Bno055 Euler Angle formula with i2c

Hello,

I'm currently attempting to output euler angles from my bno055 sensor. I was following a tutorial on how to connect a tmp102 temperature sensor using an arduino and they developed a formula for finding temperature(seen below). I have the current TMP102 data sheet open and cannot understand how this formula was created. I'm attempting to recreate a formula for determining current euler angles of my sensor and would appreciate any understanding or rationale behind how these formulas are made. If it helps, heres data sheet Im referencing for bno055: https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf . Thanks!

write(BN055, 0, 'uint8');
   data = read(BN055, 2, 'uint8');
   Temeperature = (double(bitshift(int16(data(1)), 4)) + double(bitshift(int16(data(2)), -4))) * 0.0625
   
   %%goal%%
   write(BN055, 0, 'uint8');
   data = read(BN055, 2, 'uint8');
   EulerAngle = ' ... '