I'm sure its not the most environmentally friendly method but here is what I do. Wait till night and they will calm down and go to sleep. At this point get about 2 quarts of sand and a can of gasoline. Pour gas down the hole for a while till you start to hear them buzz and then dump the sand on top of the hole to keep them from getting out since you have quite literally stirred up a hornet nest.
The fumes of the gas should kill them no need to light it on fire, but that can be fun too.
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"I've got a lot of friends who don't know how to cook, which I could never understand because not knowing how to cook is like not knowing how to fuck." --Robert Rodriguez
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