3 0 Body-frame inertial observation. Payload offsets are time_us 0, angular_rate 8, acceleration 20 and temperature 26. Payload length is 28 bytes, extra CRC 22. Flight-controller monotonic acquisition time in microseconds. Body-frame acceleration in milligravity. Body-frame angular rate in milliradians per second. Preserves the full MPU6000 plus or minus 2000 degrees per second decoded range. Sensor temperature in centidegrees Celsius.