Changes for test #56

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




- Drive outside of 1km.
- Run Maintenance/dat_on.xml and verify DAT data returns to shore. 


- 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




onboard DAT @rotation value == 281.0



DOCK LOCATIONS AND RUN INFO:


Run #1: HDG: 355   LOC: 36.82345,-121.82819
Log: 20120120T163905
Rot offset: 0.0
Min Range: ~39


Run #2: HDG: 330   LOC: 36.82345 , -121.82817
Log: 20120120T181903
Rot offset: 0.0
Min Range: went wrong way


Run #3: HDG: 330   LOC: 36.82347 , -121.82817
Log: 20120120T181903
Rot offset: 0.0
Min Range: 35m


Run #4: HDG: 335  LOC: 36.82344 , -121.82819
Log: 20120120T195811
Rot offset: 0.0
Min Range: 33m


Run #5: HDG: 350  LOC: 36.82343 , -121.82814
Log: 20120120T204626
Rot offset: 0.0
Min Range: 33m


Run #6: HDG: 070  LOC: 36.82332 , -121.82814
Log: 20120120T211834
Rot offset: 0.0
Min Range: 35m


Run #7: HDG: 090  LOC: 36.82328 , -121.82793
Log: 20120120T211834
Rot offset: 0.0
Min Range: 33m