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Launch Arlo App
Login
Menu button on your S4 (bottom left corner, below screen) -> settings.
(I use a Galaxy S4 Mini)
I'm not sure how those without a dedicated menu button would get there though.

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Depending on how you've made settings, the usual installation procedure creates an icon in an unused space on one of your home screens. Flip through them and look for Arlo. If it's not there, you can add it by tapping the Apps icon (bunch of squares in a square) in the lower right of any home screen (unless you've moved it), find Arlo, press and hold Arlo and drag it to an empty space so it's a bit faster to access.

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I assumed the question was how do you get into the Arlo settings portion of the app (where camera sensitivity and so forth would be kept)....not how do I launch the app.

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Yeah, that makes more sense, especially after rereading. Oops!
