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I typically do store these things in a VCS, but then in a special package that only contains that (those) file(s).
If you then include the serial nr (or something similar) in the name of the file, it's clear that those parameters are for that particular device.
The only thing you have to do now is add something to your launch file (fi) that loads the file and initialises your IMU with the parameters.
As an example: in my lab we have a package specifically for Kinect (v2) calibrations, called iai_kinect2_$labname_calibration_data, which contains the calibration for several of our Kinects. The launch files that tie our setups together then load the appropriate one.
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