[MPU6050_DMP6] What is the unit of the output from dmpGetLinearAccelInWorld()

Other Hardware Sensors
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Hi Everybody,

I'm a beginner with arduino. Currently I am using MPU6050 to get the linear acceleration from it. I used I2Cdev.h from Jeff Rowberg and open example sketch named "MPU6050_DMP6".

I want to see the output from these lines of code:

      #ifdef OUTPUT_READABLE_WORLDACCEL
        #ifdef OUTPUT_READABLE_WORLDACCEL
            // display initial world-frame acceleration, adjusted to remove gravity
            // and rotated based on known orientation from quaternion
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
            Serial.print("aworld\t");
            Serial.print(aaWorld.x);
            Serial.print("\t");
            Serial.print(aaWorld.y);
            Serial.print("\t");
            Serial.println(aaWorld.z);
        #endif

and this is my output (the sensor is laid horizontally):

aworld	27	1172	    -23
aworld	45	1190	    -49
aworld	46	1189	    -51
aworld	22	1141	    -44
aworld	-6	1099     -1
aworld	0	1092	    55
aworld	27	1139     43
aworld	68	1196	    16
aworld	72	1215	    -31
aworld	23	1175	    -34
aworld	-19	1128	    -6
aworld	-35	1090	    35
aworld	-7	1085	    80
aworld	39	1109	    82
...

I am quite confused about this! what is the unit of these number? and how can I convert it to m^2/s or g?

my offset calculated from callibration

    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(6);
    mpu.setZAccelOffset(1262);

Thank you very much