--First trace plots done from small run around EE313.  Results based almost completely on odometer readings look pretty good.  Trouble seems to happen when we go from tile to carpet (odometers read more distance covered than actually covered) or on long straightaways (heading tends to drift left--might be because of encoder ticks to cm conversion).  Other sensors seem to be too inaccurate/inconsistent to use.  Working on how to get other sensors (compass/yaw, acceleration) to provide meaningful data/input to Kalman.
--Added mNMEAParser and mGPSInfo to dsci in order to parse GPS messages.  Still need to finish and test.