Reading/Manipulating raw data from 3D Orientation Sensor

We are working on a project, which Uses a 3D Orientation sensor attatched to a device. Our goal is to get the sensor to communicate with the Arduino, and activate a switch within a certain set of paramaters.

We want to identify specific data points using a 3D Sensor. [Pitch, yaw, etc.]
And we're having trouble pulling the raw data from the sensor and getting Arduino to read it.
here is the link to the spec sheet of the sensor we're using. - Inertial Labs Digital 3D Orientation and Tilt Sensors | OS3D | Low-Cost MEMS

Our team has minimal experience in coding, and we are using Blockly in order to write the basis of the code.
Any help would be greatly appreciated, thanks.