Changes for test #57

-	New fix in VerticalControl that un-wedges mass 
-	DVL update to clear velocity good flag
-	Verbose DAT values
- 	Oneway command implemented for DAT




- Drive outside of 1km.
- Transit vehicle to 36.8144,-121.827


- 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 oneway set to 50m (then 100). 

- 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



At night: keepstation at 36.8154, -121.869 (N. Standby)



DOCK LOCATIONS AND RUN INFO:


-- Tues --

Run #1: HDG: 090  LOC: 36.82312 , -121.82771
Log: 20120124T234910
Rot offset: 0.0
Min Range: 


Run #2: HDG: 090  LOC: 36.82332 , -121.82817
Log: 20120124T234910
Rot offset: 0.0
Min Range: 5.5m


--Wed --

Run #3: HDG: 34  LOC: 36.82316, -121.82782
Log: 20120125T195038
Rot offset: 0.0
Min Range: The vehicle appeared to go north instead of south??
The dock swung around to 135-150 by the end of the mission.
Dock HGD 137 at 13:20, so we sent the vehicle 500 m out on the reciprocal
heading. 


Run #4  HDG: 145 LOC:36.82314, -121.82776 
Log: 20120125T215534
Rot offset: 0.0
Min Range: 2.3m


Run #5  HDG: 145 LOC: 36.8231 , -121.82771
Log: 20120125T222417
Rot offset: 0.0
Min Range: Ran with oneway. Reported as 1m. Way off as vehicle was 500m SSE. 


Run #6  HDG: 145 LOC: 36.8231 , -121.82771
Log: 20120125T225457
Rot offset: 0.0
Min Range: Ran with oneway. Reported as 1m. Way off as vehicle was 500m SSE. 


Run #7  HDG: 145 LOC: not logged
Log: 20120125T230650
Rot offset: 0.0
Min Range: 1.8m - ran without oneway


-- Thur -- compass cal ran in morning

Run #8  HDG: 237 LOC: 36.82324 , -121.8277
Log: 20120126T184019
Rot offset: 0.0
Min Range: 2.7m - ran with oneway @ 25m


Run #8  HDG: 140 LOC:
Log: 20120126T215604
Rot offset: 0.0
Min Range: homing failed - ran with oneway @10m


Run #9  HDG: 140 LOC: 36.82316 , -121.82765
Log: 20120126T224320
Rot offset: 0.0
Min Range: 1.5m


Run #10  HDG: ~140 LOC: ? same?
Log: 20120126T233605
Rot offset: 0.0
Min Range: 1.5m