- launch outside of 1km.
- Command vehicle to 3km.
- Command vehicle to perform compass cal



- 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



At night:
- keepstation at  36.8154, -121.869


DOCK LOCATIONS:
Run #1: 36.81284 , -121.81927
Log: 20111207T191911
good data


Run #1.5
Log: 20111207T210130
stopped almost immediately after starting????


Run #2: 36.81287 , -121.81926
Log: 20111207T215208
good data


Run #3: 36.81289 , -121.81932
Log: 20111207T222213
went wrong way