           dataFile.print(Header);
           dataFile.println(ObstHeader);
           dataFile.close();
-      }  
+      }
     }
     pinMode(CYCLOMETER, INPUT);
     attachInterrupt (5, WheelRev, RISING);
 
 }
-/*---------------------------------------------------------------------------------------*/ 
+/*---------------------------------------------------------------------------------------*/
 void waypoint::SetTime(char *pTime, char * pDate)
 {
-//    GPSfile = "mmddhhmm.CSV";
-     strncpy(GPSfile,   pDate+2, 2);  // month   
-     strncpy(GPSfile+2, pDate, 2);    // day    
-     strncpy(GPSfile+4, pTime,2);     // GMT hour
-     strncpy(GPSfile+6, pTime+2,2);   // minute
-     Serial.println(GPSfile); 
-    
-     strncpy(StartTime,     pDate+4, 2);  // year   
-     strncpy(StartTime+3,   pDate+2, 2);  // month   
-     strncpy(StartTime+6,   pDate, 2);    // day    
-     strncpy(StartTime+9,   pTime,2);     // GMT hour
-     strncpy(StartTime+12,  pTime+2,2);   // minute
-     strncpy(StartTime+15,  pTime+4,2);   // second
-     strncpy(StartTime+18,  pTime+7,3);   // millisecond
-     
-}
-
-/*---------------------------------------------------------------------------------------*/ 
-void loop() 
+    //GPSfile = "mmddhhmm.CSV";
+    strncpy(GPSfile,   pDate+2, 2);  // month
+    strncpy(GPSfile+2, pDate, 2);    // day
+    strncpy(GPSfile+4, pTime,2);     // GMT hour
+    strncpy(GPSfile+6, pTime+2,2);   // minute
+    Serial.println(GPSfile);
+
+    strncpy(StartTime,     pDate+4, 2);  // year
+    strncpy(StartTime+3,   pDate+2, 2);  // month
+    strncpy(StartTime+6,   pDate, 2);    // day
+    strncpy(StartTime+9,   pTime,2);     // GMT hour
+    strncpy(StartTime+12,  pTime+2,2);   // minute
+    strncpy(StartTime+15,  pTime+4,2);   // second
+    strncpy(StartTime+18,  pTime+7,3);   // millisecond
+}
+
+/*---------------------------------------------------------------------------------------*/
+void loop()
 {
     unsigned long deltaT_ms;
     unsigned long time = millis();

    // ready to roll
    // Fuse all position estimates.
    // Send vehicle state to C3 and C4.
    
}
/*---------------------------------------------------------------------------------------*/ 

void setup() 
{ 
    pinMode(Rx0, INPUT);
    pinMode(Tx0, OUTPUT);
    pinMode(GPS_RX, INPUT);

    pinMode(INU_RX, INPUT);
    pinMode(INU_TX, OUTPUT);
    pinMode(GPS_POWER, OUTPUT);
    Serial3.begin(GPSRATE); // GPS
    Serial.begin(9600);
    digitalWrite(GPS_POWER, LOW);         // pull low to turn on!
    // make sure that the default chip select pin is set to
