {this.networkId} -> {msg.networkId}");
+#endif
+
             if (this.networkId != msg.networkId) {
                 this.networkId = msg.networkId;
                 foreach (Thing thing in this.things) //Thing.GetAllThings())
@@ -296,34 +300,48 @@ namespace RoboidControl {
             }
         }
 
-        protected virtual void Process(Participant sender, InvestigateMsg msg) { }
+        protected virtual void Process(Participant sender, InvestigateMsg msg) {
+#if DEBUG
+            Console.WriteLine($"Participant: InvestigateMsg [{msg.networkId}/{msg.thingId}]");
+#endif
+        }
 
         protected virtual void Process(Participant sender, ThingMsg msg) {
-            Console.WriteLine($"Participant: Process thing [{msg.networkId}/{msg.thingId}]");
+#if DEBUG            
+            Console.WriteLine($"Participant: Process ThingMsg [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId}");
+#endif            
         }
 
         protected virtual void Process(Participant sender, NameMsg msg) {
-            Console.WriteLine($"Participant: Process name [{msg.networkId}/{msg.thingId}] {msg.name}");
+#if DEBUG            
+            Console.WriteLine($"Participant: Process NameMsg [{msg.networkId}/{msg.thingId}] {msg.nameLength} {msg.name}");
+#endif
+
             Thing thing = sender.Get(msg.networkId, msg.thingId);
             if (thing != null)
                 thing.name = msg.name;
         }
 
         protected virtual void Process(Participant sender, ModelUrlMsg msg) {
-            Console.WriteLine($"Participant: Process model [{msg.networkId}/{msg.thingId}] {msg.url}");
+#if DEBUG            
+            Console.WriteLine($"Participant: Process ModelUrlMsg [{msg.networkId}/{msg.thingId}] {msg.urlLength} {msg.url}");
+#endif
+
             Thing thing = sender.Get(msg.networkId, msg.thingId);
             if (thing != null)
                 thing.modelUrl = msg.url;
         }
 
         protected virtual void Process(Participant sender, PoseMsg msg) {
-            // Console.WriteLine($"Participant: Process pose [{msg.networkId}/{msg.thingId}] {msg.poseType}");
+#if DEBUG            
+            Console.WriteLine($"Participant: Process PoseMsg [{msg.networkId}/{msg.thingId}] {msg.poseType}");
+#endif            
             Thing thing = sender.Get(msg.networkId, msg.thingId);
             if (thing != null) {
                 if ((msg.poseType & PoseMsg.Pose_Position) != 0)
-                    thing.position = msg.position;                
+                    thing.position = msg.position;
                 if ((msg.poseType & PoseMsg.Pose_Orientation) != 0)
-                    thing.orientation = msg.orientation;                
+                    thing.orientation = msg.orientation;
                 if ((msg.poseType & PoseMsg.Pose_LinearVelocity) != 0)
                     thing.linearVelocity = msg.linearVelocity;
                 if ((msg.poseType & PoseMsg.Pose_AngularVelocity) != 0)
@@ -332,14 +350,26 @@ namespace RoboidControl {
         }
 
         protected virtual void Process(Participant sender, BinaryMsg msg) {
-            Console.WriteLine($"Participant: Process binary [{msg.networkId}/{msg.thingId}]");
+#if DEBUG            
+            Console.WriteLine($"Participant: Process BinaryMsg [{msg.networkId}/{msg.thingId}] {msg.dataLength}");
+#endif            
             Thing thing = sender.Get(msg.networkId, msg.thingId);
             thing?.ProcessBinary(msg.data);
         }
 
-        protected virtual void Process(Participant sender, TextMsg temsgxt) { }
+        protected virtual void Process(Participant sender, TextMsg msg) {
+#if DEBUG
+            Console.WriteLine($"Participant: Process TextMsg {msg.textLength} {msg.text}");
+#endif            
 
-        protected virtual void Process(Participant sender, DestroyMsg msg) { }
+        }
+
+        protected virtual void Process(Participant sender, DestroyMsg msg) {
+#if DEBUG
+            Console.WriteLine($"Participant: Process ThingMsg [{msg.networkId}/{msg.thingId}]");
+#endif            
+
+        }
 
         private void ForwardMessage(IMessage msg) {
             // foreach (Participant client in senders) {