The reson why you are getting the penguin upon connecting to pc is due to the battery not being charged enough. You need to take the battery out, plug it into the wall charger for at least an hour. (It may begin the boot loader without the backlight on, but this will eventually just turn back and you will get an orange light and it will charge)

Do not turn the phone on.

After leaving for at least an hour try plugging into the pc again WITHOUT TURNING PHONE ON FIRST. I kept doing this and it took me ages to realise why it wasn't working.

When it then is picked up by the pc you can use the flasher commands. I used this for the first time yesterday and managed to work it succesfully, so it can't be that hard. There is a good readme file on it and there has been posted up already the exact thing you need to type in to flasher.