       }
     } 
     else if(cmd == 'a') {
-      float val_array[18] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+      float val_array[19] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
       uint8_t count = serial_busy_wait();
       for(uint8_t i=0; i<count; i++) {
         my3IMU.getQ(q, val);

      }
    }
    else if(cmd == 'z') {
      float val_array[18] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
      uint8_t count = serial_busy_wait();
      for(uint8_t i=0; i<count; i++) {
        my3IMU.getQ(q, val);

        val_array[3] = (q[3]);
        //val_array[15] = millis();
        val_array[16] = val[9];
        val_array[18] = val[11];
        
        #if HAS_PRESS()
           // with baro
           val_array[17] = val[10];
