More to be written later, but just a quick note:
If you wish to make yoghurt using .1% fat milk, then be prepared for a healthy breakfast snack the texture of raw egg white mixed with snot.
Disgusting, but true. Sadly, I had to eat my cereal sans yoghurt this morning.
Update: I added gelatine to the yoghurt. It turned the consistency of slightly firmer snot. I threw it out.