We collected a set of IMU data using the OpenIMU Monitor. As is shown below, the first 3 records are

time(msec) xAccel(m/s^2) yAccel(m/s^2) zAccel(m/s^2) xRate(deg/s) yRate(deg/s) zRate(deg/s) xMag(Gauss) yMag(Gauss) zMag(Gauss)
3116788 0.10096409 0.05536849 -9.80539131 0.19742064 0.02953715 -0.0354982 -0.32531378 0.12728828 0.26502749
3116808 0.09744224 0.06384346 -9.78231049 0.24032533 0.01639544 0.04795817 -0.32519966 0.12718593 0.26505348
3116828 0.09465811 0.05449471 -9.80968094 0.23684706 0.09931394 0.08741789 -0.32484376 0.12721622 0.26501927

It is found that the average angular rate has a big bias, e.g., Gx=870Deg/Hour, while we expect the total value should be near 15 deg/hr.

My questions are: are the IMU data collected compensated? If not, do you have an option to output compensated IMU data? Can the IMU data be used to derive azimuth?

Thanks in advance for your answers.