Getting temperature & sensitivity cal coefficients

I'm planning on using the MPU-6050 / MPU-6000 as a 3 axis accel + gyro sensor suite. I'm not interested in using the DMP, since we'll be doing our own sensor fusion at a high rate on an offboard processor.

I understand that the accel measurement registers (0x3B-0x40) and gyro measurement registers (0x43-0x48) contain uncalibrated sensor measurements. However, based on http://www.i2cdevlib.com/devices/mpu6050, it seems that registers 0x00 to 0x0B store the factory calibration values.

Yes, I understand that the DMP is doing fancier onboard processing to calculate things like gyro bias estimation, but what I'm more interested in is the calibrations that occur at the factory.

Does anyone have any example of how to use these calibration registers to convert the raw accel and gyro measurements into calibrated measurements?

Thank you.