States                            Units    Index
Orientation (quaternion parts)             1:4  
Angular Velocity (XYZ)            rad/s    5:7  
Position (NAV)                    m        8:10 
Velocity (NAV)                    m/s      11:13
Acceleration (NAV)                m/s^2    14:16
Accelerometer Bias (XYZ)          m/s^2    17:19
Gyroscope Bias (XYZ)              rad/s    20:22
Geomagnetic Field Vector (NAV)    µT       23:25
Magnetometer Bias (XYZ)           µT       26:28

info = struct with fields:
               Orientation: [1 2 3 4]
           AngularVelocity: [5 6 7]
                  Position: [8 9 10]
                  Velocity: [11 12 13]
              Acceleration: [14 15 16]
         AccelerometerBias: [17 18 19]
             GyroscopeBias: [20 21 22]
    GeomagneticFieldVector: [23 24 25]
          MagnetometerBias: [26 27 28]