Input sensor data format for Pose Estimation From Asynchronous Sensors

Hi,

I'm working on this example - Pose Estimation From Asynchronous Sensors and I want to add my own sensor data through .mat file but I'm stucked in sensor data format.

So,

Accelaromaeter data is in g or in m/s^2 ?

Gyroscope data is in deg or in rad/sec ?

mag data is in is in ut, gauss or miligauss ?

gps latlong it is in degrees or in rad ?

Thnaks in advaced for help.