All the loveable characters are back — Alex the lion, Marty the zebra, Melman the giraffe and Gloria the hippo, King Julien, Maurice and the penguins — in “Madagascar: The Crate Escape.” Left marooned on the distant shores of Madagascar, the New Yorkers have hatched a plan so crazy it just might work. With military precision, the penguins have repaired an old crashed plane — sort of.