--Fix appeared to work, no rollovers of IMU time and no nan's in YPR output.
--Need to implement fixes in run-imu and run-encoders to ignore the first ~500 ms of output from the microcontrollers, since they are arriving at the Gumstix at an interval < 20 ms--looks like the serial buffer is just filling up once the connection is made.  Need to have a loop that runs for ~500 ms and just receives the messages and does nothing with them.
--Having weird network/socket errors between sensor executables and log thread on seykhl.  Going to try to consolidate run-imu, run-encoders, and run-gps into a single program that polls each sensor on a schedule and then sends one consolidated message.