--Changed Odometer.ino program on Teensy to use an average of the left and right ticks/cm for both wheels instead of the individual numbers--trying to see if this will help correct the 'pull' we observed yesterday.  Plan on also taking the robot down to the MSEE atrium to drive around there to see if we can get better magnetometer data in a different environment.

--Ran drive test in MSEE atrium.  Had some issues with wifi dropping out, but was able to get in a couple of decent runs.  At the beginning of the runs the plots looked pretty good (with better--though not perfect--compass heading data), but the plots of the runs would stop before they were complete.  Upon examining the logs, saw a lot of garbled IMU/encoder data lines, and they all seemed to happen around the time a GPS line was coming in.  The problem shouldn't be with my logging code on seykhl, since that is a single thread that services the different file descriptors (sockets) sequentially.  That leads me to believe I need to restructure the rover-side code to have the GPS read in the same file, so that only one file is writing to a socket that writes to imu-log.txt.  I plan on coming in tomorrow to work on that, as well as the GPS sentence parser.