--Debugged problems with getting IMU thread to run and log data back on seykhl.  Logging is now functional.
--Added a usleep into the emperor_run_imu thread to get ~10 IMU updates/sec on seykhl.  Have the usleep set at 80000, which seems to be very close to where it needs to be for updates at 10 Hz.  Still may need to tweak this some more.
--In addition to (or possibly instead of) using the usleep, I started looking into how to timestamp the data coming off the IMU.  Still trying to figure out if there is a real time clock on the IMU, and if so, how to access it.  If there isn't a RTC on the IMU, maybe I can timestamp it when it arrives on the Gumstix.
--Did some more research into methods of turning the IMU data into position data.  I have a few more papers to read on this.  Right now I think I might be able to do at least the first integration (acceleration to velocity) on the IMU, and then finish on the Gumstix (which would allow me to also use the GPS data the Gumstix will get).