New to these devices (MPU9150)

How does one convert from the Gyro_X,Y, Z and ACCEL_X, Y, Z and the Comp_X,Y,Z to traditional heading, tilt, acceleration in meters per sec do you have any appnotes or example code? It may be on the website but, I might not know where it is. I am a hardcore embedded guy, but these mems devices are new to me.

I am waiting for real hardware so, I started with the 9150 eval board InvenSense Universal Data Logger and was hoping to work out the software details while waiting for hardware to arrive. I would rather use the raw values then the DPM for my specify needs.

For example the register spec nicely describes...

Temp = (Raw Temp)/340+35

I don't see anything similar for heading, tilt and acceleration. It could be I am looking in the wrong place (I am hoping there is an app note or similar that I am not finding).

Thanks in advance,
Aaron