They are:

Never allow your dog off leash outside unless you have taught a reliable on leash recall around Strong distractions.  (meaning your dog will come 100% of the time when on a leash or long line)

Only call your dog when you are prepared to reinforce!  You must be able to make (gently) your dog respond if it chooses not to and you must be set up to reward your dog strongly with a really good reward every time.  *The ability to run again can be a reward in itself but shouldn't be used frequently. 

Never call your dog in anger or frustration.  If it gets off leash before it is reliable enough to be offleash...do not call it to you.  Each time it's allowed to ignore the recall command you are taking a step backwards in training and are teaching it that it doesn't have to listen.  Instead go get it, lure it to you, or create a reason for it to come to you (such as making a strange noise and running Away from the dog.  Falling on the ground, going to the car, rattling the cookie jar, etc) 

If your dog isn't reliable enough to be offleash in public, then it shouldn't be off leash period...never ever.    Some dogs never achieve this reliability.  Some owners never learn how to develop this reliability.  But if you work hard, you should be able to achieve it.  Just don't be too eager to turn the dog loose.  And remember that when you do make that choice, mistakes can happen with even the best of dogs.  One mistake may mean a lost dog. 

You may benefit from the assistance of a good trainer if there is one in your area.  I prefer behavior shaping for the recall, a conditioned recall (recall to a sound), and good leadership skills on the part of the owner in order to assure a reliable off leash recall. 

IMO, all dogs allowed off leash should also have an additional "emergency stop" command.  Unfortunately few teach this or even realize it's importance.  The emergency stop can be a stand, down, or sit command.  But it must be equally reliable and training steps need to be taken to develop the dogs ability to respond to this command even when excited and running fast.  Down works best as it then keeps the dog in a calm position, but it is the second hardest to achieve.  Sit works ok, and may be a little easier to achieve. 

Good luck! 

One time we were sitting in the cul-da-sac. My dad was grilling burgurs and she was hanging out. I managed to distract her while a couple of dogs walked by, but after they were out of sight she took of running but came sprinting back when  called! YAY! I fed her dinner as a prize.

 By the way, OI is her "Come" the word "Come" never got her interested, especially because my little sister is always telling her "ComcomCOME" lol, one day I just said it and she got all excited. Hmmmm....

And Maggietoo, the emergency stop sounds pretty neat. I don't know if Luna could ever master it, but she mastered Peekaboo so...

                   My dog is smarter than

                           yours!!!