   for( i = 0; i < NUM_GYROS; i++ )
   {
     readIthGyro( i );
-    Serial.print( i ); Serial.print(": ");
-    Serial.print("AcX = "); Serial.print(AcX);
-    Serial.print(" | AcY = "); Serial.print(AcY);
-    Serial.print(" | AcZ = "); Serial.println(AcZ);
-//  Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53);  //equation for temperature in degrees C from datasheet
-//  Serial.print(" | GyX = "); Serial.print(GyX);
-//  Serial.print(" | GyY = "); Serial.print(GyY);
-//  Serial.print(" | GyZ = "); Serial.println(GyZ);
+    Serial.print( i );
+    Serial.print(","); Serial.print(time);
+    Serial.print(","); Serial.print(AcX);
+    Serial.print(","); Serial.print(AcY);
+    Serial.print(","); Serial.print(AcZ);
+    Serial.print(","); Serial.print(Tmp/340.00+36.53);  //equation for temperature in degrees C from datasheet
+    Serial.print(","); Serial.print(GyX);
+    Serial.print(","); Serial.print(GyY);
+    Serial.print(","); Serial.println(GyZ);
   }
-  gps.process();
-  delay(333);
+  //gps.process();
+  //delay(50);
 }
 

  GyY=Wire.read()<<8|Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=Wire.read()<<8|Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
  digitalWrite( gyroSelectPins[i], 0 ); // unselect
  delay(10);
}

void loop()

//const int MPU=0x68;  // I2C address of the MPU-6050
const int MPU=0x69;  // I2C address of the MPU-6050 for AD0=1
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
long time;

void setup()
{
