A logger App that can measure acceleration, gyroscope, and magnetic field synchronously, then export as a CSV file.
The measured values can be visualized in real-time by enabling "Realtime visualization". On the other hand, when you want to measure at a more accurate frequency, disabling "Realtime visualization" is preferred.
Also, if the sampling rate is set too high, the same value may be sampled many times depending on the hardware specifications.