     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();

#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 = 20; // 50 Hz
long baud = 115200; // typically 9600, 57600, 115200

// generally have only one of the following set to TRUE, depending upon task
bool I2C          = false;   // 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 VEC          = true;   // vectors and roll, pitch, heading 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
