- launch outside of 1km.
- Command vehicle to 3km.


- 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


onboard DAT @rotation value == 287.8


DOCK LOCATIONS:

Run #1: 36.81394 , -121.82381 - Homing (stock)
Log: 20111212T183653
Good homing to 7m range at high tide


Run #2:  36.81362 , -121.82379 - Homing_altitude (stock)
Log: 20111212T201756


Run #3:  - Homing_altitude (50m cluster radius)
Log: 20111212T211150


Run #4:  - Homing_altitude (-10 degree approach)
Log: 20111212T211150


Run #5 36.81365, -121.82384 - Homing_altitude (200m approach)
Log: 20111212T225518


Run #6 - Homing_altitude (200m approach, -35 degree dock angle)
Log: 20111212T235020
Failed to home


Run #7 36.81359 , -121.82394 (200m approach)
Log: 20111213T005622


Run #8  36.81391 , -121.82396 (not detected at range)
Log: 20111213T012646


Run #9  36.81392 , -121.82396 ()
Log: 20111213T162513


Run #10 36.81396 , -121.82381 (200m approach, 90deg hdg, coming from West)
Log: 20111213T162513
Timed out short of waypoint. Range at 3km.


Run #11  36.81398 , -121.82375  (200m approach, 90deg hdg, coming from NW)
Log: 20111213T162513
Homing didn't seem to get very close


Run #12 36.81391 , -121.82361 (300m approach, 180deg coming from NNW)
Log: 20111213T193831
Good homing data

Run #13 36.81376 , -121.82353 (200m approach, -35deg hdg, 50m cluster raidus)
Log: 20111213T203411