It's all in the specsheets, which are at
http://www.usfirst.org/robotics/2006/2006specsheets.htm
Keeping in mind that the analog signal is between 0V and 5V, and the specsheets mention (on the third or so page) the info in units of <unit of acceleration or angular velocity>/V you can determine what analog value corresponds to which.
Keep in mind that it might not use the whole range of 0-1024 (or whatever the range is depending on how many bits of precision you get.) You just need to analyze the specsheet
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