double rel_brg = calcRelBearingDeg(bearing, hdg);
double recip_brg = calcRecipBearingDeg(bearing);
double angle = calcAngle(distance,_offsetpos, pos);
double rel_brg = calcRelBearingDeg(bearing, hdg);
double recip_brg = calcRecipBearingDeg(bearing);
double angle = calcAngle(distance,_offsetpos, pos);