LSM9DS1 A 9 degree of freedom Inertial Navigation Chip

Tab made it post so I'll try again

	                     X	                             Y              	Z	                 atan2(z,x)	atan2(z,y)
Acceleration	-0.000249863	0.003465652	1.000553131	-0.014308162	0.198456693

sin(theta)	cos(theta)	sin(phi)	cos(phi)
-0.000249725	0.999999969	0.003463716	0.999994001

           X1	                     Y1                	Z1	            X2	          Y2	              Z2
-0.000249863	0.003715515	1.000552234	0.003215767	0.003715515	1.000546232

Preview takes out the spaces that I tried to make the headings line up.
Better examples to follow.