Which scope have you used when retrieving the access token ? You should use 
something like "http://www.google.com/calendar/feeds/"; but not the full feed 
URL (http://www.google.com/calendar/feeds/default/private/full, which is too 
restrictive and thus does not include /allcalendars/full).

Also you are developing in Javascript but the developer's guide you are 
refering to is about Java... Well, there are many similarities. The 
Javascript developer's guide is here (
http://code.google.com/intl/fr/apis/calendar/data/1.0/developers_guide_js.html),
 
although it deals about v1 release (there are some minor differences, but 
not about authentication !)

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