Yeah! What they said
Agree with the above. The one with the best lawyer has the least burden.All hands on deck as lookouts with assigned quadrants, dressed and outfitted to swim until rescued if there is a collison. All signaling devices handy, handheld VHF tethered to you, jib down if it impairs the lookout, dinghy inflated or available, all of the above seamanship recommendations, motorsailing with the engine on idle for immediate steerage control to avoid collison, and the boat ready for a 3 hour tour, a 3 hour tour.In regard to: "you pass the first navaid waypoint you selected from your GPS database and realize it is the wrong one..." there are different possible reasons. Just in case this was meant to sow some doubt in your GPS instead of a simple waypoint selection error, I would;Write down your gps coordinates on the chart and see if that makes sense with your general knowledge of the bay, whatever it was that just caused you to doubt your gps (like something you can navigate from), and your sighting of the harbor before you lost visability.Check with a second GPS if you have one to verify coordinates, I keep an old monochrome in case i lose the new one.Choose a course heading that will place you just enough away from the harbor entrance so you know which way to turn if you are still lost when you get to shallow water.If you can, call someone you trust to start a search for you if you don't check in later, go over the plan.Track your position every 10-15 minutes, it should agree with the knot meter. Your cell phone signal should be improving. Call in updates to reassure SO.Use the chart and depth meter to verify that the depth is agreeing with the gps position as you head for harbor. If there is a steep bottom contour somewhere close to your path, i would head for it to use it on the depth meter like an underwater navigational aide.If compass, depth, chart, and gps are agreeing, change the heading for a buoy to verify position, and stop away from it to listen for traffic before going for a visual and gps check. If you trust your gps, go to your slip with seamanship as per others above.Don't go into shallow water unless conditions are such that you can control the boat in a storm, prepare your anchors or head out for the night.If you're lost in deep water after about 12 miles by the knot meter, stop, call home to the babysitter if you have children, drift with a watch for alien spacecraft to take you out of this bermuda triangle, and figure it out in the morning.I am so glad we have gps now.