Changes for test #55

-	New fix in VerticalControl that un-wedges mass 
-	DVL update to clear velocity good flag
-	Verbose DAT values
-	Notifications from GUI
-	CTD turned on




- launch outside of 1km.
- Command vehicle to 3km.

- run Maintenance/dat_on.xml
2012/01/17 12:32:44.535 sbdSend, command Id: 33647, index: 0, (run Maintenance/dat_on.xml), name: tethys_033648.sbd, bytes: 36

- query dock for heading by running Maintenance/dat_on.xml or by querying the modem with the command: "compass". Clear the output by typing ctrl-d. 

- run homing_altitude with no final approach on reciprocal course obtained in step above (e.g. dock heading is 360, run vehicle 180 degrees into dock)


- If homing works, run homing_altitude with dockBearing set to DAT.DockHeading value and use final approach.


*** Record dock location and heading at the beginning of each homing run. Location is shown at this website:
http://share.findmespot.com/shared/faces/viewspots.jsp?glId=0phAUHyXKzGp4mZzmqtTZSo2k6N6JcUyv


at night: keepstation_3km.xml at:  36.8154, -121.869



onboard DAT @rotation value == 281.0



DOCK LOCATIONS AND RUN INFO:

Run #1: HDG: 133   LOC: 36.82327 , -121.8277
Log: 20120117T191807
Rot offset: 0.0
Min Range: