I have a question regarding commuting to Brooklyn Heights. I'm taking the LIRR to Penn Station and then the A or C train down to High Street which is rather long but doable. I'd drive there but my advisor said there's practically nowhere to park and I know I'll be killing myself on the BQE in traffic. Any hints?

The times for Atlantic Avenue terminal don't make any sense for me... most of the time I have to transfer at Jamaica and wait for 30 minutes.