These numbers are steps per millimeter. So if your X number is 130, that means the software will issue 130 steps to move 1 millimeter, or 1300 steps to move 10mm. If you print a 10mm cube and find out that it's 10.5mm large in the X direction, that means you moved too far; you had too many steps. So 1300 steps was too many.
Correct it by taking the fraction of the desired distance over the measured distance, and multiplying by the steps per mm.
I think of it the easy way: I know I need a fraction, and I know the number needs to be smaller, so I put the smaller number on top: (10.0 / 10.5) this gives me 0.9524. So now I multiply 130 X 0.9524 and I get 123.81. That will be my new steps per mm.
There is a web-based calculator that will give you correct starting numbers for your calibration, based on the belts you are using, etc. See this post for a link and Printrbot-specific settings.
viewtopic.php?f=16&t=3924&hilit=+prusa