gnss-js 1.14.1 → 1.15.0

package/dist/{chunk-YIHO74OS.js → chunk-BEQSEJMU.js}

@@ -1,7 +1,8 @@
-// src/sbf/index.ts
-var CLIGHT = 299792458;
-var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
-var MS_PER_WEEK = 7 * 864e5;
+import {
+  getGpsLeap
+} from "./chunk-HVXYFUCB.js";
+
+// src/sbf/frame.ts
 var CRC_TABLE = (() => {
   const t = new Uint16Array(256);
   for (let n = 0; n < 256; n++) {
@@ -18,6 +19,362 @@ function crc16(data, start, end) {
     crc = (crc << 8 ^ CRC_TABLE[(crc >> 8 ^ data[i]) & 255]) & 65535;
   return crc;
 }
+function scanSbfFrames(data, view, onBlock) {
+  let badCrc = 0;
+  let i = 0;
+  while (i + 8 <= data.length) {
+    if (data[i] !== 36 || data[i + 1] !== 64) {
+      i++;
+      continue;
+    }
+    const len = view.getUint16(i + 6, true);
+    if (len < 8 || len % 4 !== 0) {
+      i++;
+      continue;
+    }
+    if (i + len > data.length) break;
+    if (crc16(data, i + 4, i + len) !== view.getUint16(i + 2, true)) {
+      badCrc++;
+      i++;
+      continue;
+    }
+    onBlock(view.getUint16(i + 4, true) & 8191, i, len);
+    i += len;
+  }
+  return badCrc;
+}
+var two = (n) => String(n).padStart(2, "0");
+function svidToPrn(svid) {
+  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two(svid)}` : null;
+  if (svid <= 61) return svid - 37 <= 27 ? `R${two(svid - 37)}` : null;
+  if (svid <= 62) return null;
+  if (svid <= 68) return svid - 38 <= 27 ? `R${two(svid - 38)}` : null;
+  if (svid <= 70) return null;
+  if (svid <= 106) return svid - 70 <= 36 ? `E${two(svid - 70)}` : null;
+  if (svid <= 119) return null;
+  if (svid <= 140) return `S${two(svid - 100)}`;
+  if (svid <= 180) return svid - 140 <= 50 ? `C${two(svid - 140)}` : null;
+  if (svid <= 190) return `J${two(svid - 180)}`;
+  if (svid <= 197) return svid - 190 <= 14 ? `I${two(svid - 190)}` : null;
+  if (svid <= 215) return `S${two(svid - 157)}`;
+  if (svid <= 222) return svid - 208 <= 14 ? `I${two(svid - 208)}` : null;
+  if (svid <= 245) return svid - 182 <= 50 ? `C${two(svid - 182)}` : null;
+  return null;
+}
+
+// src/sbf/nav.ts
+var PI = Math.PI;
+var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK = 7 * 86400;
+var MS_PER_WEEK = SEC_PER_WEEK * 1e3;
+var F4_DNU = -2e10;
+var U4_DNU = 4294967295;
+function adjustWeek(refWeek, wn, mod) {
+  let offset = refWeek % mod - wn;
+  if (offset > mod / 2) offset -= mod;
+  if (offset < -(mod / 2 - 1)) offset += mod;
+  return refWeek - offset;
+}
+var gpsMs = (week, sec) => GPS_EPOCH_MS + week * MS_PER_WEEK + sec * 1e3;
+var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK;
+function decodeGpsQzsNav(view, b, sys) {
+  const svid = view.getUint8(b + 14);
+  const prn = sys === "G" ? svid : svid - 180;
+  const max = sys === "G" ? 32 : 10;
+  if (prn < 1 || prn > max) return null;
+  const wnc = view.getUint16(b + 12, true);
+  const tgdRaw = view.getFloat32(b + 28, true);
+  const tocs = view.getUint32(b + 32, true);
+  const toes = view.getUint32(b + 88, true);
+  const wnToc = adjustWeek(wnc, view.getUint16(b + 136, true), 1024);
+  const tocDate = new Date(gpsMs(wnToc, tocs));
+  return {
+    system: sys,
+    prn: `${sys}${String(prn).padStart(2, "0")}`,
+    toc: sowOf(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat32(b + 44, true),
+    af1: view.getFloat32(b + 40, true),
+    af2: view.getFloat32(b + 36, true),
+    iode: view.getUint8(b + 24),
+    crs: view.getFloat32(b + 48, true),
+    deltaN: view.getFloat32(b + 52, true) * PI,
+    m0: view.getFloat64(b + 56, true) * PI,
+    cuc: view.getFloat32(b + 64, true),
+    e: view.getFloat64(b + 68, true),
+    cus: view.getFloat32(b + 76, true),
+    sqrtA: view.getFloat64(b + 80, true),
+    toe: toes,
+    cic: view.getFloat32(b + 92, true),
+    omega0: view.getFloat64(b + 96, true) * PI,
+    cis: view.getFloat32(b + 104, true),
+    i0: view.getFloat64(b + 108, true) * PI,
+    crc: view.getFloat32(b + 116, true),
+    omega: view.getFloat64(b + 120, true) * PI,
+    omegaDot: view.getFloat32(b + 128, true) * PI,
+    idot: view.getFloat32(b + 132, true) * PI,
+    // RINEX "GPS week to go with toe": RTKLIB writes WNc for GPS and
+    // the week of toc for QZSS — mirrored here so records compare
+    // 1:1 against convbin output. wnToe is still used for `toe` above.
+    week: sys === "G" ? wnc : wnToc,
+    svHealth: view.getUint8(b + 20),
+    tgd: tgdRaw !== F4_DNU ? tgdRaw : 0
+  };
+}
+function decodeGalNav(view, b) {
+  const prn = view.getUint8(b + 14) - 70;
+  if (prn < 1 || prn > 36) return null;
+  const source = view.getUint8(b + 15);
+  if (source !== 2 && source !== 16) return null;
+  const wnc = view.getUint16(b + 12, true);
+  const toes = view.getUint32(b + 100, true);
+  const tocs = view.getUint32(b + 104, true);
+  const wnToc = adjustWeek(wnc, view.getUint16(b + 126, true), 4096);
+  const tocDate = new Date(gpsMs(wnToc, tocs));
+  const health = view.getUint16(b + 130, true);
+  let svh = 0;
+  if (health & 1) svh |= health >> 1 & 7;
+  if (health & 16) svh |= (health >> 5 & 7) << 6;
+  if (health & 256) svh |= (health >> 9 & 7) << 3;
+  const bgdE5a = view.getFloat32(b + 136, true);
+  return {
+    system: "E",
+    prn: `E${String(prn).padStart(2, "0")}`,
+    toc: sowOf(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat64(b + 116, true),
+    af1: view.getFloat32(b + 112, true),
+    af2: view.getFloat32(b + 108, true),
+    iode: view.getUint16(b + 128, true),
+    // IODnav
+    crs: view.getFloat32(b + 88, true),
+    deltaN: view.getFloat32(b + 72, true) * PI,
+    m0: view.getFloat64(b + 24, true) * PI,
+    cuc: view.getFloat32(b + 76, true),
+    e: view.getFloat64(b + 32, true),
+    cus: view.getFloat32(b + 80, true),
+    sqrtA: view.getFloat64(b + 16, true),
+    toe: toes,
+    cic: view.getFloat32(b + 92, true),
+    omega0: view.getFloat64(b + 56, true) * PI,
+    cis: view.getFloat32(b + 96, true),
+    i0: view.getFloat64(b + 40, true) * PI,
+    crc: view.getFloat32(b + 84, true),
+    omega: view.getFloat64(b + 48, true) * PI,
+    omegaDot: view.getFloat32(b + 64, true) * PI,
+    idot: view.getFloat32(b + 68, true) * PI,
+    week: wnc,
+    // RINEX GAL week is GPS-aligned and continuous
+    svHealth: svh,
+    tgd: bgdE5a !== F4_DNU ? bgdE5a : 0
+    // BGD E5a/E1 (RINEX slot)
+  };
+}
+function decodeBdsNav(view, b) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "C") return null;
+  const bdsWeekRef = view.getUint16(b + 12, true) - 1356;
+  const tgd1 = view.getFloat32(b + 24, true);
+  const tocs = view.getUint32(b + 32, true);
+  const toes = view.getUint32(b + 88, true);
+  const wnToc = adjustWeek(bdsWeekRef, view.getUint16(b + 136, true), 8192);
+  const wnToe = adjustWeek(bdsWeekRef, view.getUint16(b + 138, true), 8192);
+  const tocDate = new Date(BDT_EPOCH_MS + wnToc * MS_PER_WEEK + tocs * 1e3);
+  return {
+    system: "C",
+    prn,
+    toc: sowOf(tocDate.getTime()),
+    tocDate,
+    af0: view.getFloat32(b + 44, true),
+    af1: view.getFloat32(b + 40, true),
+    af2: view.getFloat32(b + 36, true),
+    iode: view.getUint8(b + 21),
+    // AODE
+    crs: view.getFloat32(b + 48, true),
+    deltaN: view.getFloat32(b + 52, true) * PI,
+    m0: view.getFloat64(b + 56, true) * PI,
+    cuc: view.getFloat32(b + 64, true),
+    e: view.getFloat64(b + 68, true),
+    cus: view.getFloat32(b + 76, true),
+    sqrtA: view.getFloat64(b + 80, true),
+    toe: toes,
+    cic: view.getFloat32(b + 92, true),
+    omega0: view.getFloat64(b + 96, true) * PI,
+    cis: view.getFloat32(b + 104, true),
+    i0: view.getFloat64(b + 108, true) * PI,
+    crc: view.getFloat32(b + 116, true),
+    omega: view.getFloat64(b + 120, true) * PI,
+    omegaDot: view.getFloat32(b + 128, true) * PI,
+    idot: view.getFloat32(b + 132, true) * PI,
+    week: wnToe,
+    // RINEX BDS week field is the BDT week
+    svHealth: view.getUint8(b + 19),
+    // SatH1
+    tgd: tgd1 !== F4_DNU ? tgd1 : 0
+    // TGD1 B1/B3 (RINEX slot)
+  };
+}
+function decodeGloNav(view, b) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "R") return null;
+  const wnc = view.getUint16(b + 12, true);
+  const toes = view.getUint32(b + 76, true);
+  const wnToe = adjustWeek(wnc, view.getUint16(b + 80, true), 1024);
+  const toeGpsMs = gpsMs(wnToe, toes);
+  const leapMs = getGpsLeap(new Date(toeGpsMs)) * 1e3;
+  const tocDate = new Date(toeGpsMs - leapMs);
+  const tofGpsMs = gpsMs(wnc, 0) + view.getUint32(b + 8, true);
+  const tofLeapMs = getGpsLeap(new Date(tofGpsMs)) * 1e3;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS) / 1e3 % SEC_PER_WEEK;
+  return {
+    system: "R",
+    prn,
+    tocDate,
+    // RINEX stores −τn as the clock bias; SBF carries τn (ICD sign)
+    tauN: -view.getFloat32(b + 68, true),
+    gammaN: view.getFloat32(b + 64, true),
+    messageFrameTime,
+    x: view.getFloat64(b + 16, true),
+    // SBF unit is km, like RINEX
+    xDot: view.getFloat32(b + 40, true),
+    xAcc: view.getFloat32(b + 52, true),
+    y: view.getFloat64(b + 24, true),
+    yDot: view.getFloat32(b + 44, true),
+    yAcc: view.getFloat32(b + 56, true),
+    z: view.getFloat64(b + 32, true),
+    zDot: view.getFloat32(b + 48, true),
+    zAcc: view.getFloat32(b + 60, true),
+    // MSB of the 3-bit Bn word — the unhealthy flag RINEX carries
+    health: view.getUint8(b + 85) >> 2,
+    freqNum: view.getUint8(b + 15) - 8
+  };
+}
+function parseSbfNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const badCrc = scanSbfFrames(data, view, (id, b, len) => {
+    let eph = null;
+    if (id === 5891 && len >= 140) eph = decodeGpsQzsNav(view, b, "G");
+    else if (id === 4095 && len >= 140) eph = decodeGpsQzsNav(view, b, "J");
+    else if (id === 4002 && len >= 149) eph = decodeGalNav(view, b);
+    else if (id === 4081 && len >= 140) eph = decodeBdsNav(view, b);
+    else if (id === 4004 && len >= 96) eph = decodeGloNav(view, b);
+    if (eph) ephemerides.push(eph);
+  });
+  return { ephemerides, badCrc };
+}
+var GAL_SQRT_A_NOMINAL = Math.sqrt(296e5);
+var GAL_I_NOMINAL = 56 / 180 * PI;
+var I_REF_03 = 0.3 * PI;
+function decodeGpsGalAlm(view, b, sys) {
+  const wnc = view.getUint16(b + 12, true);
+  const toa = view.getUint32(b + 20, true);
+  if (toa === U4_DNU) return null;
+  let prn;
+  let weekAlm;
+  let i0;
+  let sqrtA = view.getFloat32(b + 32, true);
+  let health;
+  if (sys === "G") {
+    prn = view.getUint8(b + 14);
+    if (prn < 1 || prn > 32) return null;
+    weekAlm = adjustWeek(wnc, view.getUint8(b + 56), 256);
+    i0 = I_REF_03 + view.getFloat32(b + 24, true) * PI;
+    health = view.getUint8(b + 58);
+  } else {
+    prn = view.getUint8(b + 57) - 70;
+    if (prn < 1 || prn > 36) return null;
+    weekAlm = adjustWeek(wnc, view.getUint8(b + 56), 4);
+    i0 = GAL_I_NOMINAL + view.getFloat32(b + 24, true) * PI;
+    sqrtA += GAL_SQRT_A_NOMINAL;
+    health = view.getUint16(b + 58, true);
+  }
+  return {
+    system: sys,
+    prn: `${sys}${String(prn).padStart(2, "0")}`,
+    weekAlm,
+    toaSec: toa,
+    sqrtA,
+    e: view.getFloat32(b + 16, true),
+    i0OrDeltaI: i0,
+    omega0: view.getFloat32(b + 36, true) * PI,
+    omega: view.getFloat32(b + 40, true) * PI,
+    m0: view.getFloat32(b + 44, true) * PI,
+    omegaDot: view.getFloat32(b + 28, true) * PI,
+    af0: view.getFloat32(b + 52, true),
+    af1: view.getFloat32(b + 48, true),
+    health
+  };
+}
+function decodeBdsAlm(view, b) {
+  const prnStr = svidToPrn(view.getUint8(b + 14));
+  if (!prnStr || prnStr[0] !== "C") return null;
+  const prn = parseInt(prnStr.slice(1), 10);
+  const toa = view.getUint32(b + 16, true);
+  if (toa === U4_DNU) return null;
+  const bdsWeekRef = view.getUint16(b + 12, true) - 1356;
+  const geo = prn <= 5 || prn >= 59;
+  return {
+    system: "C",
+    prn: prnStr,
+    weekAlm: adjustWeek(bdsWeekRef, view.getUint8(b + 15), 256),
+    toaSec: toa,
+    sqrtA: view.getFloat32(b + 20, true),
+    e: view.getFloat32(b + 24, true),
+    i0OrDeltaI: (geo ? 0 : I_REF_03) + view.getFloat32(b + 44, true) * PI,
+    omega0: view.getFloat32(b + 36, true) * PI,
+    omega: view.getFloat32(b + 28, true) * PI,
+    m0: view.getFloat32(b + 32, true) * PI,
+    omegaDot: view.getFloat32(b + 40, true) * PI,
+    af0: view.getFloat32(b + 48, true),
+    af1: view.getFloat32(b + 52, true),
+    health: view.getUint16(b + 56, true)
+  };
+}
+function decodeGloAlm(view, b) {
+  const prn = svidToPrn(view.getUint8(b + 14));
+  if (!prn || prn[0] !== "R") return null;
+  const wnc = view.getUint16(b + 12, true);
+  const toa = view.getUint32(b + 20, true);
+  if (toa === U4_DNU) return null;
+  return {
+    system: "R",
+    prn,
+    freqNr: view.getUint8(b + 15) - 8,
+    weekAlm: adjustWeek(wnc, view.getUint8(b + 52), 256),
+    toaSec: toa,
+    epsilon: view.getFloat32(b + 16, true),
+    deltaI: view.getFloat32(b + 24, true) * PI,
+    lambda: view.getFloat32(b + 28, true) * PI,
+    tLambda: view.getFloat32(b + 32, true),
+    omega: view.getFloat32(b + 36, true) * PI,
+    deltaT: view.getFloat32(b + 40, true),
+    deltaTDot: view.getFloat32(b + 44, true),
+    tau: view.getFloat32(b + 48, true),
+    health: view.getUint8(b + 53),
+    nDay: view.getUint16(b + 54, true),
+    n4: view.getUint8(b + 57)
+  };
+}
+function parseSbfAlmanac(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const almanacs = [];
+  const badCrc = scanSbfFrames(data, view, (id, b, len) => {
+    let alm = null;
+    if (id === 5892 && len >= 60) alm = decodeGpsGalAlm(view, b, "G");
+    else if (id === 4003 && len >= 61) alm = decodeGpsGalAlm(view, b, "E");
+    else if (id === 4119 && len >= 60) alm = decodeBdsAlm(view, b);
+    else if (id === 4005 && len >= 60) alm = decodeGloAlm(view, b);
+    if (alm) almanacs.push(alm);
+  });
+  return { almanacs, badCrc };
+}
+
+// src/sbf/index.ts
+var CLIGHT = 299792458;
+var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK2 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
 var M3_INTERVALS = [
@@ -116,44 +473,27 @@ var MEAS2_SIG = [
   ["J", "1E"],
   ["J", "5P"]
 ];
-var two = (n) => String(n).padStart(2, "0");
+var two2 = (n) => String(n).padStart(2, "0");
 function m3Prn(navsys, svid) {
   switch (navsys) {
     case 0:
-      return svid < 32 ? `G${two(svid + 1)}` : null;
+      return svid < 32 ? `G${two2(svid + 1)}` : null;
     case 1:
-      return svid < 27 ? `R${two(svid + 1)}` : null;
+      return svid < 27 ? `R${two2(svid + 1)}` : null;
     case 2:
-      return svid < 36 ? `E${two(svid + 1)}` : null;
+      return svid < 36 ? `E${two2(svid + 1)}` : null;
     case 3:
-      return svid < 50 ? `C${two(svid + 1)}` : null;
+      return svid < 50 ? `C${two2(svid + 1)}` : null;
     case 4:
-      return svid <= 38 ? `S${two(svid + 20)}` : null;
+      return svid <= 38 ? `S${two2(svid + 20)}` : null;
     case 5:
-      return svid < 10 ? `J${two(svid + 1)}` : null;
+      return svid < 10 ? `J${two2(svid + 1)}` : null;
     case 6:
-      return svid < 14 ? `I${two(svid + 1)}` : null;
+      return svid < 14 ? `I${two2(svid + 1)}` : null;
     default:
       return null;
   }
 }
-function svidToPrn(svid) {
-  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two(svid)}` : null;
-  if (svid <= 61) return svid - 37 <= 27 ? `R${two(svid - 37)}` : null;
-  if (svid <= 62) return null;
-  if (svid <= 68) return svid - 38 <= 27 ? `R${two(svid - 38)}` : null;
-  if (svid <= 70) return null;
-  if (svid <= 106) return svid - 70 <= 36 ? `E${two(svid - 70)}` : null;
-  if (svid <= 119) return null;
-  if (svid <= 140) return `S${two(svid - 100)}`;
-  if (svid <= 180) return svid - 140 <= 50 ? `C${two(svid - 140)}` : null;
-  if (svid <= 190) return `J${two(svid - 180)}`;
-  if (svid <= 197) return svid - 190 <= 14 ? `I${two(svid - 190)}` : null;
-  if (svid <= 215) return `S${two(svid - 157)}`;
-  if (svid <= 222) return svid - 208 <= 14 ? `I${two(svid - 208)}` : null;
-  if (svid <= 245) return svid - 182 <= 50 ? `C${two(svid - 182)}` : null;
-  return null;
-}
 function carrierFreq(sys, code, fcn) {
   const band = code.charCodeAt(0) - 48;
   switch (sys) {
@@ -216,7 +556,6 @@ function parseSbfMeas(data) {
   const epochs = [];
   const messageCounts = {};
   const obsCodes = {};
-  let badCrc = 0;
   let ref = freshRefEpoch(-1);
   let curTime = NaN;
   let curMeas = [];
@@ -247,8 +586,8 @@ function parseSbfMeas(data) {
       curTime = timeMs;
     }
   };
-  const decodeMeas3Ranges = (i2, tow) => {
-    const o = i2 + 8;
+  const decodeMeas3Ranges = (i, tow) => {
+    const o = i + 8;
     const constellations = view.getUint16(o + 8, true) & 127;
     const misc = data[o + 10];
     const version = data[o + 11];
@@ -526,8 +865,8 @@ function parseSbfMeas(data) {
       }
     }
   };
-  const decodeMeas3CN0 = (i2, len) => {
-    const flags = view.getUint16(i2 + 14, true);
+  const decodeMeas3CN0 = (i, len) => {
+    const flags = view.getUint16(i + 14, true);
     if ((flags & 7) !== 0) return;
     const maxNibbles = (len - 16) * 2;
     let off = 0;
@@ -537,7 +876,7 @@ function parseSbfMeas(data) {
       for (let k = 0; k < e.slots.length; k++) {
         const slot = e.slots[k];
         if (k > 0 && !slot) break;
-        const nib = (data[i2 + 16 + (off >> 1)] ?? 0) >> (off & 1) * 4 & 15;
+        const nib = (data[i + 16 + (off >> 1)] ?? 0) >> (off & 1) * 4 & 15;
         if (slot && slot.cn0 !== null) slot.cn0 += nib * 0.0625 - 0.5;
         off++;
       }
@@ -564,14 +903,14 @@ function parseSbfMeas(data) {
     if ((v & 1) === 1) value = -value;
     return { value, size };
   };
-  const decodeMeas3Doppler = (i2, len) => {
-    const flags = view.getUint16(i2 + 14, true);
+  const decodeMeas3Doppler = (i, len) => {
+    const flags = view.getUint16(i + 14, true);
     if ((flags & 7) !== 0) return;
     let off = 0;
     for (const e of curSats) {
       if (off + 16 >= len) break;
       if (!e.prn) continue;
-      const master = readPrRate(i2 + 16, off);
+      const master = readPrRate(i + 16, off);
       off += master.size;
       if (master.value === -268435455) continue;
       const refPrRate = ref.sats[e.navsys][e.svid]?.prRate ?? 0;
@@ -581,20 +920,20 @@ function parseSbfMeas(data) {
       for (let k = 1; k < e.slots.length; k++) {
         const slot = e.slots[k];
         if (!slot) break;
-        const slave = readPrRate(i2 + 16, off);
+        const slave = readPrRate(i + 16, off);
         off += slave.size;
         if (m)
           slot.doppler = (mD * (CLIGHT / m.freq) * 1e3 - slave.value) * 1e-3 / (CLIGHT / slot.freq);
       }
     }
   };
-  const decodeMeasEpoch = (i2, len) => {
-    const n1 = data[i2 + 14];
-    const len1 = data[i2 + 15];
-    const len2 = data[i2 + 16];
-    if ((data[i2 + 17] & 128) !== 0) return;
-    const end = i2 + len;
-    let p = i2 + 20;
+  const decodeMeasEpoch = (i, len) => {
+    const n1 = data[i + 14];
+    const len1 = data[i + 15];
+    const len2 = data[i + 16];
+    if ((data[i + 17] & 128) !== 0) return;
+    const end = i + len;
+    let p = i + 20;
     for (let b1 = 0; b1 < n1 && p + 20 <= end; b1++) {
       const ant = data[p + 1] >> 5;
       let sig = data[p + 1] & 31;
@@ -681,43 +1020,27 @@ function parseSbfMeas(data) {
       }
     }
   };
-  let i = 0;
-  while (i + 8 <= data.length) {
-    if (data[i] !== 36 || data[i + 1] !== 64) {
-      i++;
-      continue;
-    }
-    const len = view.getUint16(i + 6, true);
-    if (len < 8 || len % 4 !== 0) {
-      i++;
-      continue;
-    }
-    if (i + len > data.length) break;
-    if (crc16(data, i + 4, i + len) !== view.getUint16(i + 2, true)) {
-      badCrc++;
-      i++;
-      continue;
-    }
-    const id = view.getUint16(i + 4, true) & 8191;
+  const badCrc = scanSbfFrames(data, view, (id, i, len) => {
     const key = String(id);
     messageCounts[key] = (messageCounts[key] ?? 0) + 1;
     if ((id === 4027 || id === 4109 || id === 4110 || id === 4111) && len >= 16) {
       const tow = view.getUint32(i + 8, true);
       const wnc = view.getUint16(i + 12, true);
       if (tow !== 4294967295 && wnc !== 65535) {
-        ensureEpoch(GPS_EPOCH_MS + wnc * MS_PER_WEEK + tow);
+        ensureEpoch(GPS_EPOCH_MS2 + wnc * MS_PER_WEEK2 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
         else decodeMeasEpoch(i, len);
       }
     }
-    i += len;
-  }
+  });
   flush();
   return { epochs, messageCounts, obsCodes, badCrc };
 }
 
 export {
+  parseSbfNav,
+  parseSbfAlmanac,
   parseSbfMeas
 };