Help in converting DMP Bytes output to w x y z values

Hello, i get acceleration xyz gyroscope xyz and quaternion wxyz
in a 20bytes packet:
X axis acceleration original value??data[0]+data[1]<<8
Y axis acceleration original value??data[2]+data[3]<<8
Z axis acceleration original value??data[4]+data[5]<<8

X axis angular velocity of the original value??data[6]+data[7]<<8
Y axis angular velocity of the original value??data[8]+data[9]<<8
Z axis angular velocity of the original value??data[10]+data[11]<<8

Quaternions w original value??data[12]+data[13]<<8
Quaternions X original value??data[14]+data[15]<<8
Quaternions Y original value??data[16]+data[17]<<8
Quaternions Z original value??data[18]+data[19]<<8

anyone has an idea on how wxyz is converted?
since wxyz is float -1.0 to 1.0 (needs 4 bytes per value)

Thanks in advance