Android :: Definition Of Sensor Event Rotation Angles

I'm trying to figure out exactly how to interpret the rotation angles produced by a Sensor Event for Sensor.TYPE_ORIENTATION. Unfortunately, the documentation (http://developer.android.com/reference/android/ hardware/Sensor Event.html#values) doesn't give a complete definition of it. It defines what the axes are, but doesn't specify what order the three rotations are applied in, nor whether the later rotations are around transformed or untransformed axes. Without knowing that, it's impossible to know what the actual rotation is that's being described.