diff --git a/src/gps.c b/src/gps.c
--- a/src/gps.c
+++ b/src/gps.c
@@ -12,17 +12,7 @@ uint8_t nmeaBuffer[NMEABUFFER_SIZE];
 // Location of parser in the buffer
 uint8_t nmeaBufferParsePosition = 0;
 
-// Location of receive byte interrupt in the buffer
-volatile uint16_t nmeaBufferDataPosition = 0;
-
-// holds the byte ALREADY PARSED. includes starting character
-int bytesReceived = 0;
-
-//data (and checksum) of most recent transmission
-char data[16];
-
-//used to skip over bytes during parse
-uint32_t skipBytes = 0;
+uint8_t skipBytes = 0;
 
 //used to index data arrays during data collection
 uint32_t numBytes = 0;
@@ -185,10 +175,6 @@ void gps_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;
@@ -244,466 +230,468 @@ 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);
-//		}
-//	}
-//
+void parse_gps_transmission(void)
+{
+    uint16_t nmeaBufferDataPosition = NMEABUFFER_SIZE - uart_get_rxdma_handle()->Instance->CNDTR;
+
+	char byte;
+
+	while(nmeaBufferDataPosition != nmeaBufferParsePosition)
+	{
+	    // Pull byte off of the buffer
+	    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);
+		}
+	}
+
 
 }