> For the complete documentation index, see [llms.txt](https://docs.ceruleansonar.com/c/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.ceruleansonar.com/c/dvl-75/usage-considerations-and-scenarios/scenario-returning-to-home.md).

# Scenario: Returning to Home

If you can do autonomous waypoint navigation, you can do return-to-home by entering the starting location as the destination waypoint.

**What this requires in addition to the DVL**: This requires the ROV software to be able to accept one of the DVL position output messages, such as $GPRMC, and then self-pilot toward a desired coordinate.

For this usage you do not need to initialize the starting position to a known point unless you want to. If the entire journey is using the startup (0,0) position, the ROV should be able to navigate back using the startup coordinate system.