Final changes on BTS. Testing and Colentum site working setup. USBL  changes for init requests and pladypos diver corrections.
Changes to the diver_sim application and labust_uvapp dependencies.
Merge branch 'pladypos_bts2013'
Update acoustic_vr.cpp
Moved the logger and imu applications into separate packages. Added more flexibility to the logger. The full logging order and types are now specified in yaml files and not hardcoded into the logger. Removed dependencies on the ImuInfo custom message and replaced it with the standard multi-array message.
Added the control and navigation packages that will contain currently dispersed controllers and navigation nodes. Started work on package api documentation.
Update acoustic_vr.cpp

Added: second WP is target and the first WP is point 5 meters north and east from the current position.
Merge branch 'node_filtering'
Update acoustic_vr.cpp

Update of WPs on every target position change
Removed dependencies on labust_base where it was possible. Moved the HLManager from cart2 to labust_control and filtered the cart2 package. Merged the logger and imu sensor changes from a different branch. Imported new header files into the snippets library.
Ported the state estimation filters to the Eigen library and moved them into the repository. Created the surface navigation node with the updated state estimation for testing.
Merge branch 'master' of https://github.com/labust/labust-ros-pkg
Added new configuration files for testing updates to the simulation, navigation and logging code.
Correction to the acoustic_vr interface to avoid singularity in solutions.
Updated configurations for the simulated thrust allocation.
Updates to the acoustic_vr and aided navigation dependencies. Added the improved pidtoolkit2 for C/C++ applications. Imported the updated fa-DP and simple line-following controller into the labust_control. Changed the ldtravocean navigation filter to use the Eigen library and removed labust_base dependencies.
Added the diver camera view to the UWSim simulation. Changed the uwsim configuration to use the new uwsim groovy package. Extended the kinematic diver simulator with transform frames. Updated the statehat2uwsim adaptor node. Upgrades to the acoustic virtual reality node.
Correction to the MatrixLoader function order to allow compilation on gcc-4.7+. Replaced orocos_kdl dependencies with the kdl_conversions in packages.
Added the identification node actionlib server. Started working on a petri-net based mission execution controller.
Added new graph drawing and firing sequence calculation to the Petri-Net controller. Corrected the acoustic_vr logging bug.