HA! WORKS! awesome AWOL, thanks much!
an case anyone is looking for this later, heres those last two paragraphs and how I modified them. I really just swapped in "millis() - time" for "time"
if ((millis() - time) < 10000){ //for first ten seconds, go east
if(headingValue/10 >= 95 && headingValue/10 <= 270)
Steering.write(left);
if (headingValue/10 <= 85 || headingValue/10 > 270)
Steering.write(right);
if (headingValue/10 >85 && headingValue/10 <95)
Steering.write(straight);
}
//turn around (west) and keep running home
if((millis() - time) > 10000){
if(headingValue/10 >= 275 || headingValue/10 <= 90)
Steering.write(left);
if (headingValue/10 <= 265 && headingValue/10 > 90)
Steering.write(right);
if (headingValue/10 >265 && headingValue/10 <275)
Steering.write(straight);