MPU9150 wrong calibrated sensor data

Hello everyone,
Sometime ago, I have received 9 axes fusion porting of STM32 for MPU9150 upon signing NDA/SLA.
1. The quaternion data is reliable for extended periods of time, but rarely sudden jumps observed (I have no idea why this happens).
2. The calibrated sensor data & their accuracy is not matching. I provide the data collected (DEFAULT_MPU_HZ =50, compass rate =10).
The log file has data column order:
q1, q2, q3, q4, Ax, Ay, Az, Gx, Gy, Gz, Mx, My, Mz, aq, aa, ag, am, time_ms
https://dl.dropboxusercontent.com/u/14046521/LOG00350.TXT
Calibrated gyroscope data graph:

Accuracy plots of quaternion, acceleration, gryo, mag:


Calibrated Gyro data plot shows that, it takes 138 samples or 2696ms time to correct for gyro offset when the sensor is not moving.
Calibrated Gyro data Plot shows Y-axis data wrong, but quaternion looks ok. If you inspect the accuracy figures, it shows data is accurate, but in fact its wrong.
One more thing to note, calibrated magnetometer accuracy is same as the quaternion accuracy.
The accuracy parameter provided seems no use as we see reliable data while accuracy is zero (this is my understanding, I might be wrong too).
This observation shows there are bugs in the code ?
Please provide some tech support on this issue asap.
Thank you