   // make sure communication was successful.
   uint32_t status = dof.begin();
  
-  Serial.print("LSM9DS0 WHO_AM_I's returned: 0x");
+  /*Serial.print("LSM9DS0 WHO_AM_I's returned: 0x");
   Serial.println(status, HEX);
   Serial.println("Should be 0x49D4");
-  Serial.println();
-  delay(2000); 
+  Serial.println();*/
+  Serial.print("Time(s)\t"); Serial.print("Roll (Deg)"); Serial.print("\t"); Serial.println("Yaw (Deg)");
+  delay(200); //2000
   
  // Set data output ranges; choose lowest ranges for maximum resolution
  // Accelerometer scale can be: A_SCALE_2G, A_SCALE_4G, A_SCALE_6G, A_SCALE_8G, or A_SCALE_16G   

 // Use the FIFO mode to average accelerometer and gyro readings to calculate the biases, which can then be removed from
 // all subsequent measurements.
    dof.calLSM9DS0(gbias, abias);
}

void loop()

uint32_t delt_t = 0; // used to control display output rate
float pitch, yaw, roll, heading;
float deltat = 0.0f;        // integration interval for both filter schemes
float seconds = 0.0f;
uint32_t lastUpdate = 0;    // used to calculate integration interval
uint32_t Now = 0;           // used to calculate integration interval

