Check out these videos from Paul Irish on using console effectively:
http://www.youtube.com/watch?v=4mf_yNLlgic
http://www.youtube.com/watch?v=nOEw9iiopwI
Since you are an emacs user, you may want to try mooz's community fork of Yegge's js2-mode https://github.com/mooz/js2-mode
Haven't tried it myself, but you may also want to look at Moz Repl in emacs. http://www.emacswiki.org/emacs/MozRepl
Finally, check out Christian Johansen's and Magnar Sveens .emacs.d for some ideas on how to set up your emacs for javascript.
https://github.com/magnars/.emacs.d
https://github.com/cjohansen/.emacs.d
For TDD, you 3 main options worth checking out are: Buster.js looks really promising and does both server-side and client-side testing.
If you don't like buster.js for whatever reason, Mocha is a popular node.js server-side testing option and Jasmine is a popular client-side testing option.