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Help Distance using the GPS?

Is there anyway I can track distance I walk? I have a route I like to do that I think is four miles but I cannot drive it cause it is all wooded. I'd like to know how far the walk really is.
 
Both "My Tracks" and "Run Keeper" work well for what you want. Keep in mind that as your accuracy bubble fluctuates so will the recorded distance. Generally this is small enough to approximate away, but relatively frequently on my 5K route (~3.1 miles) it has overestimated a few hundred yards, stopping me a block or so early. So in other words double check it when feasible.

To double check, I would use the "My Tracks" app, save and upload to your "My Maps" tied to your google account, then save as KML file and view in Google Earth (on a computer). Then use the ruler tool to follow your path (usually shows up as red when imported) and see how different the values are.

EDIT:

Easier way: Just save the 4-mile jaunt to 'My Maps" from "My Tracks," then open Google Maps on a desktop/laptop. Go to "Labs" at the bottom in the directions pane to the left, and select "measurement tool." Then go to the little gear in the top right, and select "Maps Profile", then "My Maps" then select your map. Click the on-screen measurement button and follow your path and tally it all up to see how accurate. (Hint, usually you can select the "terrain" or "satellite" map overlay so you see your path, versus where you know you walked, and use the measurement tool where you know you walked- the path's tally from My Tracks will be correct, but the path itself may not be).
 
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