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How do I get the IMU to use the NED reference frame?

I'm not quite sure if the imu orientation_reference_frame is the correct thing to set, but I've set my IMU to use the following options. When testing, I've noticed that the IMU is not outputting in a NED reference frame. A counter clockwise rotation about Z is positive when it should be negative in the NED frame. Also, the accelerometer is reading +9.8 at rest when it should be -9.8 in a NED reference frame.

 <sensor type="imu" name="imu_sensor">
            <localization>NED </localization>

I've also set these world settings: