We describe a 3 He-129 Xe comagnetometer using 87 Rb atoms for noble-gas spin polarization and detection. We use a train of 87 Rb π pulses and σ + /σ − optical pumping to realize a finite-field Rb magnetometer with suppression of spin-exchange relaxation. We suppress frequency shifts from polarized Rb by measuring the 3 He and 129 Xe spin precession frequencies in the dark, while applying π pulses along two directions to depolarize Rb atoms. The plane of the π pulses is rotated to suppress the Bloch-Siegert shifts for the nuclear spins. We measure the ratio of 3 He to 129 Xe spin precession frequencies with sufficient absolute accuracy to resolve the Earth's rotation without changing the orientation of the comagnetometer. A frequency resolution of 7 nHz is achieved after integration for 8 hours without evidence of significant drift.PACS numbers: 32.30. Dx, 06.30.Gv, 39.90.+d Spin comagnetometers first introduced in [1] are used for several types of fundamental physics experiments, such as tests of Lorentz, CP and CPT symmetries [2][3][4][5] and searches for spin-dependent forces [6][7][8][9][10]. They also have practical applications as inertial rotation sensors [11][12][13][14][15][16]. When two different spin ensembles occupy the same volume they experience nearly the same average magnetic field [17]. The ratio of their spin precession frequencies f r = ω He /ω Xe can then be used to measure the inertial rotation rate Ω or a spin coupling beyond the Standard Model b:( 1) where B 0 is the bias field alongẑ and γ He , γ Xe are the gyromagnetic ratios for 3 He and 129 Xe, which are well known [18]. Since I = 1/2 nuclear spins are free from quadrupolar energy shifts [19], f r provides an absolute measure of non-magnetic spin interactions-this is particularly important in searches for spin-gravity coupling [20] (where the interaction is hard to modulate), and for use as a gyroscope.An alkali-metal magnetometer provides a natural way to detect nuclear-spin signals because Rb atoms are already used to polarize the nuclear spins by spin-exchange collisions; these collisions enhance the classical dipolar field from the nuclear magnetization by a factor κ 0 [21], which is about 5 for Rb-3 He [22] and 500 for Rb-Xe [23]. However, the presence of polarized Rb atoms also causes large noble-gas frequency shifts that affect the accuracy of Eq. (1). In the past, these frequency shifts have been avoided in 3 He-129 Xe comagnetometers by detecting a smaller dipolar field outside of an alkali-free cell using an RF coil [24] or a SQUID magnetometer [25].In this Letter we describe a new method for operating the 3 He-129 Xe comagnetometer using 87 Rb readout with high sensitivity and accuracy. We develop a 87 Rb magnetometer that can operate in a finite magnetic field of about 5 mG while suppressing Rb-Rb spin-exchange relaxation to increase the magnetometer sensitivity. It