function [time_imu, imu_angle] = readStoFile(filename, time_idx, idx)

fid = fopen(filename);

tline = fgets(fid);
nbr_lines = 0;

time_imu = [];
i = 1;

imu_angle = [];

while ischar(tline)  
     if (i >= 7)
        if ischar(tline)
            C = strsplit(tline);
            time_imu = [time_imu; str2double(C{time_idx})];
            imu_angle = [imu_angle; str2double(C{idx})];
        end
     else
        if (i == 6)
            C = strsplit(tline);
        end
    end
        i = i + 1; 
        nbr_lines = nbr_lines + 1;
        tline = fgets(fid);
end

fclose(fid);

end