Umm... I seriously recommend you read the PODBot mm waypointing documentation. All the questions you might possibly have are answered in there, and having spent hours to whip up that document, it kinda feels good to know that once in a while people actually read it.
Here's the filebase link:
http://filebase.bots-united.com/inde...ownload&id=226
The waypointing section will also tell you a good bit about waypointing issues.
