MPU9150 increase output data rate


I am a newbie. I am trying to increase the output data rate from a MPU9150 IC. I am using I2C over an Arduino pro mini 3.3 V 328 P 8Mhz. I am currently sampling at 18 milliseconds and I would like to sample at 3 milliseconds. If 3 milliseconds is not possible then next best sampling rate would be 10 milliseconds. The link to the data sheet for MPU 9150 is as follows.

I am using the code on sparkfun site (github).

Please help.