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

- query dock for heading by running Maintenance/dat_on.xml or by simply looking at last DAT.Dockheading values in shore.asc. Line up vehicle ~600m "downwind". 
- run homing_altitude with no final approach


- Depending on outcome of navplot, adjust rotation offset via sensor config sbds. 
- Restart application if necessary
- Home again
- repeat

- If homing works, run homing_altitude with dockBearing set to DAT.DockHeading value and use final approach.


*** 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


at night: keepstation_3km.xml at:  36.8154, -121.869



onboard DAT @rotation value == 281.0



DOCK LOCATIONS AND RUN INFO:

Run #1: HDG: unknown  LOC: 36.82319,-121.82791
Log: 20120109T201340
Rot offset: 0.0
Min Range: no homing. Modem off


Run #2: HDG:   LOC: ???
Log: 20120109T220223
Rot offset: 0.0
Min Range: 1.8 m


-- 1/10/12 -- 

Run #3: HDG: 342   LOC: 36.82339 , -121.82793
Log: 20120110T183913
Rot offset: 0.0
Min Range: ~5m.  Vehicle trajectory wobbly; may have hooked a jelly.


Run #4: HDG: ???   LOC: 36.82344 , -121.82785 
Log: 20120110T200347
Rot offset: 0.0
Min Range: Mission stopped 382m short. Unknown cause. 


Run #5: HDG: 345  LOC: 36.82344 , -121.82785
Log: 20120110T204822
Rot offset: 0.0
Min Range: 2m


Run #6: HDG: 350  LOC:  36.82328 , -121.82767
Log: 20120110T215722
Rot offset: 0.0
Min Range: <2m
Altitude 9m


Run #7: HDG: 83  LOC: 36.82316,-121.8277
Log: 20120110T223938
Rot offset: 0.0
Min Range: Not good. Looks like it did circles...
Altitude 9m