How to log EKF data for offline use?


I need to log the X,Y & Z accelerations (described in the inertial frame) and angular velocities & accelerations (p, q, r and their time derivatives) for offline analysis. I am using a Pixhawk equipped with Copter 3.3 firmware.

The only data available in Dataflash logs are raw sensor data, which are very noisy. But as I have read in the Ardupilot documents, Arducopter uses EKF to estimate the status of the vehicle, and among the estimated variables are the accelerations & angular velocities.

Can I somehow log these data for offline use?