The arduIMU serial.prints the euler angles.
Using what code? Can you alter it?
If the current code looks something like:
Serial.print("!ANG");
Serial.print(roll);
Serial.print(",");
Serial.print(pitch);
Serial.print(",");
Serial.println(yaw);
Then, it is possible to use the ! as the start marker and the carriage return as the end marker.
If you can't determine the format of the output, then you need to print the incoming data, in character and HEX mode, to figure out whether the data is delimited by a carriage return, a line feed, or both.
Once you have the data in an array, then strtok() and atof() can be used to parse and convert the data. The assignment operator can be used to store the value in the appropriate variable.