diff --git a/master/master/lib/gps.c b/master/master/lib/gps.c
--- a/master/master/lib/gps.c
+++ b/master/master/lib/gps.c
@@ -1,15 +1,28 @@
 /*
  * Master Firmware: NMEA Parser
  *
- * Wireless Observational Modular Aerial Network
+ * This file is part of OpenTrack.
+ *
+ * OpenTrack is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Affero General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * OpenTrack is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Affero General Public License for more details.
+ *
+ * You should have received a copy of the GNU Affero General Public License
+ * along with OpenTrack. If not, see <http://www.gnu.org/licenses/>.
  * 
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
  *
- */
-
+ */
+
 #include <stdbool.h>
 #include <string.h>
 #include <stdio.h>
@@ -19,21 +32,21 @@
 #include "serial.h"
 #include "../config.h"
 #include "led.h"
-#include "logger.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;
+#include "logger.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;
 
 // holds the byte ALREADY PARSED. includes starting character
 int bytesReceived = 0;
 
-//data (and checksum) of most recent transmission
+//data (and checksum) of most recent transmission
 char data[16];
 
 //used to skip over bytes during parse
@@ -148,23 +161,23 @@ int calculatedChecksum;
 int receivedChecksum;
 
 // 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
+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,
@@ -177,10 +190,10 @@ enum decodeState {
 }decodeState;
 
 
-ISR(USART1_RX_vect)
-{
-	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = UDR1;
-	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
+ISR(USART1_RX_vect)
+{
+	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = UDR1;
+	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
 }
 
 void gps_setup() 
@@ -196,21 +209,21 @@ void gps_setup()
 }
 
 
-// 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;
-}
+// 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;
+}
 
 
 
@@ -249,289 +262,289 @@ void parse_gps_transmission(void){
 		}
 	
 		//parse transmission type
-		else if (decodeState == GET_TYPE)
-		{
-			tramsmissionType[numBytes] = byte;
-			numBytes++;
+		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);
-			}
-			
-		}
-	
+			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
-			{
+		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
-			{
+				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[numBytes] = 0x00; // null terminate
-				
-				setParserState(GGA_LONGITUDE);
-				skipBytes = 0; //prep for next phase of parse
-				numBytes = 0;
-			}
-			else //store data
-			{
+				serial0_sendString("found lat skip byte\r\n");
+				#endif
+				
+				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
+			{
 				#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
-			{
+				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[numBytes] = 0x00;
-				setParserState(GGA_QUALITY);
-				numBytes = 0; //prep for next phase of parse
-				skipBytes = 0;
-			}
-			else //store data
-			{
+				serial0_sendString("found long skip byte\r\n");
+				#endif
+				
+				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
+			{
 				#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
-			{
+				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
-			{
-				altitude[numBytes] = 0x00;
-				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
-	
+				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
+			{
+				altitude[numBytes] = 0x00;
+				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
-			{
+			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);
+				serial0_sendString("found time byte\r\n");
+				#endif
+				
+				//timestamp[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(RMC_TIME);
 			}
 		}
 	
@@ -539,196 +552,196 @@ void parse_gps_transmission(void){
 		// 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
-			{
+			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);
+				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
-			{
+			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
-			{
+				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);
+				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
-			{
+			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
-			{
+				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);
+				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++;
+			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++;
+			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++;
+			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++;
+			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
-				{
-				
-				}
+		///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
-				
-				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++;
-			}
+				serial0_sendString("OMG GOT TO CHECKSUM!\r\n");
+				#endif
+				
+				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 '$' and '*'
-		{
+		if (decodeState!=GPS_CHECKSUM && decodeState!=INITIALIZE)	//want bytes between '$' and '*'
+		{
 			//input byte into running checksum
-			XORbyteWithChecksum(byte);
-		}
-		led_off(LED_ACTIVITY);
+			XORbyteWithChecksum(byte);
+		}
+		led_off(LED_ACTIVITY);
 	}