--Got a full line of data (as text) read from IMU by changing the termios c_cc[VMIN] in razor-imu.cpp to 143 (this value sets the minimum number of bytes per read).  However, I don't think this is a workable permanent solution, as the number of bytes on a line will change as the values change.  I wasn't able to figure out a method to tell the read to continue until it hits a newline.
--I think it's better to get the data from the IMU into emperor as binary (floats) and then deal with displaying/manipulating the data from there.  I think it will still be easier to send the data from the rover (emperor) to seykhl (and the log files) as text, since that's what I already have set up.
--Have IMU outputting data as 12x floats.  Currently working on getting data into emperor in binary format, following closely with RazorAHRS.cpp.  Have imu_fd as global var opened in razor-imu.cpp, need to implement _input_pos similarly in order to get _read_token working.