From acf1c8fd495c196722d5d1fe146269a2b25a7e23 Mon Sep 17 00:00:00 2001
From: robertl <robertl>
Date: Fri, 12 Feb 2010 15:24:39 +0000
Subject: [PATCH] VPL improvements.  Decode HDOP and VDOP.

---
 garmin.c                          |    7 +
 reference/track/vpl_reference.gpx | 1000 +++++++++++++++++++++++++++++
 vpl.c                             |   73 ++-
 xmldoc/formats/vpl.xml            |   11 +-
 4 files changed, 1076 insertions(+), 15 deletions(-)

diff --git a/garmin.c b/garmin.c
index 5e1288c3f..c1c05a4e5 100644
--- a/garmin.c
+++ b/garmin.c
@@ -222,6 +222,13 @@ rw_init(const char *fname)
 			break;
 			
 	}
+
+	// If a user has specified a non-default character set, we'll trust
+	// them to sort our the wreckage of violating the Garmin protocol and
+	// ship characters to the device in that character set.
+	if (global_opts.charset != &cet_cs_vec_utf8) {
+		receiver_charset = global_opts.charset_name;
+	}
 	if (global_opts.debug_level > 0)  {
 		fprintf(stderr, "Waypoint type: %d\n"
 			"Chosen waypoint length %d\n",
diff --git a/reference/track/vpl_reference.gpx b/reference/track/vpl_reference.gpx
index 5fd47f192..a4a5d2a9a 100644
--- a/reference/track/vpl_reference.gpx
+++ b/reference/track/vpl_reference.gpx
@@ -14,3000 +14,4000 @@
   <time>2009-07-06T21:14:11Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.741453993" lon="-88.737407769">
   <ele>225.000000</ele>
   <time>2009-07-06T21:14:12Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.741716580" lon="-88.737415365">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:13Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.741978082" lon="-88.737422960">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:14Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.742238498" lon="-88.737430556">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:15Z</time>
   <speed>29.197300</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.742500000" lon="-88.737439236">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:16Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.742762587" lon="-88.737446832">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:17Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.743024089" lon="-88.737453342">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:18Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.743285590" lon="-88.737460938">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:19Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.743548177" lon="-88.737467448">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:20Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.743809679" lon="-88.737475043">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:21Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.744072266" lon="-88.737479384">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:22Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.744333767" lon="-88.737483724">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:23Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.744596354" lon="-88.737489149">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:24Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.744857856" lon="-88.737494575">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:25Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.745120443" lon="-88.737500000">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:26Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.745383030" lon="-88.737503255">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:27Z</time>
   <speed>29.364941</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.745646701" lon="-88.737502170">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:28Z</time>
   <speed>29.392879</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.745909288" lon="-88.737491319">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:29Z</time>
   <speed>29.364941</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.746171875" lon="-88.737469618">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:30Z</time>
   <speed>29.364941</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.746434462" lon="-88.737437066">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:31Z</time>
   <speed>29.364941</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.746694878" lon="-88.737394748">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:32Z</time>
   <speed>29.392879</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.746955295" lon="-88.737342665">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:33Z</time>
   <speed>29.392879</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.747214627" lon="-88.737279731">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:34Z</time>
   <speed>29.392879</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.747471788" lon="-88.737207031">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:35Z</time>
   <speed>29.392879</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.750000</vdop>
 </trkpt>
 <trkpt lat="40.747726780" lon="-88.737124566">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:36Z</time>
   <speed>29.364941</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.747979601" lon="-88.737030165">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:37Z</time>
   <speed>29.309059</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.748230252" lon="-88.736927083">
   <ele>227.000000</ele>
   <time>2009-07-06T21:14:38Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.748478733" lon="-88.736816406">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:39Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.748723958" lon="-88.736694878">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:40Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.748965929" lon="-88.736563585">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:41Z</time>
   <speed>29.197300</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.749204644" lon="-88.736423611">
   <ele>226.000000</ele>
   <time>2009-07-06T21:14:42Z</time>
   <speed>29.169359</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.749439019" lon="-88.736273872">
   <ele>225.000000</ele>
   <time>2009-07-06T21:14:43Z</time>
   <speed>29.141420</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.749670139" lon="-88.736114366">
   <ele>225.000000</ele>
   <time>2009-07-06T21:14:44Z</time>
   <speed>29.141420</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.749899089" lon="-88.735947266">
   <ele>225.000000</ele>
   <time>2009-07-06T21:14:45Z</time>
   <speed>29.141420</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.750123698" lon="-88.735773655">
   <ele>224.000000</ele>
   <time>2009-07-06T21:14:46Z</time>
   <speed>29.141420</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.750343967" lon="-88.735589193">
   <ele>224.000000</ele>
   <time>2009-07-06T21:14:47Z</time>
   <speed>29.113480</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.750559896" lon="-88.735397135">
   <ele>224.000000</ele>
   <time>2009-07-06T21:14:48Z</time>
   <speed>29.141420</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.750000</vdop>
 </trkpt>
 <trkpt lat="40.750770399" lon="-88.735194227">
   <ele>224.000000</ele>
   <time>2009-07-06T21:14:49Z</time>
   <speed>29.169359</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.750000</vdop>
 </trkpt>
 <trkpt lat="40.750975477" lon="-88.734981554">
   <ele>223.000000</ele>
   <time>2009-07-06T21:14:50Z</time>
   <speed>29.225241</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.750000</vdop>
 </trkpt>
 <trkpt lat="40.751177300" lon="-88.734761285">
   <ele>223.000000</ele>
   <time>2009-07-06T21:14:51Z</time>
   <speed>29.253180</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.750000</vdop>
 </trkpt>
 <trkpt lat="40.751373698" lon="-88.734526910">
   <ele>223.000000</ele>
   <time>2009-07-06T21:14:52Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.751565755" lon="-88.734289280">
   <ele>223.000000</ele>
   <time>2009-07-06T21:14:53Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.751752387" lon="-88.734047309">
   <ele>223.000000</ele>
   <time>2009-07-06T21:14:54Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>0.875000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.751937934" lon="-88.733803168">
   <ele>223.000000</ele>
   <time>2009-07-06T21:14:55Z</time>
   <speed>29.225241</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.752121311" lon="-88.733556858">
   <ele>223.000000</ele>
   <time>2009-07-06T21:14:56Z</time>
   <speed>29.197300</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.752303602" lon="-88.733309462">
   <ele>223.000000</ele>
   <time>2009-07-06T21:14:57Z</time>
   <speed>29.225241</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.752485894" lon="-88.733062066">
   <ele>223.000000</ele>
   <time>2009-07-06T21:14:58Z</time>
   <speed>29.253180</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.752668186" lon="-88.732814670">
   <ele>223.000000</ele>
   <time>2009-07-06T21:14:59Z</time>
   <speed>29.281120</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.752850477" lon="-88.732566189">
   <ele>223.000000</ele>
   <time>2009-07-06T21:15:00Z</time>
   <speed>29.281120</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.753033854" lon="-88.732318793">
   <ele>223.000000</ele>
   <time>2009-07-06T21:15:01Z</time>
   <speed>29.309059</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.753216146" lon="-88.732072483">
   <ele>223.000000</ele>
   <time>2009-07-06T21:15:02Z</time>
   <speed>29.281120</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.753399523" lon="-88.731825087">
   <ele>223.000000</ele>
   <time>2009-07-06T21:15:03Z</time>
   <speed>29.281120</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.753582899" lon="-88.731578776">
   <ele>223.000000</ele>
   <time>2009-07-06T21:15:04Z</time>
   <speed>29.253180</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.753765191" lon="-88.731332465">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:05Z</time>
   <speed>29.253180</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.753948568" lon="-88.731087240">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:06Z</time>
   <speed>29.253180</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.754131944" lon="-88.730840929">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:07Z</time>
   <speed>29.225241</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.754314236" lon="-88.730594618">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:08Z</time>
   <speed>29.225241</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.754496528" lon="-88.730347222">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:09Z</time>
   <speed>29.225241</speed>
   <sat>9</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.754680990" lon="-88.730103082">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:10Z</time>
   <speed>29.225241</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.754865451" lon="-88.729857856">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:11Z</time>
   <speed>29.253180</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.755049913" lon="-88.729612630">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:12Z</time>
   <speed>29.253180</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.755234375" lon="-88.729367405">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:13Z</time>
   <speed>29.253180</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.755416667" lon="-88.729121094">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:14Z</time>
   <speed>29.253180</speed>
   <sat>10</sat>
+  <hdop>1.000000</hdop>
+  <vdop>1.500000</vdop>
 </trkpt>
 <trkpt lat="40.755600043" lon="-88.728873698">
   <ele>222.000000</ele>
   <time>2009-07-06T21:15:15Z</time>
   <speed>29.253180</speed>
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+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.853155382" lon="-88.671605903">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:08Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.853410373" lon="-88.671526693">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:09Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.853666450" lon="-88.671453993">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:10Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.853923611" lon="-88.671385634">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:11Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.854180773" lon="-88.671322700">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:12Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.854439019" lon="-88.671266276">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:13Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.854698351" lon="-88.671216363">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:14Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.854957682" lon="-88.671170790">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:15Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.855217014" lon="-88.671131727">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:16Z</time>
   <speed>29.197300</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.855478516" lon="-88.671097005">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:17Z</time>
   <speed>29.197300</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.855738932" lon="-88.671069878">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:18Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.856000434" lon="-88.671046007">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:19Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.856261936" lon="-88.671028646">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:20Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.856523438" lon="-88.671016710">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:21Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.856786024" lon="-88.671011285">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:22Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.857047526" lon="-88.671011285">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:23Z</time>
   <speed>29.225241</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.857309028" lon="-88.671013455">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:24Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.857571615" lon="-88.671015625">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:25Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.857833116" lon="-88.671016710">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:26Z</time>
   <speed>29.281120</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.858095703" lon="-88.671018880">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:27Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.858357205" lon="-88.671018880">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:28Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.858619792" lon="-88.671021050">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:29Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 <trkpt lat="40.858882378" lon="-88.671023220">
   <ele>203.000000</ele>
   <time>2009-07-06T21:22:30Z</time>
   <speed>29.253180</speed>
   <sat>11</sat>
+  <hdop>1.125000</hdop>
+  <vdop>1.875000</vdop>
 </trkpt>
 </trkseg>
 </trk>
diff --git a/vpl.c b/vpl.c
index a2cbf0ed1..16f32d348 100644
--- a/vpl.c
+++ b/vpl.c
@@ -30,7 +30,7 @@
 	sentence.  For example:
 
 75700241FA59FB242CD500CF041984991E0B0A0C09060613064509060613064424824D68FF00000800051C000271
-00--1111111122222222333344445555--66----777777777777--------------------------------------CC
+00--1111111122222222333344445555--667788999999999999AAAAAAAAAAAA--------------------------XX
 
 0 - Sentence type
 1 - Latitude in hex (signed, divide by 0xE1000 for decimal degrees)
@@ -45,9 +45,59 @@
 	8499 -> 33945 * (360/65535) = 186.47
 6 - Number of sats
 	0B -> 11
-7 - Date and Time (YYMMDDHHMMSS)
+7 - HDOP (divide by 8)
+	0A -> 10 / 8 = 1.25
+8 - VDOP (divide by 8)
+	0C -> 12 / 8 = 1.5
+9 - Date and Time (YYMMDDHHMMSS)
 	090606130645 = June 6, 2009 13:06:45
-C - Checksum (xor, ala NMEA)
+A - Previous line date and time (?)
+	090606130644 = June 6, 2009 13:06:44
+X - Checksum (xor, ala NMEA)
+
+***********************************
+* Unused, but (at least partially) decoded sentences
+
+******
+0D - Yaw Gyro (This field is not currently decoded herein)
+	This field is written 25 times per second.  It contains the raw values
+	from the yaw gyro.  Positive values for right turns, negative values
+	for left turns.
+
+0D00FEFA09
+00??1111CC
+
+0 - Sentence Type
+? - An unknown field with observed values between 0 and 3.
+1 - Yaw Gyro value
+C - Checksum
+
+******
+31 - Distance Traveled
+	This field is written once a second.  It contains the number of
+	meters traveled since the navigation system was last turned on.
+
+310000117050
+0011111111CC
+
+0 - Sentence Type
+1 - Distance Traveled in Meters
+C - Checksum
+
+******
+35 - Raw Position
+	This field is written 5 times per second.  It contains Latitude
+	and Longitude, as well as two currently unknown angular values.
+
+35CFBB5CBC1744CB1BD9023308C2
+00111111112222222233334444CC
+
+0 - Sentence Type
+1 - Longitude (divide by 0x8CA000 for decimal degrees)
+2 - Latitude (divide by 0x8CA000 for decimal degrees)
+3 - Unknown angular value (multiply by 360/65535)
+4 - Unknown angular value (multiply by 360/65535)
+C - Checksum
 
 */
 
@@ -100,11 +150,9 @@ vpl_read(void)
 	}
 
 	while((ibuf = gbfgetstr(vpl_file_in))) {
-		if(strncmp(ibuf, "75", 2)) {
-			// Only bother with '75' sentences
-			continue;
-		}
-		vpl_parse_75_sentence(ibuf);
+		if(strncmp(ibuf, "75", 2) == 0) {
+			vpl_parse_75_sentence(ibuf);
+		} 
 	}
 }
 
@@ -125,14 +173,15 @@ vpl_parse_75_sentence(const char *ibuf)
 	gbint32 lat_raw, lon_raw;
 	gbint16 alt, speed_raw;
 	gbuint16 hdg_raw;
-	gbuint8 sats;
+	gbuint8 sats, hdop_raw, vdop_raw;
 	waypoint *waypt;
 	struct tm tm;
 
 	// The files have DOS line endings (CR/LF) but we don't care, because we
 	// don't read to the end.
-	sscanf(ibuf, "75%*2c%8X%8X%4hX%4hX%4hX%*2c%2hhX%*4c%6u%6u",
-		&lat_raw, &lon_raw, &alt, &speed_raw, &hdg_raw, &sats, &ymd, &hms);
+	sscanf(ibuf, "75%*2c%8X%8X%4hX%4hX%4hX%*2c%2hhX%2hhX%2hhX%6u%6u",
+		&lat_raw, &lon_raw, &alt, &speed_raw, &hdg_raw, &sats, &hdop_raw, &vdop_raw,
+		&ymd, &hms);
 
 	tm.tm_sec = hms % 100;
 	hms /= 100;
@@ -157,6 +206,8 @@ vpl_parse_75_sentence(const char *ibuf)
 	// Speed comes in (MPH x 0x10) which we have to convert to m/s
 	WAYPT_SET(waypt, speed, (speed_raw / (double) 0x10) * 0.44704);
 	waypt->course    = hdg_raw * (double) (360/65535);
+	waypt->hdop      = hdop_raw / (double) 8;
+	waypt->vdop      = vdop_raw / (double) 8;
 
 	waypt->creation_time = mkgmtime(&tm);
 
diff --git a/xmldoc/formats/vpl.xml b/xmldoc/formats/vpl.xml
index aa210c441..b3d8f8ced 100644
--- a/xmldoc/formats/vpl.xml
+++ b/xmldoc/formats/vpl.xml
@@ -23,7 +23,8 @@
 </para>
 <para>
 	The VPL format contains quite a bit of data, much of which remains undecoded.  This format
-	currently reads only lat/lon, altitude, speed, heading, date/time, and visible sats.
+	currently reads only lat/lon, altitude, speed, heading, date/time, visible sats, HDOP and
+	VDOP.
 </para>
 <para>
 	Generally, the layout of the format seems similar to NMEA, with discrete sentences
@@ -33,7 +34,9 @@
 	the file is written in ASCII; most of it simply as hexadecimal characters.  Most
 	fields are fixed width, though a few can be variable.  (Those that are variable
 	have a field count as the first field after their sentence identifier)  Currently,
-	only the '75'-sentence is decoded (and only about 50% of it), though this provides all
-	the data necessary for position information.  (It is likely that it also contains
-	HDOP/VDOP, but they've not yet been found)
+	only the '75'-sentence is processed (and only about 70% of it), though this provides all
+	the data necessary for position information.
+
+	Some fields in other sentences have been decoded, but they are not currently processed.
+	Information on the data in these fields can be found in vpl.c.
 </para>
-- 
2.30.2