diff --git a/apps/modes_rx b/apps/modes_rx
index ee2355a..9293f22 100755
--- a/apps/modes_rx
+++ b/apps/modes_rx
@@ -63,15 +63,21 @@ def main():
 
   #ok now relay is gonna get all those tasty strings
   #internally we want to distribute parsed data instead, lighten the load
+  #TODO obviously this should go somewhere besides the main app. But where?
   publisher = pubsub()
-  def send(message):
+  def make_report(pub, message):
     [data, ecc, reference, timestamp] = message.split()
     try:
-        ret = air_modes.modes_report(air_modes.modes_reply(int(data, 16)), int(ecc, 16), 20.0*math.log10(float(reference)), air_modes.stamp(0, float(timestamp)))
-        publisher["modes_dl"] = ret
-        publisher["type%i_dl" % ret.data.get_type()] = ret
+        ret = air_modes.modes_report(air_modes.modes_reply(int(data, 16)),
+                                     int(ecc, 16),
+                                     20.0*math.log10(float(reference)),
+                                     air_modes.stamp(0, float(timestamp)))
+        pub["modes_dl"] = ret
+        pub["type%i_dl" % ret.data.get_type()] = ret
     except ADSBError:
         pass
+
+  send = lambda msg: make_report(publisher, msg)
   
   relay.subscribe("dl_data", send)
 
@@ -84,12 +90,10 @@ def main():
   if options.kml is not None:
     dbname = 'adsb.db'
     lock = threading.Lock()
-    sqldb = air_modes.output_sql(my_position, dbname, lock) #input into the db
+    sqldb = air_modes.output_sql(cpr_dec, dbname, lock, publisher) #input into the db
     kmlgen = air_modes.output_kml(options.kml, dbname, my_position, lock) #create a KML generating thread to read from the db
-    relay.subscribe("dl_data", sqldb.insert)
 
   if options.no_print is not True:
-    #relay.subscribe("dl_data", air_modes.output_print(my_position).output)
     printer = air_modes.output_print(cpr_dec, publisher)
 
   if options.multiplayer is not None:
@@ -98,8 +102,7 @@ def main():
     relay.subscribe("dl_data", fgout.output)
 
   if options.sbs1 is True:
-    sbs1port = air_modes.output_sbs1(my_position, 30003)
-    relay.subscribe("dl_data", sbs1port.output)
+    sbs1port = air_modes.output_sbs1(cpr_dec, 30003, publisher)
 
   tb.run()
   tb.close()
diff --git a/python/__init__.py b/python/__init__.py
index 28560f2..c42c61d 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -55,22 +55,22 @@ from rx_path import rx_path
 from zmq_socket import zmq_pubsub_iface
 from parse import *
 from msprint import output_print
-#from sql import output_sql
-#from sbs1 import output_sbs1
-#from kml import output_kml
-#from raw_server import raw_server
+from sql import output_sql
+from sbs1 import output_sbs1
+from kml import output_kml
+from raw_server import raw_server
 from radio import modes_radio
 from exceptions import *
-#from az_map import *
+from az_map import *
 from types import *
 from altitude import *
 #this is try/excepted in case the user doesn't have numpy installed
-#try:
-#    from flightgear import output_flightgear
-#    from Quaternion import *
-#except ImportError:
-#    print "gr-air-modes warning: numpy+scipy not installed, FlightGear interface not supported"
-#    pass
+try:
+    from flightgear import output_flightgear
+    from Quaternion import *
+except ImportError:
+    print "gr-air-modes warning: numpy+scipy not installed, FlightGear interface not supported"
+    pass
 
 # ----------------------------------------------------------------
 # Tail of workaround
diff --git a/python/az_map.py b/python/az_map.py
index bd96878..d064608 100755
--- a/python/az_map.py
+++ b/python/az_map.py
@@ -169,29 +169,26 @@ class az_map(QtGui.QWidget):
         self.ringsize = ringsize
         self.drawPath()
 
-class az_map_output(air_modes.parse):
-    def __init__(self, mypos, model):
-        air_modes.parse.__init__(self, mypos)
+class az_map_output:
+    def __init__(self, cprdec, model, pub):
+        self._cpr = cprdec
         self.model = model
+        pub.subscribe("type17_dl", output)
         
     def output(self, msg):
         try:
-            [data, ecc, reference, timestamp] = msg.split()
-            data = air_modes.modes_reply(long(data, 16))
-            ecc = long(ecc, 16)
-            rssi = 10.*math.log10(float(reference))
-            msgtype = data["df"]
+            msgtype = msg.data["df"]
             now = time.time()
         
             if msgtype == 17:
-                icao = data["aa"]
-                subtype = data["ftc"]
+                icao = msg.data["aa"]
+                subtype = msg.data["ftc"]
                 distance, altitude, bearing = [0,0,0]
                 if 5 <= subtype <= 8:
-                    (ground_track, decoded_lat, decoded_lon, distance, bearing) = self.parseBDS06(data)
+                    (ground_track, decoded_lat, decoded_lon, distance, bearing) = air_modes.parseBDS06(msg.data, self._cpr)
                     altitude = 0
                 elif 9 <= subtype <= 18:
-                    (altitude, decoded_lat, decoded_lon, distance, bearing) = self.parseBDS05(data)
+                    (altitude, decoded_lat, decoded_lon, distance, bearing) = air_modes.parseBDS05(msg.data, self._cpr)
 
                 self.model.addRecord(bearing, altitude, distance)
         except ADSBError:
diff --git a/python/sbs1.py b/python/sbs1.py
index adf02dd..b0507ce 100644
--- a/python/sbs1.py
+++ b/python/sbs1.py
@@ -47,9 +47,8 @@ class dumb_task_runner(threading.Thread):
         self.shutdown.set()
         self.finished.wait(self._interval)
 
-class output_sbs1(air_modes.parse):
-  def __init__(self, mypos, port):
-    air_modes.parse.__init__(self, mypos)
+class output_sbs1:
+  def __init__(self, cprdec, port, pub):
     self._s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
     self._s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
     self._s.bind(('', port))
@@ -59,6 +58,13 @@ class output_sbs1(air_modes.parse):
     self._aircraft_id_map = {} # dictionary of icao24 to aircraft IDs
     self._aircraft_id_count = 0 # Current Aircraft ID count
 
+    self._cpr = cprdec
+
+    #it could be cleaner if there were separate output_* fns
+    #but this works
+    for i in (0, 4, 5, 11, 17):
+        pub.subscribe("type%i_dl" % i, output)
+
     #spawn thread to add new connections as they come in
     self._runner = dumb_task_runner(self.add_pending_conns, 0.1)
 
@@ -124,35 +130,30 @@ class output_sbs1(air_modes.parse):
     else:
       return ",,,"
 
-  def parse(self, message):
+  def parse(self, msg):
     #assembles a SBS-1-style output string from the received message
 
-    [data, ecc, reference, timestamp] = message.split()
-
-    data = air_modes.modes_reply(long(data, 16))
-    ecc = long(ecc, 16)
-    msgtype = data["df"]
+    msgtype = msg.data["df"]
     outmsg = None
 
     if msgtype == 0:
-      outmsg = self.pp0(data, ecc)
+      outmsg = self.pp0(msg.data, msg.ecc)
     elif msgtype == 4:
-      outmsg = self.pp4(data, ecc)
+      outmsg = self.pp4(msg.data, msg.ecc)
     elif msgtype == 5:
-      outmsg = self.pp5(data, ecc)
+      outmsg = self.pp5(msg.data, msg.ecc)
     elif msgtype == 11:
-      outmsg = self.pp11(data, ecc)
+      outmsg = self.pp11(msg.data, msg.ecc)
     elif msgtype == 17:
-      outmsg = self.pp17(data)
+      outmsg = self.pp17(msg.data)
     else:
       raise NoHandlerError(msgtype)
     return outmsg
 
   def pp0(self, shortdata, ecc):
     [datestr, timestr] = self.current_time()
-    [vs, cc, sl, ri, altitude] = self.parse0(shortdata)
     aircraft_id = self.get_aircraft_id(ecc)
-    retstr = "MSG,7,0,%i,%06X,%i,%s,%s,%s,%s,,%s,,,,,,,,,," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr, altitude)
+    retstr = "MSG,7,0,%i,%06X,%i,%s,%s,%s,%s,,%s,,,,,,,,,," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr, air_modes.decode_alt(shortdata["ac"], True))
     if vs:
       retstr += "1\r\n"
     else:
@@ -161,23 +162,20 @@ class output_sbs1(air_modes.parse):
 
   def pp4(self, shortdata, ecc):
     [datestr, timestr] = self.current_time()
-    [fs, dr, um, altitude] = self.parse4(shortdata)
     aircraft_id = self.get_aircraft_id(ecc)
-    retstr = "MSG,5,0,%i,%06X,%i,%s,%s,%s,%s,,%s,,,,,,," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr, altitude)
-    return retstr + self.decode_fs(fs) + "\r\n"
+    retstr = "MSG,5,0,%i,%06X,%i,%s,%s,%s,%s,,%s,,,,,,," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr, air_modes.decode_alt(shortdata["ac"], True))
+    return retstr + self.decode_fs(shortdata["fs"]) + "\r\n"
 
   def pp5(self, shortdata, ecc):
     [datestr, timestr] = self.current_time()
-    [fs, dr, um, ident] = self.parse5(shortdata)
     aircraft_id = self.get_aircraft_id(ecc)
-    retstr = "MSG,6,0,%i,%06X,%i,%s,%s,%s,%s,,,,,,,,%04i," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr, ident)
-    return retstr + self.decode_fs(fs) + "\r\n"
+    retstr = "MSG,6,0,%i,%06X,%i,%s,%s,%s,%s,,,,,,,,%04i," % (aircraft_id, ecc, aircraft_id+100, datestr, timestr, datestr, timestr, air_modes.decode_id(shortdata["id"]))
+    return retstr + self.decode_fs(shortdata["fs"]) + "\r\n"
 
   def pp11(self, shortdata, ecc):
     [datestr, timestr] = self.current_time()
-    [icao24, interrogator, ca] = self.parse11(shortdata, ecc)
     aircraft_id = self.get_aircraft_id(icao24)
-    return "MSG,8,0,%i,%06X,%i,%s,%s,%s,%s,,,,,,,,,,,,\r\n" % (aircraft_id, icao24, aircraft_id+100, datestr, timestr, datestr, timestr)
+    return "MSG,8,0,%i,%06X,%i,%s,%s,%s,%s,,,,,,,,,,,,\r\n" % (aircraft_id, shortdata["aa"], aircraft_id+100, datestr, timestr, datestr, timestr)
 
   def pp17(self, data):
     icao24 = data["aa"]
@@ -191,12 +189,12 @@ class output_sbs1(air_modes.parse):
 
     if bdsreg == 0x08:
       # Aircraft Identification
-      (msg, typestring) = self.parseBDS08(data)
+      (msg, typestring) = air_modes.parseBDS08(data)
       retstr = "MSG,1,0,%i,%06X,%i,%s,%s,%s,%s,%s,,,,,,,,,,,\r\n" % (aircraft_id, icao24, aircraft_id+100, datestr, timestr, datestr, timestr, msg)
 
     elif bdsreg == 0x06:
       # Surface position measurement
-      [ground_track, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS06(data)
+      [ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(data, self._cpr)
       altitude = 0
       if decoded_lat is None: #no unambiguously valid position available
         retstr = None
@@ -206,7 +204,7 @@ class output_sbs1(air_modes.parse):
     elif bdsreg == 0x05:
       # Airborne position measurements
       # WRONG (rnge, bearing), is this still true?
-      [altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS05(data)
+      [altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(data, self._cpr)
       if decoded_lat is None: #no unambiguously valid position available
         retstr = None
       else:
@@ -217,7 +215,7 @@ class output_sbs1(air_modes.parse):
       # WRONG (heading, vert_spd), Is this still true?
       subtype = data["bds09"].get_type()
       if subtype == 0 or subtype == 1:
-        parser = self.parseBDS09_0 if subtype == 0 else self.parseBDS09_1
+        parser = air_modes.parseBDS09_0 if subtype == 0 else air_modes.parseBDS09_1
         [velocity, heading, vert_spd] = parser(data)
         retstr = "MSG,4,0,%i,%06X,%i,%s,%s,%s,%s,,,%.1f,%.1f,,,%i,,,,,\r\n" % (aircraft_id, icao24, aircraft_id+100, datestr, timestr, datestr, timestr, velocity, heading, vert_spd)
 
diff --git a/python/sql.py b/python/sql.py
index f230db1..0f240ad 100644
--- a/python/sql.py
+++ b/python/sql.py
@@ -26,11 +26,10 @@ import sqlite3
 from air_modes.exceptions import *
 from gnuradio.gr.pubsub import pubsub
 
-class output_sql(air_modes.parse, pubsub):
-  def __init__(self, mypos, filename, lock):
-    air_modes.parse.__init__(self, mypos)
-    pubsub.__init__(self)
-
+class output_sql:
+  def __init__(self, cpr, filename, lock, publisher):
+    #pubsub.__init__(self)
+    self._cpr = cpr
     self._lock = lock;
     #create the database
     self.filename = filename
@@ -63,6 +62,7 @@ class output_sql(air_modes.parse, pubsub):
     #we close the db conn now to reopen it in the output() thread context.
     self._db.close()
     self._db = None
+    publisher.subscribe("type17_dl", self.insert)
 
   def insert(self, message):
     with self._lock:
@@ -84,19 +84,14 @@ class output_sql(air_modes.parse, pubsub):
       except ADSBError:
         pass
 
-  def make_insert_query(self, message):
+  def make_insert_query(self, msg):
     #assembles a SQL query tailored to our database
     #this version ignores anything that isn't Type 17 for now, because we just don't care
-    [data, ecc, reference, timestamp] = message.split()
-
-    data = air_modes.modes_reply(long(data, 16))
-    ecc = long(ecc, 16)
-#   reference = float(reference)
     query = None
-    msgtype = data["df"]
+    msgtype = msg.data["df"]
     if msgtype == 17:
-      query = self.sql17(data)
-      self["new_adsb"] = data["aa"] #publish change notification
+      query = self.sql17(msg.data)
+      #self["new_adsb"] = data["aa"] #publish change notification
 
     return query
 
@@ -111,20 +106,20 @@ class output_sql(air_modes.parse, pubsub):
   def sql17(self, data):
     icao24 = data["aa"]
     bdsreg = data["me"].get_type()
-    self["bds%.2i" % bdsreg] = icao24 #publish under "bds08", "bds06", etc.
+    #self["bds%.2i" % bdsreg] = icao24 #publish under "bds08", "bds06", etc.
 
     if bdsreg == 0x08:
-      (msg, typename) = self.parseBDS08(data)
+      (msg, typename) = air_modes.parseBDS08(data)
       return "INSERT OR REPLACE INTO ident (icao, ident) VALUES (" + "%i" % icao24 + ", '" + msg + "')"
     elif bdsreg == 0x06:
-      [ground_track, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS06(data)
+      [ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(data, self._cpr)
       altitude = 0
       if decoded_lat is None: #no unambiguously valid position available
         raise CPRNoPositionError
       else:
         return "INSERT INTO positions (icao, seen, alt, lat, lon) VALUES (" + "%i" % icao24 + ", datetime('now'), " + str(altitude) + ", " + "%.6f" % decoded_lat + ", " + "%.6f" % decoded_lon + ")"
     elif bdsreg == 0x05:
-      [altitude, decoded_lat, decoded_lon, rnge, bearing] = self.parseBDS05(data)
+      [altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(data, self._cpr)
       if decoded_lat is None: #no unambiguously valid position available
         raise CPRNoPositionError
       else:
@@ -132,10 +127,10 @@ class output_sql(air_modes.parse, pubsub):
     elif bdsreg == 0x09:
       subtype = data["bds09"].get_type()
       if subtype == 0:
-        [velocity, heading, vert_spd, turnrate] = self.parseBDS09_0(data)
+        [velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(data)
         return "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (" + "%i" % icao24 + ", datetime('now'), " + "%.0f" % velocity + ", " + "%.0f" % heading + ", " + "%.0f" % vert_spd + ")"
       elif subtype == 1:
-        [velocity, heading, vert_spd] = self.parseBDS09_1(data)
+        [velocity, heading, vert_spd] = air_modes.parseBDS09_1(data)
         return "INSERT INTO vectors (icao, seen, speed, heading, vertical) VALUES (" + "%i" % icao24 + ", datetime('now'), " + "%.0f" % velocity + ", " + "%.0f" % heading + ", " + "%.0f" % vert_spd + ")"
       else:
         raise NoHandlerError