For what it's worth, I've started a good running 7.3 at below zero with no GP relay. It wasn't all that happy about it but it started, 5-10 seconds, ran smooth after maybe 15-30 seconds.
So, don't spend money on the glow plugs just yet.
And the IDM is in the drivers fender, basically behind the Fseries badge. So I doubt engine heat affects it.
I'd vote injectors/injector o-rings.
The longer you crank, the higher ICP should get, the more IPR DC you should see, as I recall.
I disconnected the IDM on my 02 once when I was lookin for a bent valve, and while I was crankin over with a buddy watching under the VC's, I got to 2000 +/- ICP in about 20-30 seconds.
If you're not seeing that, something's leaking, or not making pressure. IPR, HPOP, injectors.