We used to feed our dog Nutro, but she kept having soft stools, so we finally made the decision to switch her over to a homecooked diet. It's working really well so far -- she was beginning to get a little chubby on the Nutro, but since switching to homecooked, she's lost fat and gained muscle tone (even with less exercise because of the cold weather), her fur is softer and shinier, and her gas smells a LOT better. And her poo is tiny! It's not even that expensive to feed this way, maybe $10 a week?
I doubt that I'll ever feed commercial foods again, even really high quality ones.