Dear Vivalaschwa,
If it makes you feel better, I actually got slightly lower scores than you did (610V/720Q), and I was accepted at Berkeley (although I didn't apply to Penn). In addition, my GPA was slightly below average as well (3.7 compared to Berkeley's average 3.8).
At the end of the day, numbers just aren't the most important part of your application. From what I can tell, your statement of purpose and recommendations carry the most weight in the admissions process. So I agree wholeheartedly with what everyone else on this thread has said. Don't worry about taking the test again; it will just stress you out (or if you're at all like me, you'll just get really pissed off :-)
Hope this helps.