def gyroWordToFloat(word):
    """Converts the 16-bit 2s-complement ADC word into appropriate float.
    
    Division scaling assumes +-250deg/s full-scale range.
    
    Args:
        word - 16-bit 2's-complement ADC word.
    Return:
        float
    """
    if word & 0x8000:
        return float((word ^ 0xffff) + 1) / 131 * -1
    else:
        return float(word) / 131