     Serial.print(",");    
     Serial.println();
   }
+
+ if (VEC) {
+    Serial.print("VEC");
+    Serial.print(noGyro.acc_norm.x);
+    Serial.print(",");
+    Serial.print(noGyro.acc_norm.y);
+    Serial.print(",");
+    Serial.print(noGyro.acc_norm.z);
+    Serial.print(",");
+    Serial.print(noGyro.mag_norm.x);
+    Serial.print(",");
+    Serial.print(noGyro.mag_norm.y);
+    Serial.print(",");
+    Serial.print(noGyro.mag_norm.z);
+    Serial.print(",");
+    Serial.print(withGyro.acc_norm.x);
+    Serial.print(",");
+    Serial.print(withGyro.acc_norm.y);
+    Serial.print(",");
+    Serial.print(withGyro.acc_norm.z);
+    Serial.print(","); 
+    Serial.print(withGyro.roll);
+    Serial.print(",");
+    Serial.print(withGyro.pitch);
+    Serial.print(",");
+    Serial.print(withGyro.head);
+    Serial.print(",");    
+    Serial.println();
+ }
 
  // comparison of gyro fusion and no gyro, format for realtimeplotter
  if (RPH2) {

void setup() {

  Serial.begin(baud);
  
  Wire.begin(slaveAdd);
  Wire.onReceive(receiveRegister);
  Wire.onRequest(respondData);
  // I2C clock freq; don't set this register on DUE: there are currently issues
  TWBR=100000L; 
  
  withGyro.init();
  noGyro.init();

  registerAddr = Wire.read();
}

void respondData(){  // debug
  Wire.write(registerAddr);  
}
/*
void respondData(){
  char dataValue = 0x01;  // default value, debug value 5
  if ((registerAddr >= 0x00) && (registerAddr < 0x0c)) {
    dataValue = data[registerAddr]; 
  }
  Wire.write(dataValue);
}
*/

void printResults() {

