diff --git a/src/gps.c b/src/gps.c
--- a/src/gps.c
+++ b/src/gps.c
@@ -1,7 +1,6 @@
 // TODO: Transition to using https://github.com/cuspaceflight/joey-m/blob/master/firmware/gps.c requesting UBX data
 
 #include "stm32f0xx_hal.h"
-#include <string.h>
 
 #include "config.h"
 #include "usart.h"
@@ -23,10 +22,10 @@ int bytesReceived = 0;
 char data[16];
 
 //used to skip over bytes during parse
-int skipBytes = 0;
+uint32_t skipBytes = 0;
 
 //used to index data arrays during data collection
-int numBytes = 0;
+uint32_t numBytes = 0;
 
 //variables to store data from transmission
 //least significant digit is stored at location 0 of arrays
@@ -103,9 +102,9 @@ char* get_gpsaltitude()
 	return altitude;
 }
 
-char wgs84Height[8];	//sxxx.x
-char lastUpdated[8];	//blank - included for testing
-char stationID[8];	//blank - included for testing
+//char wgs84Height[8];	//sxxx.x
+//char lastUpdated[8];	//blank - included for testing
+//char stationID[8];	//blank - included for testing
 char checksum[3];	//xx
 
 char knots[8];		//xxx.xx
@@ -136,7 +135,7 @@ uint8_t gps_hasfix()
 	return hasFix;
 }
 
-char variation[9];	//xxx.xb
+//char variation[9];	//xxx.xb
 int calculatedChecksum;
 int receivedChecksum;
 
@@ -169,18 +168,27 @@ enum decodeState {
 	
 }decodeState;
 
-
-void usart1_isr(void)
-{
-	uint8_t recv = 0;// usart_recv(GPS_USART);
-	//ECHO debug: usart_send_blocking(GPS_USART, recv);
-	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = recv;
-	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
-}
+//
+//void usart1_isr(void)
+//{
+//	uint8_t recv = 0;// usart_recv(GPS_USART);
+//	//ECHO debug: usart_send_blocking(GPS_USART, recv);
+//	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = recv;
+//	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
+//}
 
 void gps_init() 
 {
+    // Initialize serial port
     uart_init();
+
+    // Begin DMA reception
+    HAL_UART_Receive_DMA(uart_gethandle(), nmeaBuffer, NMEABUFFER_SIZE);
+
+    uint8_t buf2[4] = {0};
+
+    //volatile HAL_StatusTypeDef res = HAL_UART_Receive(uart_gethandle(), nmeaBuffer, 2, 3000);
+
     timestamp[0] = 0x00;
     latitude[0] = 0x00;
     longitude[0] = 0x00;
@@ -193,19 +201,19 @@ void gps_init()
     gps_poweron();
     HAL_Delay(100); // Make sure GPS is awake and alive
 
-    // Disable GLONASS mode
-    uint8_t disable_glonass[20] = {0xB5, 0x62, 0x06, 0x3E, 0x0C, 0x00, 0x00, 0x00, 0x20, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01, 0x8F, 0xB2};
-
-    gps_sendubx(disable_glonass, 20);
-
-    // Enable power saving
-    uint8_t enable_powersave[10] = {0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92};
-    gps_sendubx(enable_powersave, 10);
-
-
-    // Set dynamic model 6 (<1g airborne platform)
-    uint8_t airborne_model[] = { 0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC };
-    gps_sendubx(airborne_model, sizeof(airborne_model)/sizeof(uint8_t));
+//    // Disable GLONASS mode
+//    uint8_t disable_glonass[20] = {0xB5, 0x62, 0x06, 0x3E, 0x0C, 0x00, 0x00, 0x00, 0x20, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01, 0x8F, 0xB2};
+//
+//    gps_sendubx(disable_glonass, 20);
+//
+//    // Enable power saving
+//    uint8_t enable_powersave[10] = {0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92};
+//    gps_sendubx(enable_powersave, 10);
+//
+//
+//    // Set dynamic model 6 (<1g airborne platform)
+//    uint8_t airborne_model[] = { 0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC };
+//    gps_sendubx(airborne_model, sizeof(airborne_model)/sizeof(uint8_t));
 
 }
 
@@ -238,464 +246,464 @@ static void setParserState(uint8_t state
 //// MKa GPS transmission parser START
 void parse_gps_transmission(void){
 	
-	// Pull byte off of the buffer
-	char byte;
-	
-	while(nmeaBufferDataPosition != nmeaBufferParsePosition) 
-	{
-		byte = nmeaBuffer[nmeaBufferParsePosition];
-		
-		if(decodeState == INITIALIZE) //start of transmission sentence
-		{
-			if(byte == '$') 
-			{
-				setParserState(GET_TYPE);
-				numBytes = 0; //prep for next phases
-				skipBytes = 0;
-				calculatedChecksum = 0;
-			}		
-			
-			else 
-			{
-				setParserState(INITIALIZE);
-			}
-		}
-	
-		//parse transmission type
-		else if (decodeState == GET_TYPE)
-		{
-			tramsmissionType[numBytes] = byte;
-			numBytes++;
-			
-			if(byte == ',') //end of this data type
-			{
-				tramsmissionType[5] = 0x00;
-				
-				if (tramsmissionType[2] == 'G' &&
-				tramsmissionType[3] == 'G' &&
-				tramsmissionType[4] == 'A')
-				{
-					setParserState(GGA_TIME);
-					numBytes = 0;
-				}
-				else if (tramsmissionType[2] == 'R' &&
-				tramsmissionType[3] == 'M' &&
-				tramsmissionType[4] == 'C')
-				{
-					setParserState(RMC_TIME);
-					numBytes = 0;
-				}
-				else //this is an invalid transmission type
-				{
-					setParserState(INITIALIZE);
-				}
-			}
-			else {
-				// continue
-				setParserState(GET_TYPE);
-			}
-			
-		}
-	
-		///parses GGA transmissions START
-		/// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*xx
-		//timestamp
-		else if (decodeState == GGA_TIME)
-		{
-			if (byte == ',') //end of this data type
-			{
-				timestamp[4] = 0x00; // Cut off at 4 (no seconds) for APRS
-				setParserState(GGA_LATITUDE);
-				skipBytes = 0; //prep for next phase of parse
-				numBytes = 0;
-			}
-			else //store data
-			{
-				setParserState(GGA_TIME);
-				timestamp[numBytes] = byte; //byte; //adjust number of bytes to fit array
-				numBytes++;
-			}
-		}
-	
-		//latitude
-		else if (decodeState == GGA_LATITUDE)
-		{
-			if (byte == ',' && skipBytes == 0) //discard this byte
-			{
-				skipBytes = 1;
-				setParserState(GGA_LATITUDE);
-			}
-			else if (byte == ',') //end of this data type
-			{
-				
-				latitude[numBytes] = 0x00; // null terminate
-				
-				setParserState(GGA_LONGITUDE);
-				skipBytes = 0; //prep for next phase of parse
-				numBytes = 0;
-			}
-			else //store data
-			{
-				latitude[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(GGA_LATITUDE);
-			}
-		}
-	
-		//longitude
-		else if (decodeState == GGA_LONGITUDE)
-		{
-			if (byte == ',' && skipBytes == 0) //discard this byte
-			{
-				skipBytes = 1;
-				setParserState(GGA_LONGITUDE);
-			}
-			else if (byte == ',') //end of this data type
-			{
-				longitude[numBytes] = 0x00;
-				setParserState(GGA_QUALITY);
-				numBytes = 0; //prep for next phase of parse
-				skipBytes = 0;
-			}
-			else //store data
-			{
-				longitude[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(GGA_LONGITUDE);
-			}
-		}
-	
-		//GGA quality
-		else if (decodeState == GGA_QUALITY)
-		{
-			if (byte == ',') //end of this data type
-			{
-				setParserState(GGA_SATELLITES);
-				numBytes = 0; //prep for next phase of parse
-			}
-			else //store data
-			{
-				quality = byte; //maybe reset if invalid data ??
-				setParserState(GGA_QUALITY);
-			}
-		}
-	
-		//number of satellites
-		else if (decodeState == GGA_SATELLITES)
-		{
-			if (byte == ',') //end of this data type
-			{
-				numSatellites[numBytes] = 0x00;
-				setParserState(GGA_HDOP);
-				numBytes = 0; //prep for next phase of parse
-			}
-			else //store data
-			{
-				numSatellites[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(GGA_SATELLITES);
-			}
-		}
-	
-		//HDOP
-		else if (decodeState == GGA_HDOP)
-		{
-			if (byte == ',' ) //end of this data type
-			{
-				hdop[numBytes] = 0x00;
-				setParserState(GGA_ALTITUDE);
-				numBytes = 0; //prep for next phase of parse
-				skipBytes = 0;
-			}
-			else //store data
-			{
-				hdop[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(GGA_HDOP);
-			}
-		}
-	
-		//altitude
-		else if (decodeState == GGA_ALTITUDE)
-		{
-			if (byte == ',' && skipBytes == 0) //discard this byte
-			{
-				altitude[numBytes] = 0x00;
-				skipBytes = 1;
-				setParserState(GGA_ALTITUDE);
-			}
-			else if(byte == ',') //end of this data type
-			{
-				// If we actually have an altitude
-				if(numBytes>0) 
-				{
-					altitude[numBytes-1] = 0x00; // Cut off the "M" from the end of the altitude
-				}
-				else 
-				{
-					altitude[numBytes] = 0x00;
-				}					
-				setParserState(GGA_WGS84);
-				numBytes = 0; //prep for next phase of parse
-			}
-			else //store data
-			{
-				altitude[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(GGA_ALTITUDE);
-			}
-		}
-	
-		//WGS84 Height
-		else if (decodeState == GGA_WGS84)
-		{
-			if (byte == ',' && skipBytes == 0) //discard this byte
-			{
-				skipBytes = 1;
-				setParserState(GGA_WGS84);
-			}
-			else if(byte == ',') //end of this data type
-			{
-				wgs84Height[numBytes] = 0x00;
-				setParserState(GGA_LAST_UPDATE);
-				skipBytes = 0; //prep for next phase of parse
-				numBytes = 0;
-			}
-			else //store data
-			{
-				wgs84Height[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(GGA_WGS84);
-			}
-		}
-	
-		//last GGA DGPS update
-		else if (decodeState == GGA_LAST_UPDATE)
-		{
-			if (byte == ',') //end of this data type
-			{
-				lastUpdated[numBytes] = 0x00;
-				setParserState(GGA_STATION_ID);
-				numBytes = 0; //prep for next phase of parse
-			}
-			else //store data - this should be blank
-			{
-				lastUpdated[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(GGA_LAST_UPDATE);
-			}
-		}
-	
-		//GGA DGPS station ID
-		else if (decodeState == GGA_STATION_ID)
-		{
-			if (byte == ',' || byte == '*') //end of this data type
-			{
-				stationID[numBytes] = 0x00;
-				setParserState(GPS_CHECKSUM);
-				numBytes = 0; //prep for next phase of parse
-			}
-			else //store data - this should be blank
-			{
-				stationID[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(GGA_STATION_ID);
-			}
-		}
-		///parses GGA transmissions END
-	
-		/// $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
-		///parses RMC transmissions
-		//time
-		// emz: commented setter, GMC time better?
-		else if(decodeState == RMC_TIME)
-		{
-			if (byte == ',') //end of this data type
-			{
-				//timestamp[numBytes] = 0x00;
-				setParserState(RMC_VALIDITY);
-				numBytes = 0; //prep for next phase of parse
-			}
-			else //store data
-			{
-				//timestamp[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(RMC_TIME);
-			}
-		}
-	
-		//validity
-		// not needed? dupe gga
-		else if(decodeState == RMC_VALIDITY)
-		{
-			if (byte == ',') //end of this data type
-			{
-				setParserState(RMC_LATITUDE);
-				skipBytes = 0; //prep for next phase of parse
-				numBytes = 0;
-			}
-			else //store data
-			{
-				//quality = byte;
-				numBytes++;
-				setParserState(RMC_VALIDITY);
-			}
-		}
-	
-		//latitude RMC (we don't need this, commented out setter)
-		else if(decodeState == RMC_LATITUDE)
-		{
-			if (byte == ',' && skipBytes == 0) //discard this byte
-			{
-				skipBytes = 1; 
-				setParserState(RMC_LATITUDE);
-			}
-			else if (byte == ',') //end of this data type
-			{
-				setParserState(RMC_LONGITUDE);
-				skipBytes = 0; //prep for next phase of parse
-				numBytes = 0;
-			}
-			else //store data
-			{
-				//latitude[numBytes]= byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(RMC_LATITUDE);
-			}
-		}
-	
-		//longitude RMC (we don't need this, commented out setter)
-		else if(decodeState == RMC_LONGITUDE)
-		{
-			if (byte == ',' && skipBytes == 0) //discard this byte
-			{
-				skipBytes = 1; 
-				setParserState(RMC_LONGITUDE);
-			}
-			else if (byte == ',') //end of this data type
-			{
-				setParserState(RMC_KNOTS);
-				skipBytes = 0;
-				numBytes = 0;
-			}
-			else //store data
-			{
-				//longitude[numBytes]= byte; //adjust number of bytes to fit array
-				numBytes++;
-				setParserState(RMC_LONGITUDE);
-			}
-		}
-	
-		//knots
-		else if(decodeState == RMC_KNOTS)
-		{
-			if (byte == ',') //end of this data type
-			{
-				knots[numBytes] = 0x00;
-				setParserState(RMC_COURSE);
-				numBytes = 0; //prep for next phase of parse
-			}
-			else //store data
-			{
-				setParserState(RMC_KNOTS);
-				knots[numBytes]= byte; //adjust number of bytes to fit array
-				numBytes++;
-			}
-		}
-	
-		//course
-		else if(decodeState == RMC_COURSE)
-		{
-			if (byte == ',') //end of this data type
-			{
-				course[numBytes] = 0x00;
-				setParserState(RMC_DATE);
-				numBytes = 0; //prep for next phase of parse
-			}
-			else //store data
-			{
-				setParserState(RMC_COURSE);
-				course[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-			}
-		}
-	
-		//date
-		else if(decodeState == RMC_DATE)
-		{
-			if (byte == ',') //end of this data type
-			{
-				// Cut it off at day of month. Also has month and year if we ever need it.
-				dayofmonth[2] = 0x00;
-				setParserState(RMC_MAG_VARIATION);
-				skipBytes = 0; //prep for next phase of parse
-				numBytes = 0;
-			}
-			else //store data
-			{
-				setParserState(RMC_DATE);
-				dayofmonth[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-			}
-		}
-	
-		//magnetic variation
-		else if(decodeState == RMC_MAG_VARIATION)
-		{
-			if (byte == '*') //end of this data type
-			{
-				variation[numBytes] = 0x00;
-				setParserState(GPS_CHECKSUM);
-				numBytes = 0; //prep for next phase of parse
-			}
-			else //store data
-			{
-				setParserState(RMC_MAG_VARIATION);
-				variation[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-			}
-		}
-		///parses RMC transmissions END
-	
-	
-		//checksum
-		else if (decodeState == GPS_CHECKSUM)
-		{
-			if (numBytes == 2) //end of data - terminating character ??
-			{
-				//checksum calculator for testing http://www.hhhh.org/wiml/proj/nmeaxor.html
-				//TODO: must determine what to do with correct and incorrect messages
-				receivedChecksum = checksum[0] + (checksum[1]*16);	//convert bytes to int
-				if(calculatedChecksum==receivedChecksum)
-				{
-				
-				}
-				else
-				{
-				
-				}
-				
-				setParserState(INITIALIZE);
-				numBytes = 0; //prep for next phase of parse
-			}
-			else //store data
-			{
-				setParserState(GPS_CHECKSUM);
-				checksum[numBytes] = byte; //adjust number of bytes to fit array
-				numBytes++;
-			}
-		}
-		else {
-			setParserState(INITIALIZE);
-		}
-	
-		if (decodeState!=GPS_CHECKSUM && decodeState!=INITIALIZE)	//want bytes between '$' and '*'
-		{
-			//input byte into running checksum
-			XORbyteWithChecksum(byte);
-		}
-	}	
-	
+//	// Pull byte off of the buffer
+//	char byte;
+//
+//	while(nmeaBufferDataPosition != nmeaBufferParsePosition)
+//	{
+//		byte = nmeaBuffer[nmeaBufferParsePosition];
+//
+//		if(decodeState == INITIALIZE) //start of transmission sentence
+//		{
+//			if(byte == '$')
+//			{
+//				setParserState(GET_TYPE);
+//				numBytes = 0; //prep for next phases
+//				skipBytes = 0;
+//				calculatedChecksum = 0;
+//			}
+//
+//			else
+//			{
+//				setParserState(INITIALIZE);
+//			}
+//		}
+//
+//		//parse transmission type
+//		else if (decodeState == GET_TYPE)
+//		{
+//			tramsmissionType[numBytes] = byte;
+//			numBytes++;
+//
+//			if(byte == ',') //end of this data type
+//			{
+//				tramsmissionType[5] = 0x00;
+//
+//				if (tramsmissionType[2] == 'G' &&
+//				tramsmissionType[3] == 'G' &&
+//				tramsmissionType[4] == 'A')
+//				{
+//					setParserState(GGA_TIME);
+//					numBytes = 0;
+//				}
+//				else if (tramsmissionType[2] == 'R' &&
+//				tramsmissionType[3] == 'M' &&
+//				tramsmissionType[4] == 'C')
+//				{
+//					setParserState(RMC_TIME);
+//					numBytes = 0;
+//				}
+//				else //this is an invalid transmission type
+//				{
+//					setParserState(INITIALIZE);
+//				}
+//			}
+//			else {
+//				// continue
+//				setParserState(GET_TYPE);
+//			}
+//
+//		}
+//
+//		///parses GGA transmissions START
+//		/// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*xx
+//		//timestamp
+//		else if (decodeState == GGA_TIME)
+//		{
+//			if (byte == ',') //end of this data type
+//			{
+//				timestamp[4] = 0x00; // Cut off at 4 (no seconds) for APRS
+//				setParserState(GGA_LATITUDE);
+//				skipBytes = 0; //prep for next phase of parse
+//				numBytes = 0;
+//			}
+//			else //store data
+//			{
+//				setParserState(GGA_TIME);
+//				timestamp[numBytes] = byte; //byte; //adjust number of bytes to fit array
+//				numBytes++;
+//			}
+//		}
+//
+//		//latitude
+//		else if (decodeState == GGA_LATITUDE)
+//		{
+//			if (byte == ',' && skipBytes == 0) //discard this byte
+//			{
+//				skipBytes = 1;
+//				setParserState(GGA_LATITUDE);
+//			}
+//			else if (byte == ',') //end of this data type
+//			{
+//
+//				latitude[numBytes] = 0x00; // null terminate
+//
+//				setParserState(GGA_LONGITUDE);
+//				skipBytes = 0; //prep for next phase of parse
+//				numBytes = 0;
+//			}
+//			else //store data
+//			{
+//				latitude[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(GGA_LATITUDE);
+//			}
+//		}
+//
+//		//longitude
+//		else if (decodeState == GGA_LONGITUDE)
+//		{
+//			if (byte == ',' && skipBytes == 0) //discard this byte
+//			{
+//				skipBytes = 1;
+//				setParserState(GGA_LONGITUDE);
+//			}
+//			else if (byte == ',') //end of this data type
+//			{
+//				longitude[numBytes] = 0x00;
+//				setParserState(GGA_QUALITY);
+//				numBytes = 0; //prep for next phase of parse
+//				skipBytes = 0;
+//			}
+//			else //store data
+//			{
+//				longitude[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(GGA_LONGITUDE);
+//			}
+//		}
+//
+//		//GGA quality
+//		else if (decodeState == GGA_QUALITY)
+//		{
+//			if (byte == ',') //end of this data type
+//			{
+//				setParserState(GGA_SATELLITES);
+//				numBytes = 0; //prep for next phase of parse
+//			}
+//			else //store data
+//			{
+//				quality = byte; //maybe reset if invalid data ??
+//				setParserState(GGA_QUALITY);
+//			}
+//		}
+//
+//		//number of satellites
+//		else if (decodeState == GGA_SATELLITES)
+//		{
+//			if (byte == ',') //end of this data type
+//			{
+//				numSatellites[numBytes] = 0x00;
+//				setParserState(GGA_HDOP);
+//				numBytes = 0; //prep for next phase of parse
+//			}
+//			else //store data
+//			{
+//				numSatellites[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(GGA_SATELLITES);
+//			}
+//		}
+//
+//		//HDOP
+//		else if (decodeState == GGA_HDOP)
+//		{
+//			if (byte == ',' ) //end of this data type
+//			{
+//				hdop[numBytes] = 0x00;
+//				setParserState(GGA_ALTITUDE);
+//				numBytes = 0; //prep for next phase of parse
+//				skipBytes = 0;
+//			}
+//			else //store data
+//			{
+//				hdop[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(GGA_HDOP);
+//			}
+//		}
+//
+//		//altitude
+//		else if (decodeState == GGA_ALTITUDE)
+//		{
+//			if (byte == ',' && skipBytes == 0) //discard this byte
+//			{
+//				altitude[numBytes] = 0x00;
+//				skipBytes = 1;
+//				setParserState(GGA_ALTITUDE);
+//			}
+//			else if(byte == ',') //end of this data type
+//			{
+//				// If we actually have an altitude
+//				if(numBytes>0)
+//				{
+//					altitude[numBytes-1] = 0x00; // Cut off the "M" from the end of the altitude
+//				}
+//				else
+//				{
+//					altitude[numBytes] = 0x00;
+//				}
+//				setParserState(GGA_WGS84);
+//				numBytes = 0; //prep for next phase of parse
+//			}
+//			else //store data
+//			{
+//				altitude[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(GGA_ALTITUDE);
+//			}
+//		}
+//
+//		//WGS84 Height
+//		else if (decodeState == GGA_WGS84)
+//		{
+//			if (byte == ',' && skipBytes == 0) //discard this byte
+//			{
+//				skipBytes = 1;
+//				setParserState(GGA_WGS84);
+//			}
+//			else if(byte == ',') //end of this data type
+//			{
+//				//wgs84Height[numBytes] = 0x00;
+//				setParserState(GGA_LAST_UPDATE);
+//				skipBytes = 0; //prep for next phase of parse
+//				numBytes = 0;
+//			}
+//			else //store data
+//			{
+//				//wgs84Height[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(GGA_WGS84);
+//			}
+//		}
+//
+//		//last GGA DGPS update
+//		else if (decodeState == GGA_LAST_UPDATE)
+//		{
+//			if (byte == ',') //end of this data type
+//			{
+////				lastUpdated[numBytes] = 0x00;
+//				setParserState(GGA_STATION_ID);
+//				numBytes = 0; //prep for next phase of parse
+//			}
+//			else //store data - this should be blank
+//			{
+////				lastUpdated[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(GGA_LAST_UPDATE);
+//			}
+//		}
+//
+//		//GGA DGPS station ID
+//		else if (decodeState == GGA_STATION_ID)
+//		{
+//			if (byte == ',' || byte == '*') //end of this data type
+//			{
+////				stationID[numBytes] = 0x00;
+//				setParserState(GPS_CHECKSUM);
+//				numBytes = 0; //prep for next phase of parse
+//			}
+//			else //store data - this should be blank
+//			{
+////				stationID[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(GGA_STATION_ID);
+//			}
+//		}
+//		///parses GGA transmissions END
+//
+//		/// $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
+//		///parses RMC transmissions
+//		//time
+//		// emz: commented setter, GMC time better?
+//		else if(decodeState == RMC_TIME)
+//		{
+//			if (byte == ',') //end of this data type
+//			{
+//				//timestamp[numBytes] = 0x00;
+//				setParserState(RMC_VALIDITY);
+//				numBytes = 0; //prep for next phase of parse
+//			}
+//			else //store data
+//			{
+//				//timestamp[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(RMC_TIME);
+//			}
+//		}
+//
+//		//validity
+//		// not needed? dupe gga
+//		else if(decodeState == RMC_VALIDITY)
+//		{
+//			if (byte == ',') //end of this data type
+//			{
+//				setParserState(RMC_LATITUDE);
+//				skipBytes = 0; //prep for next phase of parse
+//				numBytes = 0;
+//			}
+//			else //store data
+//			{
+//				//quality = byte;
+//				numBytes++;
+//				setParserState(RMC_VALIDITY);
+//			}
+//		}
+//
+//		//latitude RMC (we don't need this, commented out setter)
+//		else if(decodeState == RMC_LATITUDE)
+//		{
+//			if (byte == ',' && skipBytes == 0) //discard this byte
+//			{
+//				skipBytes = 1;
+//				setParserState(RMC_LATITUDE);
+//			}
+//			else if (byte == ',') //end of this data type
+//			{
+//				setParserState(RMC_LONGITUDE);
+//				skipBytes = 0; //prep for next phase of parse
+//				numBytes = 0;
+//			}
+//			else //store data
+//			{
+//				//latitude[numBytes]= byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(RMC_LATITUDE);
+//			}
+//		}
+//
+//		//longitude RMC (we don't need this, commented out setter)
+//		else if(decodeState == RMC_LONGITUDE)
+//		{
+//			if (byte == ',' && skipBytes == 0) //discard this byte
+//			{
+//				skipBytes = 1;
+//				setParserState(RMC_LONGITUDE);
+//			}
+//			else if (byte == ',') //end of this data type
+//			{
+//				setParserState(RMC_KNOTS);
+//				skipBytes = 0;
+//				numBytes = 0;
+//			}
+//			else //store data
+//			{
+//				//longitude[numBytes]= byte; //adjust number of bytes to fit array
+//				numBytes++;
+//				setParserState(RMC_LONGITUDE);
+//			}
+//		}
+//
+//		//knots
+//		else if(decodeState == RMC_KNOTS)
+//		{
+//			if (byte == ',') //end of this data type
+//			{
+//				knots[numBytes] = 0x00;
+//				setParserState(RMC_COURSE);
+//				numBytes = 0; //prep for next phase of parse
+//			}
+//			else //store data
+//			{
+//				setParserState(RMC_KNOTS);
+//				knots[numBytes]= byte; //adjust number of bytes to fit array
+//				numBytes++;
+//			}
+//		}
+//
+//		//course
+//		else if(decodeState == RMC_COURSE)
+//		{
+//			if (byte == ',') //end of this data type
+//			{
+//				course[numBytes] = 0x00;
+//				setParserState(RMC_DATE);
+//				numBytes = 0; //prep for next phase of parse
+//			}
+//			else //store data
+//			{
+//				setParserState(RMC_COURSE);
+//				course[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//			}
+//		}
+//
+//		//date
+//		else if(decodeState == RMC_DATE)
+//		{
+//			if (byte == ',') //end of this data type
+//			{
+//				// Cut it off at day of month. Also has month and year if we ever need it.
+//				dayofmonth[2] = 0x00;
+//				setParserState(RMC_MAG_VARIATION);
+//				skipBytes = 0; //prep for next phase of parse
+//				numBytes = 0;
+//			}
+//			else //store data
+//			{
+//				setParserState(RMC_DATE);
+//				dayofmonth[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//			}
+//		}
+//
+//		//magnetic variation
+//		else if(decodeState == RMC_MAG_VARIATION)
+//		{
+//			if (byte == '*') //end of this data type
+//			{
+//				//variation[numBytes] = 0x00;
+//				setParserState(GPS_CHECKSUM);
+//				numBytes = 0; //prep for next phase of parse
+//			}
+//			else //store data
+//			{
+//				setParserState(RMC_MAG_VARIATION);
+//				//variation[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//			}
+//		}
+//		///parses RMC transmissions END
+//
+//
+//		//checksum
+//		else if (decodeState == GPS_CHECKSUM)
+//		{
+//			if (numBytes == 2) //end of data - terminating character ??
+//			{
+//				//checksum calculator for testing http://www.hhhh.org/wiml/proj/nmeaxor.html
+//				//TODO: must determine what to do with correct and incorrect messages
+//				receivedChecksum = checksum[0] + (checksum[1]*16);	//convert bytes to int
+//				if(calculatedChecksum==receivedChecksum)
+//				{
+//
+//				}
+//				else
+//				{
+//
+//				}
+//
+//				setParserState(INITIALIZE);
+//				numBytes = 0; //prep for next phase of parse
+//			}
+//			else //store data
+//			{
+//				setParserState(GPS_CHECKSUM);
+//				checksum[numBytes] = byte; //adjust number of bytes to fit array
+//				numBytes++;
+//			}
+//		}
+//		else {
+//			setParserState(INITIALIZE);
+//		}
+//
+//		if (decodeState!=GPS_CHECKSUM && decodeState!=INITIALIZE)	//want bytes between '$' and '*'
+//		{
+//			//input byte into running checksum
+//			XORbyteWithChecksum(byte);
+//		}
+//	}
+//
 
 }