MPU6050... "hidden" registers

I have been working with MPU6050 for a few days.
The component is interesting but I am having some difficulties.
Currently I can get the MEMS function to read and write various registers, but I am having trouble with setting the offsets accelerometers x, y and z.
Can you help me ?
Which registers should I use to compensate for the offset in x, y, z ? (for information, the offset on the z axis is approximately 2.1g when z is vertical (the raw measurements give 7.7 ms-2)
I guess the answer is in the "hidden" registers ?
Why does your document RM-MPU-6000A-00v4.2.pdf not list the registers with address 0x00 to address 0x0C together with their function ??

TB.