In System Prefs, there should be a Login Items icon. I'm not sure where right now, I'm on a PC sigh... at my library right now. From there you can choose what you want to start when you turn on your computer.
Ok I believe if I put an applescript into /Library/StartupItems that it will do what I am looking for, but how do you execute a unix command from an applescript?
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Step 2.) Read!
Step 3.) Enjoy.