diff --git a/master/master/lib/gps.c b/master/master/lib/gps.c
new file mode 100644
--- /dev/null
+++ b/master/master/lib/gps.c
@@ -0,0 +1,700 @@
+/*
+* gpsMKa.c
+*
+* Created: 11/15/2012 12:02:38 PM
+*  Author: mkanning
+*/
+
+#include <stdbool.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include "gps.h"
+#include "serial.h"
+#include "../config.h"
+#include "led.h"
+
+
+
+// Circular buffer for incoming data
+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;
+
+
+/*
+volatile uint8_t charTest;
+ISR(USART1_RX_vect)
+{
+	serial0_sendChar(UDR1);
+	
+}*/
+
+// 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
+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
+char tramsmissionType[7];
+
+char timestamp[12];	//hhmmss.ss
+char* get_timestamp() {
+	return timestamp;
+}
+	
+char latitude[14];	//lllll.lla
+char* get_latitude() {
+	return latitude;
+}
+
+char longitude[14];	//yyyyy.yyb
+char* get_longitude() {
+	return longitude;
+}
+
+
+char quality;		//quality for GGA and validity for RMC
+char numSatellites[4];
+char* getNumSatelites() {
+	return numSatellites;
+}
+
+char hdop[6];		//xx.x
+char* get_hdop() {
+	return hdop;
+}
+
+char altitude[10];	//xxxxxx.x
+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
+char* get_speedKnots() {
+	return knots;
+}
+
+char course[8];		//xxx.x
+char* get_course() {
+	return course;
+}
+	
+char dayofmonth[9];	//ddmmyy
+char* get_dayofmonth() {
+	return dayofmonth;
+}
+
+char variation[9];	//xxx.xb
+int calculatedChecksum;
+int receivedChecksum;
+
+char convertBuf1[15];
+char convertBuf2[15];
+
+// transmission state machine
+enum decodeState {
+	//shared fields
+	INITIALIZE=0,
+	GET_TYPE,
+	GPS_CHECKSUM,	//XOR of all the bytes between the $ and the * (not including the delimiters themselves), written in hexadecimal
+	//GGA data fields
+	GGA_TIME,
+	GGA_LATITUDE,
+	GGA_LONGITUDE,
+	GGA_QUALITY,
+	GGA_SATELLITES,
+	GGA_HDOP,
+	GGA_ALTITUDE,
+	GGA_WGS84,
+	GGA_LAST_UPDATE,
+	GGA_STATION_ID,
+	//RMC data fields
+	RMC_TIME,
+	RMC_VALIDITY,
+	RMC_LATITUDE,
+	RMC_LONGITUDE,
+	RMC_KNOTS,
+	RMC_COURSE,
+	RMC_DATE,
+	RMC_MAG_VARIATION,
+	
+}decodeState;
+
+
+char debugBuff[128];
+
+ISR(USART1_RX_vect)
+{
+	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = UDR1;
+	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
+	//serial0_sendChar(UDR1);
+	//snprintf(debugBuff, 32, "GPS: bdp: %d, bpp: %d decodestate: %u \r\n", nmeaBufferDataPosition, nmeaBufferParsePosition, decodeState);
+	//serial0_sendString((debugBuff));
+}
+
+
+// Could inline if program space available
+static void setParserState(uint8_t state)
+{
+	decodeState = state;
+
+	
+	// If resetting, clear vars
+	if(state == INITIALIZE)
+	{
+		calculatedChecksum = 0;
+	}
+	
+	// Every time we change state, we have parsed a byte
+	nmeaBufferParsePosition = (nmeaBufferParsePosition + 1) % NMEABUFFER_SIZE;
+}
+
+
+
+//// MKa GPS transmission parser START
+void parse_gps_transmission(void){
+	
+	// Pull byte off of the buffer
+	char byte;
+	
+	
+	
+	while(nmeaBufferDataPosition != nmeaBufferParsePosition) {
+	led_on(LED_ACTIVITY);
+		
+		byte = nmeaBuffer[nmeaBufferParsePosition];
+		
+		//snprintf(debugBuff, 64, "GPSParse: byte [%c] decodestate: %u bp: %u pp: %u\r\n",  byte, decodeState, nmeaBufferDataPosition, nmeaBufferParsePosition);
+		//serial0_sendString((debugBuff));
+		
+		if(decodeState == INITIALIZE) //start of transmission sentence
+		{
+			if(byte == '$') {
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found $\r\n");
+				#endif
+				
+				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++;
+			
+			#ifdef DEBUG_NMEA
+			serial0_sendString("stored a type byte\r\n");
+			#endif
+			
+			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
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found GGA time byte\r\n");
+				#endif
+				
+				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
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found lat skip byte\r\n");
+				#endif
+				
+				skipBytes = 1;
+				setParserState(GGA_LATITUDE);
+			}
+			else if (byte == ',') //end of this data type
+			{
+				
+				latitude[7] = 0x00; // null terminate
+				
+				
+				// First 2 bytes
+				//convertBuf1[0] = latitude[0];
+				//convertBuf1[1] = latitude[1];
+				//convertBuf1[2] = '\0';
+				//strncpy(convertBuf2, latitude, 7);
+				//convertBuf2[7] = '\0';
+				
+				
+				setParserState(GGA_LONGITUDE);
+				skipBytes = 0; //prep for next phase of parse
+				numBytes = 0;
+			}
+			else //store data
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found lat byte\r\n");
+				#endif
+				
+				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
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found long skip byte\r\n");
+				#endif
+				
+				skipBytes = 1;
+				setParserState(GGA_LONGITUDE);
+			}
+			else if (byte == ',') //end of this data type
+			{
+				longitude[8] = 0x00;
+				setParserState(GGA_QUALITY);
+				numBytes = 0; //prep for next phase of parse
+				skipBytes = 0;
+			}
+			else //store data
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found long byte\r\n");
+				#endif
+				
+				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
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found quality byte\r\n");
+				#endif
+				
+				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
+			{
+				skipBytes = 1;
+				setParserState(GGA_ALTITUDE);
+			}
+			else if(byte == ',') //end of this data type
+			{
+				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
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found time byte\r\n");
+				#endif
+				
+				//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
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found valid byte\r\n");
+				#endif
+				
+				//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
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found lat skip byte\r\n");
+				#endif
+				
+				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
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found lat byte\r\n");
+				#endif
+				
+				//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
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found long byte\r\n");
+				#endif
+				
+				skipBytes = 1; 
+				setParserState(RMC_LONGITUDE);
+			}
+			else if (byte == ',') //end of this data type
+			{
+				setParserState(RMC_KNOTS);
+				skipBytes = 0;
+				numBytes = 0;
+			}
+			else //store data
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found long byte\r\n");
+				#endif
+				
+				//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
+				{
+				
+				}
+				#ifdef DEBUG_NMEA
+				serial0_sendString("OMG GOT TO CHECKSUM!\r\n");
+				#endif
+				
+				serial0_sendString((debugBuff));
+				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);
+		}
+		led_off(LED_ACTIVITY);
+	}	
+	
+
+}
+/// MKa GPS transmission parser END
+
+void XORbyteWithChecksum(uint8_t byte){
+	calculatedChecksum ^= (int)byte; //this may need to be re-coded
+}
+