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Editing Step 6 —

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Use a multimeter to identify the spare wires connected to the four terminals on the DB24 (14-17 upper left of image)

Solder the corresponding wires from the IMU to the identified wires, seal each with adhesive lined heatshrink after covering the connection with hot glue. (Twist the heat shrink tubing over the hot glue before it cools to get good coverage)

A wire-to-wire soldering tutorial can be helpful. Check it out HERE.