source = gyro;
clear data
data.freq = source(:,3)';
data.time = unwrap_time(source(:,end))'/1000;
data.rate = 1/mean(diff(data.time))
tau = 1/data.rate * round(logspace(0,7,200))
[retval, s, errorb, tau] = allan(data,tau,'gyro')

[~,~,gyro_residual] = regress(gyro(:,1)-mean(gyro(:,1)),[gyro(:,4)-mean(gyro(:,4)), (1:size(gyro,1))']);
data.freq = gyro_residual;
data.time = unwrap_time(source(:,end))'/1000;
data.rate = 1/mean(diff(data.time))
tau = 1/data.rate * round(logspace(0,7,200))
[retval, s, errorb, tau] = allan(data,tau,'gyro')