diff --git a/Raspberry/MPU-6050-log/main.c b/Raspberry/MPU-6050-log/main.c
index 0652ed5..230265a 100644
--- a/Raspberry/MPU-6050-log/main.c
+++ b/Raspberry/MPU-6050-log/main.c
@@ -12,7 +12,9 @@
 int fd, ctr=0;
 uint8_t addrs[6] = {ACCEL_XOUT_H,ACCEL_YOUT_H,ACCEL_ZOUT_H, GYRO_XOUT_H,GYRO_YOUT_H,GYRO_ZOUT_H};
 const double scales[6] = {19.6/32768., 19.6/32768., 19.6/32768., 250/32768., 250/32768., 250/32768.};
-const double thres[6] = {0.5, 0.5, 0.5, 5., 5., 5.};
+// threshold based on an accelerometer statistics for 30sec; gyro isn't mean
+//const double thres[6] = {0.6, 0.6, 0.9, 5., 5., 5.};
+const double thres[6] = {0.2, 0.2, 0.3, 1., 1., 1.};
 
 #define RD8(reg)   wiringPiI2CReadReg8(fd, reg)
 #define RD16(reg)  (RD8(reg)<<8|RD8(reg+1))
@@ -40,18 +42,18 @@ double dtime(){
 void reset_brd(){
 	fprintf(stderr, "RESET!\n");
     WR8(PWR_MGMT_1, 0x80); // device reset
-    usleep(100000);
+    sleep(1);
+	WR16(PWR_MGMT_1, 0);
 	WR8(CONFIG, 3); // 3 == 44/42Hz, 6 == 5Hz
 	WR8(SMPLRT_DIV, 9); // 1kHz / 10 = 100Hz
-    WR16(PWR_MGMT_1, 0);
-	WR8(GYRO_CONFIG, 0); WR8(ACCEL_CONFIG, 0); // turn off self-test, max precision
+    WR8(GYRO_CONFIG, 0); WR8(ACCEL_CONFIG, 0); // turn off self-test, max precision
 	usleep(100000);
 }
 
 void print_ag(){
 	static int16_t oldvals[6];
 	int16_t dat[6];
-	static double doldvals[6];
+	static double doldvals[6] = {-1000.,-1000.,-1000.,-1000.,-1000.,-1000.};
 	double vals[6];
 	int i, ctr = 0;
 	double t0 = dtime();
@@ -77,21 +79,26 @@ void print_ag(){
 		}
 	}
 	if(ctr){ // there was changes
+		int16_t t = RD16(TEMP_OUT_H);
 		printf("%.3f\t", dtime());
 		for(i = 0; i < 6; ++i) printf("%.1f\t", vals[i]);
-		printf("\n");
+		printf("%.0f\n", t/340.+36.53);
 	}
 }
 
-// get statistics for 10 seconds
+// get statistics for 30 seconds
 void get_stat(){
 	double t0 = dtime(), scds = 1.;
-	double mean[6]={0.}, max[6], min[6], d, N = 0.;
+	double mean[7]={0.}, max[7], min[7], s2[7]={0.}, d, N = 0.;
 	int i;
+	int16_t r;
 	for(i = 0; i < 6; ++i){ // fill initial values
-		max[i] = min[i] = ((double)RD16(addrs[i])) * scales[i];
+		r = RD16(addrs[i]);
+		max[i] = min[i] = r * scales[i];
 	}
-	printf("Wait for 10 seconds, please\n");
+	r = RD16(TEMP_OUT_H);
+	max[6] = min[6] = r/340.+36.53;
+	printf("Wait for 30 seconds, please\n");
 	do{
 		double t1 = dtime();
 		while(!(RD8(INT_STATUS) & 1) && dtime() - t1 < 1.); // wait next data portion
@@ -101,24 +108,35 @@ void get_stat(){
 			return;
 		}
 		for(i = 0; i < 6; ++i){
-			d = ((double)RD16(addrs[i])) * scales[i];
+			r = RD16(addrs[i]);
+			d = r * scales[i];
 			mean[i] += d;
+			s2[i] += d*d;
 			if(max[i] < d) max[i] = d;
 			if(min[i] > d) min[i] = d;
 		}
+		r = RD16(TEMP_OUT_H);
+		d = r/340.+36.53;
+		mean[6] += d; s2[6] += d*d;
+		if(max[6] < d) max[6] = d;
+		if(min[6] > d) min[6] = d;
+
 		N += 1.;
 		if(dtime() - t0 > scds){
-			printf("%.0f\b", scds);
+			printf("\r%.0f ", scds);
 			scds += 1.;
 		}
-	}while(dtime() - t0 < 10.);
-	printf("\nAX, AY, AZ, GX, GY, GZ. [ min, max, mean ]\n");
-	for(i = 0; i < 6; ++i)
-		printf("[ %.1f, %.1f, %.1f ] ", min[i], max[i], mean[i] / N);
+	}while(dtime() - t0 < 30.);
+	printf("\nAX, AY, AZ, GX, GY, GZ, T. [ min, max, mean, max-min, std ]\n");
+	for(i = 0; i < 7; ++i){
+		double m = mean[i]/N;
+		printf("[ %.1f, %.1f, %.1f, %.1f, %.4f ] ", min[i], max[i], m, max[i]-min[i], sqrt(s2[i]/N - m*m));
+	}
 	printf("\n\n");
 }
 
 int main(int argc, char **argv){
+//	int i;
     fd = wiringPiI2CSetup(MPU6050_I2C_ADDRESS);
     setbuf(stdout, NULL);
     if (fd == -1){
@@ -131,10 +149,12 @@ int main(int argc, char **argv){
     	return 2;
     }
     reset_brd();
+//    printf("got first 32 regs:\n");
+//    for(i = 0; i < 32; ++i) printf("R[%x]=%u ", i, RD8(i));
     (void) argv;
     if(argc == 2) get_stat();
     else{
-    	printf("Unix time\tAX\tAY\tAZ\tGX\tGY\tGZ\n");
+    	printf("Unix time\tAX\tAY\tAZ\tGX\tGY\tGZ\tT\n");
 	    while(1) print_ag();
     }
     return 0;