Well, there's in fact a problem with the gyro and acel correction vector calculation.
The correction vectors for the first KCeptor should be:
<calibration type="offset" target="gyro">
3 -7 -2
<calibration type="offset" target="acel">
-545 161 -72
Could you try them with the KCeptor and tell me how it went?
These values can be found by reading the dump as a CSV and averaging each of the columns. Since the sensor is facing up the gravity value has to be subtracted from the acelZ. The raw 16bit value for the gravity in this case is
The order of the columns is :
[time] /KCeptor/address, gyroX, gyroY, gyroZ, acelX, acelY, acelZ, magX, magY, magZ