attempt to make error and warning message formatting more consistent
- we use ERROR: and WARNING: in util.jl, so might as well use it
everywhere even though I hate the uppercase
- exception messages (passed to jl_error etc.) should generally
not use an explicit ERROR: prefix, as that is implied and may
be added by printing code later
- exception messages should not end with \n (the newline is
formatting, not part of the message)