Here's some interesting behavior. The filter will be doing fine, like in this Master output:
86.992508, -8.2226, -5.6769, 0.1556, 354.5765, 29.610157,-95.109581, -1.2201
87.216446, -8.3127, -5.1982, -0.1595, 354.2614, 29.610157,-95.109581, -1.2389
87.392509, -8.6786, -4.8427, -0.4386, 353.9823, 29.610157,-95.109581, -1.2551
87.592499, -8.5985, -8.2565, 2.1249, 356.5457, 29.610157,-95.109581, -1.2703
87.792496, -9.0626, -5.6826, 0.4392, 354.8600, 29.610157,-95.109581, -1.2861
87.987335, -7.0255, -5.4566, 0.0111, 354.4320, 29.610157,-95.109581, -1.3015
88.193581, -8.1502, -6.7407, 1.1042, 355.5251, 29.610157,-95.109581, -1.3158
88.392487, -8.3801, -5.3827, 0.2496, 354.6705, 29.610157,-95.109581, -1.3294
88.592476, -9.5051, -6.5686, 1.2317, 355.6526, 29.610157,-95.109581, -1.3435
And then it does these noisy jumps
152.202393, -7.9618, -6.1706, -0.5059, 353.9149, 29.610157,-95.109543, 0.6866
152.391220, -8.8614, -5.0395, -1.2492, 353.1717, 29.610157,-95.109543, 0.7024
152.591217, -9.6295, -5.3810, -0.8758, 353.5450, 29.610157,-95.109543, 0.7195
152.791214, -7.8709, -5.5333, -1.0505, 353.3704, 29.610157,-95.109543, 0.7360
152.991211, -7.3053, -32.0068, 18.0232, 12.4441, 29.610157,-95.109543, 0.7535
153.214523, -8.1565, -14.3986, 5.6065, 0.0274, 29.610159,-95.109543, 0.7695
153.384552, -9.2509, -8.3133, 1.1732, 355.5941, 29.610159,-95.109543, 0.7863
153.591400, -9.3088, -6.7883, 0.0943, 354.5152, 29.610159,-95.109543, 0.8059
153.796005, -8.4873, -5.4114, -0.9557, 353.4652, 29.610159,-95.109543, 0.8267
153.995071, -8.8793, -4.8146, -1.3476, 353.0733, 29.610159,-95.109543, 0.8485
And on the Slave side, the residuals seem to show noise spikes in the gyro and accel that look like they might coincide.
I wasn't seeing this when board was inside, so guessing it may be outside temp (it's 80 in the shade today here). I have a small piece of cloth over the board to keep out the direct sun, but it seems to be related to the hotter part of the day outside.
Don