how to log IMU data in Gazebo7?

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Does anyone know how to log data from an IMU in Gazebo7? My goal is to produce a .csv or .txt (or similar) file after a simulation.

I am currently adding the IMU as a sensor within my .sdf file, not as a plugin(as per the suggestion here: http://answers.ros.org/question/53471...). I am able to visualize the IMU data from my sensor using the Text View window, but am not able to log or save the outputs. Thanks for any suggestions!