You might want to look into how DC motors work, as you've given vastly insufficient info to give an answer.
FYI, loads on DC motors on given in terms of Torque, which are linear forces acting on a given radius. Your 150 Lb load could mean any amount of torque, depending on the radius.
Second, the speed of the motor is linearly dependent on the applied input voltage; for the FRC, this is typically variable from -12 to 12 VDC.
Last, the typical free speed for the CIM motor at 12V DC is 5310 RPM, +/- a few percent, with a normal operating speed of 4320 RPM.
Andymark's documentation can be found here:
http://files.andymark.com/CIM-motor-curve.pdf
You're welcome to recalculate the load and do the math yourself, or repost your torque measurements here if you need some additional help or resources.