# How to read Xsens IMU output values (measurement unit)

Hi to all,

I'm using a xsens MTI-10 IMU sensor (the orange version) and I would like to know how to read the output values.

For example, I get these kind of readings:

```
header:
seq: 620
stamp:
secs: 1466618458
nsecs: 864463090
frame_id: /base_imu
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
orientation_covariance: [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
angular_velocity:
x: 32650.0
y: 32783.0
z: 32780.0
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: 33146.0
y: 35201.0
z: 36234.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
```

How do I have to read these numbers (for example, x: 32650.0)? Are they radiants or degrees?

Can you help me, please?

Thank you!!

may be, they are only raw data and then I need to convert them in order to obtein the correct values? If so, I can't find the conversion formula..