A method for magnetic data compensation comprising: providing at least one magnetometer mounted on a subsea vehicle; maneuvering the subsea vehicle at a first altitude above a seafloor and a first heading; receiving, by a microprocessor, a set of raw magnetic data from the at least one magnetometer; and receiving, by the microprocessor, subsea vehicle state data and subsea vehicle performance data concurrently with the receiving of the set of raw magnetic data, processing, by the microprocessor, the subsea vehicle state data, the subsea vehicle performance data, and the set of raw magnetic data to produce magnetic compensation coefficients characterized in that the method comprises: performing a series of maneuvers to collect the set of raw magnetic data that is used to produce the magnetic compensation coefficients, such that the produced magnetic compensation coefficients do not reference the Earth's geodetic frame of reference, wherein the maneuvering the subsea vehicle at the first altitude and at the first heading is part of the series of maneuvers, wherein the series of maneuvers moves the subsea vehicle in one of a clockwise direction and a counter-clockwise direction in a first loop that comprises a first plurality of legs, wherein, subsequent to the subsea vehicle completing first plurality of legs, the series of maneuvers moves the subsea vehicle in the other of the clockwise direction and the counter-clockwise direction in a second loop comprising a second plurality of legs, wherein each leg in the first plurality of legs and the second plurality of legs includes a first portion of the leg where the subsea vehicle moves at the first altitude and a second portion of the leg where the subsea vehicle moves at a second altitude, different from the first altitude, wherein the second loop is a reversal of the first loop. providing at least one magnetometer mounted on a subsea vehicle; maneuvering the subsea vehicle at a first altitude above a seafloor and a first heading; receiving, by a microprocessor, a set of raw magnetic data from the at least one magnetometer; and receiving, by the microprocessor, subsea vehicle state data and subsea vehicle performance data concurrently with the receiving of the set of raw magnetic data, processing, by the microprocessor, the subsea vehicle state data, the subsea vehicle performance data, and the set of raw magnetic data to produce magnetic compensation coefficients characterized in that the method comprises: performing a series of maneuvers to collect the set of raw magnetic data that is used to produce the magnetic compensation coefficients, such that the produced magnetic compensation coefficients do not reference the Earth's geodetic frame of reference, wherein the maneuvering the subsea vehicle at the first altitude and at the first heading is part of the series of maneuvers, wherein the series of maneuvers moves the subsea vehicle in one of a clockwise direction and a counter-clockwise direction in a first loop that comprises a first plurality of legs, wherein, subsequent to the subsea vehicle completing first plurality of legs, the series of maneuvers moves the subsea vehicle in the other of the clockwise direction and the counter-clockwise direction in a second loop comprising a second plurality of legs, wherein each leg in the first plurality of legs and the second plurality of legs includes a first portion of the leg where the subsea vehicle moves at the first altitude and a second portion of the leg where the subsea vehicle moves at a second altitude, different from the first altitude, wherein the second loop is a reversal of the first loop. performing a series of maneuvers to collect the set of raw magnetic data that is used to produce the magnetic compensation coefficients, such that the produced magnetic compensation coefficients do not reference the Earth's geodetic frame of reference, wherein the maneuvering the subsea vehicle at the first altitude and at the first heading is part of the series of maneuvers, wherein the series of maneuvers moves the subsea vehicle in one of a clockwise direction and a counter-clockwise direction in a first loop that comprises a first plurality of legs, wherein, subsequent to the subsea vehicle completing first plurality of legs, the series of maneuvers moves the subsea vehicle in the other of the clockwise direction and the counter-clockwise direction in a second loop comprising a second plurality of legs, wherein each leg in the first plurality of legs and the second plurality of legs includes a first portion of the leg where the subsea vehicle moves at the first altitude and a second portion of the leg where the subsea vehicle moves at a second altitude, different from the first altitude, wherein the second loop is a reversal of the first loop.