Possible updates to the latest code. I did not know how else to send them to you.

Added printStats() to print stats even without debug
Added serial message function DebugPrint to save some memory
Added serial listener to enable temporary changes to drift offsets (very simple implementation)
  In Arduino serial monitor type x20.2 and then press Enter, feedback will appear
  Due to memory, only loaded when debug is turned off
Tried to remove overloaded serial prints (convert Floats to Char first) but would have to do every one to save any memory so I just commented out the examples I started with using dtostrf
Moved a 3 variables to smaller types, identified with comments //was long or //was unsigned long