what means these information about offset

I am use ATAVRBIN2 (IMU3000+ KXTF9+HMC5883) for 6 axis fusion.

With Python demo, i find when it have an accurate calibration, the drift in yaw axis is very small. But for the displayed information, how can I find the offset of gyroscpe and accelerometer? And what is the Units of gb and gts?

Thanks in advance.


I/uMPL-main:gb: -5.71 -4.64 -1.71
I/uMPL-main:gts: +0.00 +0.00 +0.00
I/uMPL-main:Q: +0.5046 +0.0051 +0.0120 -0.8633 (+1.0000)
I/uMPL-main:GC: +0.00 +0.00 +0.06
I/uMPL-main:AC: -0.02 -0.02 +0.97
I/uMPL-main:T: +23.62
I/uMPL-main:gb: -5.71 -4.64 -1.71
I/uMPL-main:gts: +0.00 +0.00 +0.00
I/MPL-mldl:inv_set_offset(00bb, 0099, 0038); from 00bb, 0098 0038
I/uMPL-main:Q: +0.5210 +0.0017 +0.0133 -0.8535 (+1.0000)
I/uMPL-main:GC: -0.18 -0.37 +0.00
I/uMPL-main:AC: -0.02 -0.02 +0.98
I/uMPL-main:T: +23.61
I/uMPL-main:gb: -5.71 -4.67 -1.71
I/uMPL-main:gts: +0.00 +0.00 +0.00
I/umpl-setup:umplMotionCallback: INV_MOTION
I/MPL-mldl:inv_set_offset(00ba, 0098, 0038); from 00bb, 0099 0038
I/MPL-mldl:inv_set_offset(00ba, 0098, 0038); from 00ba, 0098 0038
I/MPL-mldl:inv_set_offset(00ba, 0098, 0038); from 00ba, 0098 0038
I/MPL-mldl:inv_set_offset(00ba, 0098, 0038); from 00ba, 0098 0038