It doesn't seem to be clearly defined in the software examples what units the outputs are in. Is acceleration milli-Gs or Gs, angular rate degrees or radians per second, or something else, etc.
I'm specifically referring to the file source/examples/example-high-rate-logger.py from the following links: https://invensense.tdk.com/developers/download/dk-42688-p-smartmotion-emd-2-0-3/?wpdmdl=38397
https://invensense.tdk.com/developers/download/dk-42605-smartmotion-emd-2-0-1/?wpdmdl=37477
Is it dependent on the firmware programmed onto the development board? Which is also included in the above files. If so, where in the Atmel studio code? Thank you.
Yes it is dependent on firmware programmed. Please look at atmel solution file in ..sources\examples\example-high-rate-logger.
The units are g and dps.