I want to know if there is a way to make the profile more stream lined. Right now whenever it finds a node it will goto the node gather it and then back track to the point where it found the node then continue again. This looks very un natural and suspicious. I want it to go gather the node then jump right back into the profile at the closest point. Is this possible? please help. thanks

The problem should be, that the way "to" the node is known as good way "from" the node . (no Buildings, mountains, mobs, trees). But the way to the nearest could be bad.