diff --git a/server/Cargo.toml b/server/Cargo.toml
index c76a6d6..7baa0fd 100644
--- a/server/Cargo.toml
+++ b/server/Cargo.toml
@@ -10,16 +10,12 @@ anyhow = "1.0.75"
 axum = "0.7.2"
 bincode = "1.3.3"
 bit-struct = "0.3.2"
-const_format = "0.2.32"
 erased-serde = "0.4.1"
 feistel_rs = "0.1.0"
-future-parking_lot = "0.3.3"
-hilbert_index = "0.2.0"
 hyper = "1.0.1"
 hyper-util = "0.1.1"
 indoc = "2.0.4"
 nalgebra = { version = "0.32.3", features = ["serde-serialize"] }
-parking_lot = { version = "0.11", features = ["serde"] }
 pathfinding = "4.6.0"
 rstar = { version = "0.11.0", features = ["serde"] }
 rustmatica = "0.1.1"
@@ -40,7 +36,7 @@ tracing = "0.1"
 typetag = "0.2.14"
 ucnlnav = { git = "https://github.com/ucnl/UCNLNav.git", version = "0.1.0" }
 tracing-subscriber = { version = "0.3", features = ["registry"] }
-console-subscriber = "0.1.5"
-opentelemetry = "0.17.0"
-tracing-opentelemetry = "0.17.2"
-opentelemetry-jaeger = "0.16.0"
+opentelemetry = "0.21.0"
+tracing-opentelemetry = "0.22"
+opentelemetry-jaeger = { version = "0.20", features = ["rt-tokio"] }
+opentelemetry_sdk = { version = "0.21.1", features = ["trace"] }
diff --git a/server/src/depot.rs b/server/src/depot.rs
index 74a0f7d..5d3b1ff 100644
--- a/server/src/depot.rs
+++ b/server/src/depot.rs
@@ -26,7 +26,6 @@ impl Depots {
             .map(|d| d)
     }
 
-    #[tracing::instrument(skip(self))]
     pub async fn dock(&self, turtle: TurtleCommander) -> Option<usize> {
         let depot = self.clone().nearest(turtle.pos().await).await?;
         trace!("depot at {depot:?}");
diff --git a/server/src/main.rs b/server/src/main.rs
index 58e22fe..add04f7 100644
--- a/server/src/main.rs
+++ b/server/src/main.rs
@@ -1,6 +1,6 @@
 #![feature(iter_map_windows, iter_collect_into)]
 
-use std::{collections::VecDeque, io::ErrorKind, sync::Arc, env::args, path, borrow::BorrowMut};
+use std::{collections::VecDeque, io::ErrorKind, sync::Arc, env::args, path, borrow::BorrowMut, time::Duration};
 
 use anyhow::{Error, Ok};
 use axum::{
@@ -11,6 +11,7 @@ use axum::{
 use blocks::{World, Position, };
 use depot::Depots;
 use opentelemetry::global;
+use opentelemetry_sdk::{runtime::Tokio, trace::BatchConfig};
 use tower_http::trace::TraceLayer;
 use tracing::{info, span, Level};
 use rstar::RTree;
@@ -57,11 +58,6 @@ async fn main() -> Result<(), Error> {
 
     global::set_text_map_propagator(opentelemetry_jaeger::Propagator::new());
 
-    let tracer = opentelemetry_jaeger::new_pipeline()
-        .with_service_name("avarus")
-        .install_simple()?;
-
-    let opentelemetry = tracing_opentelemetry::layer().with_tracer(tracer);
 
     let filter = filter::Targets::new()
         .with_default(Level::INFO)
@@ -80,13 +76,31 @@ async fn main() -> Result<(), Error> {
         .with_span_events(FmtSpan::ACTIVE)
         .with_filter(filter);
 
-    tracing_subscriber::registry()
-        .with(opentelemetry)
-        .with(subscriber)
-        .try_init()?;
+    let reg = tracing_subscriber::registry()
+        .with(subscriber);
+
+    let otel = false;
+    if otel {
+        let batch = BatchConfig::default()
+            .with_max_queue_size(65536)
+            .with_scheduled_delay(Duration::from_millis(800));
+
+        let tracer = opentelemetry_jaeger::new_agent_pipeline()
+            .with_service_name(format!("avarus-{}", SAVE.get().unwrap().display()))
+            .with_auto_split_batch(true)
+            .with_batch_processor_config(batch)
+            .install_batch(Tokio)?;
+        
+        reg.with(tracing_opentelemetry::layer().with_tracer(tracer))
+            .try_init()?;
+    } else {
+        reg.try_init()?;
+    }
+
 
     info!("starting");
 
+
     let (kill_send, kill_recv) = watch::channel(false);
 
     let state = read_from_disk(kill_send).await?;
diff --git a/server/src/mine.rs b/server/src/mine.rs
index 2aeaf96..de27456 100644
--- a/server/src/mine.rs
+++ b/server/src/mine.rs
@@ -216,7 +216,7 @@ impl Task for Mine {
     }
 }
 
-const MAX_MINERS: usize = 4;
+const MAX_MINERS: usize = 42;
 
 #[derive(Serialize, Deserialize,Clone)]
 pub struct Quarry {
@@ -313,6 +313,10 @@ impl Task for Quarry {
             return TaskState::Complete;
         }
 
+        if self.head.load(Ordering::SeqCst) >= chunks.product() {
+            return TaskState::Waiting;
+        }
+
         let only = self.miners.fetch_update(Ordering::AcqRel, Ordering::Acquire, |n| {
             if n < MAX_MINERS {
                 Some(n+1)
diff --git a/server/src/paths.rs b/server/src/paths.rs
index 0c136d0..c5276df 100644
--- a/server/src/paths.rs
+++ b/server/src/paths.rs
@@ -1,6 +1,7 @@
 use crate::{
     blocks::{World, Position, Direction, Vec3, WorldReadLock},
 };
+use tokio::task::spawn_blocking;
 use tracing::{trace, error};
 use pathfinding::prelude::astar;
 
@@ -8,7 +9,7 @@ const LOOKUP_LIMIT: usize = 10_000_000;
 
 #[tracing::instrument(skip(world))]
 pub async fn route_facing(from: Position, to: Vec3, world: &World) -> Option<Vec<Position>> {
-    let facing = |p: &Position| {
+    let facing = move |p: &Position| {
         let ahead = p.dir.unit() + p.pos;
         let above = Vec3::y() + p.pos;
         let below = -Vec3::y() + p.pos;
@@ -26,17 +27,19 @@ pub async fn route(from: Position, to: Position, world: &World) -> Option<Vec<Po
     {
         return None;
     }
-    route_to(from, to.pos, |p| p == &to, world).await
+    route_to(from, to.pos, move |p| p == &to, world).await
 }
 
 async fn route_to<D>(from: Position, to: Vec3, mut done: D, world: &World) -> Option<Vec<Position>>
-where D: FnMut(&Position) -> bool {
+where D: FnMut(&Position) -> bool + Send + 'static {
     // lock once, we'll be doing a lot of lookups
     let world = world.clone().lock().await;
 
     let mut limit = LOOKUP_LIMIT;
 
-    let route = astar(
+    let route = 
+        spawn_blocking( move ||
+        astar(
         &from,
         move |p| next(p, &world),
         |p1| (p1.pos - &to).abs().sum() as u32,
@@ -48,7 +51,7 @@ where D: FnMut(&Position) -> bool {
                 done(p)
             }
         },
-    )?;
+    )).await.unwrap()?;
 
     trace!("scanned {} states", LOOKUP_LIMIT-limit);
     if limit != 0 {
diff --git a/server/src/turtle.rs b/server/src/turtle.rs
index 5715b39..743599e 100644
--- a/server/src/turtle.rs
+++ b/server/src/turtle.rs
@@ -233,6 +233,7 @@ impl TurtleCommander {
             if let Some(fuel) = res {
                 return fuel;
             }
+            error!("depot lock failed");
             // this is a poor way to do this, but I feel like select! ing on 30 different things
             // would be harder
             tokio::time::sleep(Duration::from_millis(wait)).await;
diff --git a/server/src/turtle_api.rs b/server/src/turtle_api.rs
index a146a8e..e7dace0 100644
--- a/server/src/turtle_api.rs
+++ b/server/src/turtle_api.rs
@@ -46,6 +46,7 @@ pub fn turtle_api() -> Router<SharedControl> {
         .route("/:id/manual", post(run_command))
         .route("/:id/dock", post(dock))
         .route("/:id/info", get(turtle_info))
+        .route("/:id/register", get(register_turtle))
         .route("/createTreeFarm", post(fell))
         .route("/createMine", post(dig))
         .route("/registerDepot", post(new_depot))
@@ -54,6 +55,18 @@ pub fn turtle_api() -> Router<SharedControl> {
         .route("/updateAll", get(update_turtles))
 }
 
+pub(crate) async fn register_turtle(
+    Path(id): Path<u32>,
+    State(state): State<SharedControl>,
+) -> &'static str {
+    let state = &mut state.write().await;
+    let commander = state.get_turtle(id).await.unwrap().clone();
+    state.tasks.add_turtle(&commander);
+    info!("registered turtle: {id}");
+
+    "ACK"
+}
+
 pub(crate) async fn create_turtle(
     State(state): State<SharedControl>,
     Json(req): Json<turtle::TurtleRegister>,