IMU3000 - Accessing the Quaternion values..

Hi.. I have the IMU3000EVB + INV-ARM board... I would like to connect the IMU3000EVB directly to a Parallax Propeller microcontroller and configure the IMU3000 so I can read the registers that store the Quaternion values.. I read the IMU-3000 Product Specification Rev 1.1 document but I cannot see a reference to registers that store Quaternion values... Registers 1Bh through 28h store many other sensor values.. but no Quaternion values.. I see that there are Reserved registers (35h through 38h) used for DMP .. but there is no explanation on the Rev 1.1 as to how to use them (perhaps those are the registers that are used for retrieval of Quaternion / DMP related values) ... or... if somebody can be so kind to provide an initialization sequence that allows me to configure the FIFO to store the Quaternion values I would really appreciate it...

Thanks much!!..