fixed error in DVL kalman filter and added sonar navigation
Merge branch 'vehicle_refactor_2014' of https://github.com/rajaths/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014
Merge branch 'vehicle_refactor_2014' of https://github.com/rajaths/tortuga into vehicle_refactor_2014

Conflicts:
	packages/python/ram/ai/new/testing.py
Merge branch 'vehicle_refactor_2014' of https://github.com/tortugaRAM/tortuga into vehicle_refactor_2014
merged in changes from robot into shuttle
indentations fixed
indentation fixed
Updated ChrisPipe so it doesn't spew stuff. updated Transdec2014.yml
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014

Conflicts:
	tools/simulator/data/config/ai/default_state.yml
Merge branch 'vehicle_refactor_2014' of https://github.com/katzchen/tortuga into vehicle_refactor_2014
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014
Modifications to yml for full course, modifications to sonarNavigation, added manip release to sonar2014
Conflicts:
	tools/simulator/data/config/ai/default_state.yml
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014

Conflicts:
	tools/simulator/data/config/ai/default_state.yml
file is merged, git
Merge branch 'vehicle_refactor_2014' of https://github.com/tortugaRAM/tortuga into vehicle_refactor_2014
Merge branch 'vehicle_refactor_2014' of https://github.com/erudnick-cohen/tortuga into vehicle_refactor_2014
Changed bin reference location to environment variable
updated Yml to include safe detector info
Merge branch 'vehicle_refactor_2014' of https://github.com/katzchen/tortuga into vehicle_refactor_2014
Various config changes and fixes.