Start Gate Approach at severe angle

[DrYerzinia]

Start Gate approach often sets us up to go through the small side of the gate at quite a severe angle. This may be due to early termination of the waypoint navigator for style. i.e. the freeze freezes us before we reach the actual starting point and the gate is very narrow. Need to look into this so we can setup properly even from sever approach angles.

[flamma7]

We should explore a visual servoing w/ strafe approach