SparkFun BasicAHRS_I2C giving unstable readings SparkFun BasicAHRS_I2C giving unstable readings.

I am using the SparkFun Arduino Sketch from here.

It is giving me these results:

X-acceleration: 91.43 mg Y-acceleration: 249.51 mg Z-acceleration: 1042.05 mg 
X-gyro rate: -0.549 degrees/sec Y-gyro rate: 0.557 degrees/sec Z-gyro rate: 1.595 degrees/sec
X-mag field: -164.35 mG Y-mag field: -240.16 mG Z-mag field: -20.73 mG
Temperature is 27.9 degrees C


and then the next result (when MPU9250 is still) is:

X-acceleration: 91.49 mg Y-acceleration: 252.75 mg Z-acceleration: 1039.49 mg 
X-gyro rate: -0.076 degrees/sec Y-gyro rate: -0.130 degrees/sec Z-gyro rate: -0.008 degrees/sec
X-mag field: -175.07 mG Y-mag field: -222.24 mG Z-mag field: -27.64 mG
Temperature is 27.9 degrees C


Notice how the temperature has remained constant, acceleration has remained constant (although im not why there is a reading if the MPU9250 is stationary) and the mag field is fairly close. However, the Gyro values are not close.

Could I have a bad MPU9250? 

I am using the Mega.

Edit: Added a complementary filter from here, however they have not added a comp filter for the z value as can be seen from my screenshot of the serial monitor: 



I think this is because they have the MPU6050 and not the MPU9250. I believe the MPU9250 has the magnetometer which can be used to 'help' the drift? 

How could I use the magnetometer to help counter the drift? 

End goal: rotate a gameobject in unity with the MPU9250 with minimal drift and maximum accuracy.
If you haven’t noticed the difference in the two is minuscule. 
For example, the change in degree is &lt;1. Also the acceleration is measured in g’s which is acceleration due to gravity. The data says the measures are in mg which is 0.01g. 
This is normal with accelerometers and all sensors when they pick up residual voltage from random vibrations or other sources of noise. It also could be with the error margin within SparkFun’s product since the product is more on the lower end of quality which once again is normal. 
TLDR: everything is working fine.