Upon further review, the following seems to be the intended way to add records (that uses the AirpressConnect::create() method from above). The benefit of this method is you actually get a record object of the newly created record.
$record_data = array(
'Some Column' => 'Your data',
'Another Column' => 'More data',
);
$query = new AirpressQuery( 'YOURTABLE', 'YOURCONFIG' );
$collection = new AirpressCollection( $query, false );
$new_record = $collection->createRecord( $record_data );