- launch outside of 1km.
- Command vehicle to 3km. 
- install modem mooring and activated float at approx 36.8134,-121.8224
- Command vehicle to ballast and trim
- update control with new ballast/trim info


- run Homing.xml starting from nearby 3km.Record float location at the beginning of each homing run from website:
http://share.findmespot.com/shared/faces/viewspots.jsp?glId=0GL7XU0S3qFokh72bUZIXjXd0M4xOpqTc 

If it drives to the waypoint (i.e. doesn't home)
- run transit 3km
- set homing.clusterRadius to 100m and final approach to 200 m and run again. 
- Assuming it homes, continue running back to 3km and then run homing.xml cutting cluster radius in half each time


If it drives to the modem (i.e. it homes)
- run transit 3km
- run homing.xml again and transit back to 3km afterwards
- run homing_altitude.xml