     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) {

#include "IMU.h" 

// arduino I2C slave address: ensure no conflict with LSM303 or L3G addresses
const byte slaveAdd = 0x44; 
int registerAddr;
int16_t data[12];      // I2C data registers 0x00 to 0x0b

// speed settings
int  msecPerCycle = 50; 
long baud = 115200; // typically 9600, 57600, 115200

// generally have only one of the following set to TRUE, depending upon task
bool I2C          = true;   // run in I2C slave mode
bool PRINTSCREEN  = false;  // compare gyro fusion 'on' to gyro fusion 'off', 
                            // user-friendly print of roll, pitch, heading
bool RPH          = false;  // roll, pitch, heading, formatted for visual python
bool RPH2         = false;  // compare gyro fusion 'on' to gyro fusion 'off', 
                            // for Processing RealTimePlotter format
bool CALIBACC     = false;  // generate accelerometer calibration data

  if (CALIBACC) {withGyro.doCalibrateAcc(CALIB_TEST);}
  if (CALIBMAG) {withGyro.doCalibrateMag(CALIB_TEST);}
 
  if (PRINTSCREEN || RPH  || RPH2 || DEVTYPE || I2C || VEC) {
    withGyro.getRollPitchHeading();  
    noGyro.getRollPitchHeading();               
    printResults();
