SensorMeter is a free for following sensors:
- Accelerometer
- Gyroscope
- Magnetometer
- Device Motion (Gravity, User acceleration, Magnetic Field, Rotation, Attitude)
- Motion Activity
- Pedometer
- Altimeter
- Location
- iBeacon™ Proximity
- Eddystone™ Proximity
- Battery
- Microphone

It is a Free.
Using this tool Record all sensor or specific sensor data and share it via itunes file sharing and it can be save in .xls or .csv file format which you want to prefer.

Also this tool provide all sensor data in one file and each sensor data in separate file with specific timestamp.
Please note that continued use of this app can decrease your battery life.

For more details about SensingKit, please refer to www.sensingkit.org,