Merge pull request #33 from simplepanda/devel

Merged devel to master.
Merge pull request #35 from simplepanda/devel

Merged devel to master.
Merge pull request #36 from simplepanda/devel

Devel
Merge pull request #37 from simplepanda/devel

Merged devel to master
Merge pull request #38 from simplepanda/devel

Merged devel to master.
Merge pull request #39 from simplepanda/master

Backwards merge master->devel