Well.....once you're out 50 feet, may as well be 50 miles, right? What got me was not having any visual feedback. And, after the app and controller disconnect, and the willies associated with it in this situation, I have to admit I lost LOS with the drone. So, all I could do was hope for the best. Now, remember, I went out in ATTI mode. And the crew was running from me... adding to the ORIGIONAL distance required to catch them. (look at the size of the boat at the end, compared to when I started) So, the failsafe RTH was almost half the speed, and against the wind. I was on a fresh battery, so, wasn't worried about juice before this brainstorm. Needless to say, I thought I lost it. When you see me throw out my arms on the landing, I'm saying thank God, welcome home.