v3.2.1

#61 Don't crash TestRunner if there is an error during require_utilities()
#63 Creating interfaces with the same name does not cause an error
#64 Launcher RUBYW substitution broken by refactor
#65 CmdTlmServer ensure log messages start scrolled to bottom on Linux
#66 Improve graceful shutdown on linux and prevent continuous exceptions from InterfaceThread
#70 ask() should take a default

Migration Notes from COSMOS 3.1.x:
No significant updates to existing code should be needed. The primary reason for update to 3.2.x is fixing the slow shutdown present in all of 3.1.x.