diff --git a/master/master/lib/trackuinoGPS/gpsMKa.c b/master/master/lib/trackuinoGPS/gpsMKa.c
--- a/master/master/lib/trackuinoGPS/gpsMKa.c
+++ b/master/master/lib/trackuinoGPS/gpsMKa.c
@@ -1,9 +1,9 @@
 /*
- * gpsMKa.c
- *
- * Created: 11/15/2012 12:02:38 PM
- *  Author: mkanning
- */ 
+* gpsMKa.c
+*
+* Created: 11/15/2012 12:02:38 PM
+*  Author: mkanning
+*/
 #include <stdbool.h>
 #include <avr/io.h>
 #include "gpsMKa.h"
@@ -17,22 +17,27 @@ char data[16];
 //used to skip over bytes during parse
 int skipBytes = 0;
 
+//used to index data arrays during data collection
+int numBytes = 0;
+
 //variables to store data from transmission
+//least significant digit is stored at location 0 of arrays
 uint8_t tramsmissionType;
-uint8_t timestamp[9]; //hhmmss.ss
-uint8_t latitude[8]; //llll.ll,a
-uint8_t longitude[8]; //yyyyy.yy,a
+uint8_t timestamp[9];	//hhmmss.ss
+uint8_t latitude[8];	//llll.ll,a
+uint8_t longitude[8];	//yyyyy.yy,a
 uint8_t quality;
-uint8_t numSatellites;
-uint8_t hdop;
-uint8_t altitude;
-uint8_t wgs84Height;
-uint8_t lastUpdated;
-uint8_t stationID;
-uint8_t checksum;
+uint8_t numSatellites[2];
+uint8_t hdop[4];		//xx.x
+uint8_t altitude[8];	//xxxxxx.x
+uint8_t wgs84Height[6];	//sxxx.x
+uint8_t lastUpdated[6];	//blank - included for testing
+uint8_t stationID[6];	//blank - included for testing
+uint8_t checksum;		//xx
+
 
 // transmission state machine
-enum decodeState { 
+enum decodeState {
 	INITIALIZE=0,
 	GET_TYPE,
 	GGA_TIME,
@@ -45,6 +50,7 @@ enum decodeState {
 	GGA_WGS84,
 	GGA_LAST_UPDATE,
 	GGA_STATION_ID,
+	GGA_CHECKSUM,
 	RMC_TIME
 }decodeState;
 
@@ -56,11 +62,12 @@ void parse_gps_transmission(void){
 	char byte = uart_getchar();
 	
 	// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx
-	//        ^8        ^18       ^28                               
+	//        ^8        ^18       ^28
 	if(byte == '$') //start of transmission sentence
 	{
 		bytesReceived = 1; //resets transmission if '$' is found
 		decodeState = GET_TYPE;
+		numBytes = 0;
 	}
 	
 	//parse transmission type
@@ -76,17 +83,17 @@ void parse_gps_transmission(void){
 			if (tramsmissionType == 'G')
 			{
 				decodeState = GGA_TIME;
-			} 
+			}
 			else if(tramsmissionType == 'R')
 			{
 				decodeState = RMC_TIME; //not implemented
 			}
 			else
 			{
-				//reset 
+				//reset
 				decodeState = INITIALIZE;
 				bytesReceived = 0;
-			}			
+			}
 		}
 	}
 	
@@ -97,10 +104,12 @@ void parse_gps_transmission(void){
 		{
 			decodeState = GGA_LATITUDE;
 			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
 		}
 		else //store the byte of timestamp data
 		{
-			timestamp[bytesReceived-7] = byte; //adjust number of bytes to fit array
+			timestamp[numBytes] = byte; //adjust number of bytes to fit array
+			numBytes++;
 		}
 	}
 	
@@ -115,11 +124,13 @@ void parse_gps_transmission(void){
 		{
 			decodeState = GGA_LONGITUDE;
 			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
 		}
 		else
 		{
-			latitude[bytesReceived-17] = byte; //adjust number of bytes to fit array
-		}	
+			latitude[numBytes] = byte; //adjust number of bytes to fit array
+			numBytes++;
+		}
 	}
 	
 	//parse GGA longitude data
@@ -132,17 +143,139 @@ void parse_gps_transmission(void){
 		else if (byte == ',') //end of latitude data
 		{
 			decodeState = GGA_QUALITY;
+			numBytes = 0;
 		}
 		else
 		{
-			longitude[bytesReceived-17] = byte; //adjust number of bytes to fit array
-		}	
+			longitude[numBytes] = byte; //adjust number of bytes to fit array
+			numBytes++;
+		}
 	}
 	
 	//parse GGA quality data
 	else if (decodeState = GGA_QUALITY)
 	{
-		quality = byte;
+		if (byte = ',')//end of quality data
+		{
+			decodeState = GGA_SATELLITES;
+			skipBytes = 0; //prep for next phase of parse
+		}
+		else
+		{
+			quality = byte; //maybe reset if invalid data ??
+		}
+	}
+	
+	//parse GGA number of satellites data
+	else if (decodeState = GGA_SATELLITES)
+	{
+		if (byte = ',')//end of data
+		{
+			decodeState = GGA_HDOP;
+			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
+		}
+		else //store data
+		{
+			numSatellites[numBytes] = byte;
+			numBytes++;
+		}
+	}
+	
+	//parse GGA HDOP data
+	else if (decodeState = GGA_HDOP)
+	{
+		if (byte = ',')//end of data
+		{
+			decodeState = GGA_ALTITUDE;
+			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
+		}
+		else //store data
+		{
+			hdop[numBytes] = byte; //store byte of data
+			numBytes++;
+		}
+	}
+	
+	//parse GGA altitude data
+	else if (decodeState = GGA_ALTITUDE)
+	{
+		if (byte = ',')//end of data
+		{
+			decodeState = GGA_WGS84;
+			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
+		}
+		else //store data
+		{
+			altitude[numBytes] = byte;
+			numBytes++;
+		}
+	}
+	
+	//parse GGA WGS84 Height data
+	else if (decodeState = GGA_WGS84)
+	{
+		if (byte = ',')//end of data
+		{
+			decodeState = GGA_LAST_UPDATE;
+			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
+		}
+		else //store data
+		{
+			wgs84Height[numBytes] = byte;
+			numBytes++;
+		}
+	}
+	
+	//parse GGA last DGPS update data
+	else if (decodeState = GGA_LAST_UPDATE)
+	{
+		if (byte = ',')//end of data
+		{
+			decodeState = GGA_STATION_ID;
+			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
+		}
+		else //store data - this should be blank
+		{
+			lastUpdated[numBytes] = byte;
+			numBytes++;
+		}
+	}
+	
+	//parse GGA DGPS station ID data
+	else if (decodeState = GGA_STATION_ID)
+	{
+		if (byte = ',')//end of data
+		{
+			decodeState = GGA_CHECKSUM;
+			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
+		}
+		else //store data - this should be blank
+		{
+			stationID[numBytes] = byte;
+			numBytes++;
+		}
+	}
+	
+	//parse GGA checksum data
+	else if (decodeState = GGA_CHECKSUM)
+	{
+		if (byte = ',')//end of data - terminating character ??
+		{
+			decodeState = INITIALIZE;
+			skipBytes = 0; //prep for next phase of parse
+			numBytes = 0;
+		}
+		else //store data
+		{
+			checksum[numBytes] = byte;
+			numBytes++;
+		}
 	}
 	
 }