Hey Jet, thank you for the answer. I don't mean the raw-data but the status/accuracy value (integer from 0 to 3) for both modes, IMU and NDOF with FMC. In IMU-mode we are checking that the accuracy of accel and gyro is 3 and ignore mag, in NDOF_FMC we are checking the accuracy of all 3. Why does the magenetic field matter when in IMU-mode, we understand it that way, that the magnetic field is not involved in the calculation of the values in IMU-Mode. The device is moved minimally, ~ about half a meter, without which calibration is not possible. Thank you, we'll write a short program to check the raw data, like you proposed.
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