--Ran an overnight test with the robot sitting on its wheels on the floor to collect data from the IMU while the robot is not moving.  Test ran for ~5 hours, errored for about 5 seconds, ran for ~1 more hour, and then died completely--looked like the USB had an error which knocked out all USB peripherals.  I still think that I got a decent amount of data from that test.  Also ran another test today for ~3 hours with the robot not moving.  Plan on taking all this data and then computing the mean, variance, and standard deviation for all the IMU outputs to see what those look like for when the robot is not moving.  I figure only the 3 axes of the accelerometer and the 3 axes of the gyroscope will be useful, but it's just as easy to calculate all of them. **After today's meeting, put this effort on hold until after at least initial analysis of yesterday's data is complete**
--Starting to think about how to formulate cost functions for the 5 sentences we drove yesterday.  Initial thought is to just consider final point of each path and score it against a potential field function that accounts for both the preposition and the location of the object (since that will change where the potential field is located in our plane).
--Have Dan's code to turn imu-logs into tracks in ./from_dan/linuxport/log_to_track.cpp (which also uses config.txt)