--Created /etc/udev/rules.d/41-my-devices.rules to make fixed aliases for the ttyUSB* assigned to the Razor IMU and GPS.  IMU is now '/dev/RazorIMU' and GPS is now '/dev/GPS'.  This will allow me to use these fixed aliases in my code when accessing the IMU or GPS.  Also discovered that GPS automatically puts out ASCII data at 4800 bps, so just need to read that node (and parse data format).
--Need to think about creating my own data output format for the Razor in the *.ino code...All I should need would be the Yaw angle (heading) and the calibrated sensor data (3x3).