A free app for Android, by Michael L. Braun.

The Sensor Recording app will provide you with all the information about the sensors installed in your smartphone.

It provides an easy way to get to know what your phone can measure. All you need to do is to download the app and then install the hardware sensors you want to measure. Afterwards, you can start recording your measurements. All you need to do is to open the app and select "Start recording". You will be able to see the values in a table or graph.

Moreover, the Sensor Recording app allows you to save your data as a csv file for possible further analysis.