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second attempt https://github.com/pioneerspacesim/pioneer/pull/2642

compare:
![screenshot-20140409-162718](https://cloud.githubusercontent.com/assets/1929111/2656567/6b4758e8-bff3-11e3-8426-bd2e78bc56c6.png)
![screenshot-20140409-162320](https://cloud.githubusercontent.com/assets/1929111/2656566/6b43667a-bff3-11e3-9ab4-b13f451e4b2f.png)

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![screenshot-20140409-162711](https://cloud.githubusercontent.com/assets/1929111/2656576/7b19704e-bff3-11e3-9248-205c4f6ccc0c.png)
![screenshot-20140409-162306](https://cloud.githubusercontent.com/assets/1929111/2656575/7b133904-bff3-11e3-97f1-226fe52f969e.png)

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![screenshot-20140409-162636](https://cloud.githubusercontent.com/assets/1929111/2656634/e1d90650-bff3-11e3-930a-0739a2130c64.png)
![screenshot-20140409-162241](https://cloud.githubusercontent.com/assets/1929111/2656633/e1d606da-bff3-11e3-9df7-e6b591636843.png)

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![screenshot-20140409-162624](https://cloud.githubusercontent.com/assets/1929111/2656651/f46e4d5c-bff3-11e3-90de-e6644e044dcd.png)
![screenshot-20140409-162255](https://cloud.githubusercontent.com/assets/1929111/2656650/f4694a8c-bff3-11e3-9c10-f08a924bc101.png)

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![screenshot-20140409-162537](https://cloud.githubusercontent.com/assets/1929111/2656659/09715ce4-bff4-11e3-8420-fb53e4fa6e44.png)
![screenshot-20140409-162235](https://cloud.githubusercontent.com/assets/1929111/2656658/096e7934-bff4-11e3-818a-dbb6aa628dbd.png)