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

- Homing_altitude with rotation offset set to 9.1
- Depending on outcome of navplot, adjust rotation offset via sensor config sbds. 
- Restart application 
- Home again
- repeat


If there's spare time:
- Query modem for dock heading. Adjust position of vehicle as necessary for < +/-45 degree angle off dock heading

- run Homing_altitude.xml starting from above location. Record dock location and heading at the beginning of each homing run. Location is shown at this website:
http://share.findmespot.com/shared/faces/viewspots.jsp?glId=0phAUHyXKzGp4mZzmqtTZSo2k6N6JcUyv




onboard DAT @rotation value == 269.6


DOCK LOCATIONS AND RUN INFO:

Run #1: HDG:  LOC: 
Log: 20111221T184845
Rot offset: 9.1
Dock location 36.8233, -121.82791 at 11:47 am.
Changed the default latitude in homing_altitude to 36.823.



Run #2: HDG: 300  LOC: 36.82331 , -121.82765
Log: 20111221T212947
Rot offset: 9.1
range to 3m (shore data)


Run #3: HDG: 335  LOC: 36.82331 , -121.8277
Log: 20111221T225844
Rot offset: 11.8
range to