Programmer to develop IMU/AHRS coding for Phidget Spatial for surgical research

I have been attempting to code and understand the maths to convert my 9DOF outputs from my Phidget sensors into useable values for surgical research. I am trying to create a glove that will track the orientation (and hence) movement of the hand and forearm whilst performing laparoscopic exercises. I have an understanding of the formation of a AHRS and have successfully created a direction cosine matrix and converted this to quaternion. I wish to create a program that fuses the gyroscope/accelerometer/magnetometer of my 2 spatials together (Phidget spatial 1042) micro usb connected to VINT hub then to PC via USB. It needs to have a GUI that allows the setup of testing, so a start / stop button a method of outputting the collected data - this can be to .CSV possibly even a graphical representation of the devices within the GUI (optional - but probably not a requirement). The purpose of the IMU and AHRS - I need to be able to create a reference point then base all rotations from this point. so the devices can ultimately be orientated freely in space but at the start of the exercise a neutral point which becomes the reference frame to base all rotations from. I need to be able to output to .CSV the raw quaternion, IMU modified values for my accelerometer XYZ axis, Euler angles ZYX - these values for both sensors collected at 100ms intervals. Within my sensor glove the devices are orientated at 90 degrees to each other and would related to flexion/extension at the elbow, flexion/extension at wrist, rotation in forearm, abduction/adduction at wrist.