diff --git a/tools/plotjuggler/layouts/system_lag_debug.xml b/tools/plotjuggler/layouts/system_lag_debug.xml
new file mode 100644
index 0000000000..b1699348cc
--- /dev/null
+++ b/tools/plotjuggler/layouts/system_lag_debug.xml
@@ -0,0 +1,68 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter orientation="-" count="4" sizes="0.249729;0.250814;0.249729;0.249729">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="102.500000" right="59.992103" left="0.000000" bottom="-2.500000"/>
+       <limitY/>
+       <curve name="/deviceState/cpuUsagePercent/0" color="#1f77b4"/>
+       <curve name="/deviceState/cpuUsagePercent/1" color="#d62728"/>
+       <curve name="/deviceState/cpuUsagePercent/2" color="#1ac938"/>
+       <curve name="/deviceState/cpuUsagePercent/3" color="#ff7f0e"/>
+       <curve name="/deviceState/cpuUsagePercent/4" color="#f14cc1"/>
+       <curve name="/deviceState/cpuUsagePercent/5" color="#9467bd"/>
+       <curve name="/deviceState/cpuUsagePercent/6" color="#17becf"/>
+       <curve name="/deviceState/cpuUsagePercent/7" color="#bcbd22"/>
+       <curve name="/deviceState/gpuUsagePercent" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="64.005001" right="59.992103" left="0.000000" bottom="51.195000"/>
+       <limitY/>
+       <curve name="/deviceState/cpuTempC/0" color="#d62728"/>
+       <curve name="/deviceState/cpuTempC/1" color="#1ac938"/>
+       <curve name="/deviceState/cpuTempC/2" color="#ff7f0e"/>
+       <curve name="/deviceState/cpuTempC/3" color="#f14cc1"/>
+       <curve name="/deviceState/cpuTempC/4" color="#9467bd"/>
+       <curve name="/deviceState/cpuTempC/5" color="#17becf"/>
+       <curve name="/deviceState/cpuTempC/6" color="#bcbd22"/>
+       <curve name="/deviceState/cpuTempC/7" color="#1f77b4"/>
+       <curve name="/deviceState/gpuTempC/0" color="#d62728"/>
+       <curve name="/deviceState/gpuTempC/1" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="37.371108" right="59.992103" left="0.000000" bottom="-0.911490"/>
+       <limitY/>
+       <curve name="/modelV2/frameDropPerc" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="-3.593455" right="59.992103" left="0.000000" bottom="-12.190956"/>
+       <limitY/>
+       <curve name="/controlsState/cumLagMs" color="#9467bd"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+