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Some thoughts, may be right, may be not.
Some (nicer) IMUs will have a different coordinate system and you should make sure to check the docs, and I think this is what you may be seeing here. IMUs report things in the inertia frame of reference, so +Z is anti-gravity direction which is pretty much the opposite as most would think. If you're saying that the Y axis seems to be flipped, that's makes me suspect that the frame is actually rotated 180 about the X axis so that the Y is opposing and the +Z is in the "intuitive" direction meaning _proper_ acceleration vs. acceleration.
Sidenote: That's a very very nice IMU which comes with an extremely powerful SDK, I hope you're making good use of it and not just fusing the raw output to R_L :-)
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