The CHR-6d development kit makes it a lot easier to get data off the CHR-6d IMU quickly. The development kit should have come with an IMU, a dev. board, an RS-232 cable to connect to your computer, and a wall-wart power supply (see the picture below - note that the power supply actually came with a bunch of adapters to make it compatible with international outlets).
Once you have the development kit, getting data off the IMU is simple. Plug the IMU into the dev. board, and then plug in your power supply and the RS-232 cable. The TX light on the dev. board should light up - the IMU is sending data over the serial port.
To visualize the data and configure the IMU, you'll want to download the IMU Configuration Software from http://www.chrobotics.com/downloads. There is no installer for this software - it is just an executable and a couple DLLs. To run it, unzip the program into a folder and run the executable.
Once the software is loaded, you need to connect to the IMU. Select the COM port that the RS-232 cable is connected to (could be a USB-serial adapter), leave the baud rate at 115200, and hit the green connect button. As shown in the above image, you should see some blue text and some green text in the bottom left-hand corner of the screen - the blue text tells you what packets the configuration software has sent to the IMU. The green text tells you what packets have been sent to the config. software by the IMU. If you see both green and blue text after you connect, then you are talking to the IMU! Hit the little pencil icon on the top of the screen to start plotting data.
Its really as easy as that... If you don't have the dev. kit, then you'll need to supply the IMU with a stable 3.3V supply voltage yourself. Then, you'll need to rig up some kind of a level shifter to connect the TTL UART to your PC.