Blaise,

Do you remember how/why you ended up with a 0.04 fixed offset for the 
timestamp for the Microstrain IMU?  I have a newer version, and I'm 
adapting your code to work with it, and the values in the header for 
Kalman filter timestamps/fixed time offset are not documented, thus I 
have no real intuition how these values were derived and how I might go 
about tuning them to this other device.


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