gnss-js 1.17.0 → 1.19.0

package/dist/index.cjs

@@ -138,6 +138,7 @@ __export(src_exports, {
   ephInfoToEphemeris: () => ephInfoToEphemeris,
   euclidean3D: () => euclidean3D,
   fetchSourcetable: () => fetchSourcetable,
+  fmtD: () => fmtD,
   fmtF: () => fmtF,
   formatUTCTime: () => formatUTCTime,
   frequencyLabel: () => frequencyLabel,
@@ -222,12 +223,14 @@ __export(src_exports, {
   parseNovatelRange: () => parseNovatelRange,
   parseRinexStream: () => parseRinexStream,
   parseSbfAlmanac: () => parseSbfAlmanac,
+  parseSbfCnav: () => parseSbfCnav,
   parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
   parseSbfNav: () => parseSbfNav,
   parseSinexBiasDcb: () => parseSinexBiasDcb,
   parseSourcetable: () => parseSourcetable,
   parseSp3: () => parseSp3,
+  parseUbxCnav: () => parseUbxCnav,
   parseUbxIonoUtc: () => parseUbxIonoUtc,
   parseUbxNav: () => parseUbxNav,
   parseUbxRawx: () => parseUbxRawx,
@@ -263,6 +266,7 @@ __export(src_exports, {
   writeRinex2ObsBlob: () => writeRinex2ObsBlob,
   writeRinex4ObsBlob: () => writeRinex4ObsBlob,
   writeRinexNav: () => writeRinexNav,
+  writeRinexNav4: () => writeRinexNav4,
   writeRinexObsBlob: () => writeRinexObsBlob
 });
 module.exports = __toCommonJS(src_exports);
@@ -2183,6 +2187,343 @@ var WarningAccumulator = class {
   }
 };
 
+// src/navbits/index.ts
+var GPS_PI = 3.1415926535898;
+var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK = 7 * 86400;
+function getBitU(buff, pos, len) {
+  let bits = 0;
+  for (let i = pos; i < pos + len; i++) {
+    bits = bits * 2 + (buff[i >> 3] >> 7 - (i & 7) & 1);
+  }
+  return bits;
+}
+function getBitS(buff, pos, len) {
+  const bits = getBitU(buff, pos, len);
+  if (len <= 0 || bits < 2 ** (len - 1)) return bits;
+  return bits - 2 ** len;
+}
+function setBitU(buff, pos, len, data) {
+  let mask = 2 ** (len - 1);
+  for (let i = pos; i < pos + len; i++, mask /= 2) {
+    if (data >= mask) {
+      buff[i >> 3] |= 1 << 7 - (i & 7);
+      data -= mask;
+    } else {
+      buff[i >> 3] &= ~(1 << 7 - (i & 7));
+    }
+  }
+}
+function decodeGpsLnavFrame(subframes, opts = {}) {
+  if (subframes.length < 90) return null;
+  const b = subframes;
+  let i = 24;
+  const tow1 = getBitU(b, i, 17) * 6;
+  i += 17 + 2;
+  const id1 = getBitU(b, i, 3);
+  i += 3 + 2;
+  const week10 = getBitU(b, i, 10);
+  i += 10;
+  i += 2;
+  i += 4;
+  const svHealth = getBitU(b, i, 6);
+  i += 6;
+  const iodc0 = getBitU(b, i, 2);
+  i += 2;
+  i += 1 + 87;
+  const tgdRaw = getBitS(b, i, 8);
+  i += 8;
+  const iodc1 = getBitU(b, i, 8);
+  i += 8;
+  const tocSec = getBitU(b, i, 16) * 16;
+  i += 16;
+  const af2 = getBitS(b, i, 8) * 2 ** -55;
+  i += 8;
+  const af1 = getBitS(b, i, 16) * 2 ** -43;
+  i += 16;
+  const af0 = getBitS(b, i, 22) * 2 ** -31;
+  i = 240 + 24;
+  i += 17 + 2;
+  const id2 = getBitU(b, i, 3);
+  i += 3 + 2;
+  const iode = getBitU(b, i, 8);
+  i += 8;
+  const crs = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const deltaN = getBitS(b, i, 16) * 2 ** -43 * GPS_PI;
+  i += 16;
+  const m0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const cuc = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const e = getBitU(b, i, 32) * 2 ** -33;
+  i += 32;
+  const cus = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const sqrtA = getBitU(b, i, 32) * 2 ** -19;
+  i += 32;
+  const toes = getBitU(b, i, 16) * 16;
+  i = 480 + 24;
+  i += 17 + 2;
+  const id3 = getBitU(b, i, 3);
+  i += 3 + 2;
+  const cic = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const omega0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const cis = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const i0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const crc = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const omega = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const omegaDot = getBitS(b, i, 24) * 2 ** -43 * GPS_PI;
+  i += 24;
+  const iode3 = getBitU(b, i, 8);
+  i += 8;
+  const idot = getBitS(b, i, 14) * 2 ** -43 * GPS_PI;
+  const iodc = iodc0 * 256 + iodc1;
+  if (id1 !== 1 || id2 !== 2 || id3 !== 3) return null;
+  if (iode3 !== iode || iode !== (iodc & 255)) return null;
+  const ref = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS) / 1e3 / SEC_PER_WEEK);
+  let week = week10 + 1024 * Math.round((ref - week10) / 1024);
+  if (toes < tow1 - 302400) week++;
+  else if (toes > tow1 + 302400) week--;
+  const prn = opts.prn ?? "G00";
+  const tocDate = new Date(
+    GPS_EPOCH_MS + (week * SEC_PER_WEEK + tocSec) * 1e3
+  );
+  return {
+    system: prn[0] === "J" ? "J" : "G",
+    prn,
+    tocDate,
+    // Same seconds-of-week convention as parseNavFile (rinex/nav.ts).
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK,
+    af0,
+    af1,
+    af2,
+    iode,
+    crs,
+    deltaN,
+    m0,
+    cuc,
+    e,
+    cus,
+    sqrtA,
+    toe: toes,
+    cic,
+    omega0,
+    cis,
+    i0,
+    crc,
+    omega,
+    omegaDot,
+    idot,
+    week,
+    svHealth,
+    tgd: tgdRaw === -128 ? 0 : tgdRaw * 2 ** -31
+    // IS-GPS-200: -128 reserved
+  };
+}
+
+// src/navbits/cnav.ts
+var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK2 = 7 * 86400;
+var HALF_WEEK = 302400;
+var CNAV_PREAMBLE = 139;
+var CNAV_A_REF = 26559710;
+var CNAV_OMEGA_DOT_REF = -26e-10;
+function crc24q(buff, bitLen) {
+  let crc = 0;
+  for (let i = 0; i < bitLen; i++) {
+    crc ^= (buff[i >> 3] >> 7 - (i & 7) & 1) << 23;
+    const msb = crc & 8388608;
+    crc = crc << 1 & 16777215;
+    if (msb) crc ^= 8801531;
+  }
+  return crc;
+}
+function cnavCrcOk(msg) {
+  if (msg.length < 38) return false;
+  return crc24q(msg, 276) === getBitU(msg, 276, 24);
+}
+function getBitU33(b, pos) {
+  return getBitU(b, pos, 1) * 2 ** 32 + getBitU(b, pos + 1, 32);
+}
+function getBitS33(b, pos) {
+  const u = getBitU33(b, pos);
+  return u < 2 ** 32 ? u : u - 2 ** 33;
+}
+function decodeType10(b, tow) {
+  return {
+    tow,
+    week: getBitU(b, 38, 13),
+    health: getBitU(b, 51, 3),
+    top: getBitU(b, 54, 11) * 300,
+    uraEd: getBitS(b, 65, 5),
+    toe: getBitU(b, 70, 11) * 300,
+    deltaA: getBitS(b, 81, 26) * 2 ** -9,
+    aDot: getBitS(b, 107, 25) * 2 ** -21,
+    deltaN0: getBitS(b, 132, 17) * 2 ** -44 * GPS_PI,
+    deltaN0Dot: getBitS(b, 149, 23) * 2 ** -57 * GPS_PI,
+    m0: getBitS33(b, 172) * 2 ** -32 * GPS_PI,
+    e: getBitU33(b, 205) * 2 ** -34,
+    omega: getBitS33(b, 238) * 2 ** -32 * GPS_PI,
+    integrityFlag: getBitU(b, 271, 1) === 1,
+    l2cPhasing: getBitU(b, 272, 1) === 1
+  };
+}
+function decodeType11(b) {
+  return {
+    toe: getBitU(b, 38, 11) * 300,
+    omega0: getBitS33(b, 49) * 2 ** -32 * GPS_PI,
+    i0: getBitS33(b, 82) * 2 ** -32 * GPS_PI,
+    deltaOmegaDot: getBitS(b, 115, 17) * 2 ** -44 * GPS_PI,
+    i0Dot: getBitS(b, 132, 15) * 2 ** -44 * GPS_PI,
+    cis: getBitS(b, 147, 16) * 2 ** -30,
+    cic: getBitS(b, 163, 16) * 2 ** -30,
+    crs: getBitS(b, 179, 24) * 2 ** -8,
+    crc: getBitS(b, 203, 24) * 2 ** -8,
+    cus: getBitS(b, 227, 21) * 2 ** -30,
+    cuc: getBitS(b, 248, 21) * 2 ** -30
+  };
+}
+var isc = (b, pos) => {
+  const raw = getBitS(b, pos, 13);
+  return raw === -4096 ? null : raw * 2 ** -35;
+};
+function decodeClock(b, msgType) {
+  const clock = {
+    msgType,
+    top: getBitU(b, 38, 11) * 300,
+    uraNed0: getBitS(b, 49, 5),
+    uraNed1: getBitU(b, 54, 3),
+    uraNed2: getBitU(b, 57, 3),
+    toc: getBitU(b, 60, 11) * 300,
+    af0: getBitS(b, 71, 26) * 2 ** -35,
+    af1: getBitS(b, 97, 20) * 2 ** -48,
+    af2: getBitS(b, 117, 10) * 2 ** -60
+  };
+  if (msgType === 30) {
+    clock.tgd = isc(b, 127);
+    clock.iscL1ca = isc(b, 140);
+    clock.iscL2c = isc(b, 153);
+    clock.iscL5i5 = isc(b, 166);
+    clock.iscL5q5 = isc(b, 179);
+    clock.ionoAlpha = [
+      getBitS(b, 192, 8) * 2 ** -30,
+      getBitS(b, 200, 8) * 2 ** -27,
+      getBitS(b, 208, 8) * 2 ** -24,
+      getBitS(b, 216, 8) * 2 ** -24
+    ];
+    clock.ionoBeta = [
+      getBitS(b, 224, 8) * 2 ** 11,
+      getBitS(b, 232, 8) * 2 ** 14,
+      getBitS(b, 240, 8) * 2 ** 16,
+      getBitS(b, 248, 8) * 2 ** 16
+    ];
+    clock.wnOp = getBitU(b, 256, 8);
+  }
+  return clock;
+}
+function resolveWeek(week, towSec, sec) {
+  if (sec < towSec - HALF_WEEK) return week + 1;
+  if (sec > towSec + HALF_WEEK) return week - 1;
+  return week;
+}
+function gpsDate(week, sec) {
+  return new Date(GPS_EPOCH_MS2 + (week * SEC_PER_WEEK2 + sec) * 1e3);
+}
+var CnavAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one 300-bit CNAV message (38+ bytes, bit 0 = first bit of
+   * the preamble). Returns the newly completed ephemeris, or null.
+   * Messages that are not MT10/MT11/MT30-37, or whose preamble/PRN
+   * are out of range, are ignored.
+   */
+  push(msg) {
+    if (msg.length < 38 || getBitU(msg, 0, 8) !== CNAV_PREAMBLE) return null;
+    const prn = getBitU(msg, 8, 6);
+    if (prn < 1 || prn > 32) return null;
+    const type = getBitU(msg, 14, 6);
+    const tow = getBitU(msg, 20, 17) * 6;
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = {};
+      this.sats.set(prn, sat);
+    }
+    if (type === 10) sat.t10 = decodeType10(msg, tow);
+    else if (type === 11) sat.t11 = decodeType11(msg);
+    else if (type >= 30 && type <= 37) {
+      sat.clock = decodeClock(msg, type);
+      if (type === 30) sat.extras = sat.clock;
+    } else return null;
+    return this.tryEmit(prn, sat);
+  }
+  tryEmit(prn, sat) {
+    const { t10, t11, clock, extras } = sat;
+    if (!t10 || !t11 || !clock) return null;
+    if (t10.toe !== t11.toe || clock.toc !== t10.toe) return null;
+    const key = `${t10.week}:${t10.toe}:${clock.af0}:${clock.af1}`;
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    const weekToe = resolveWeek(t10.week, t10.tow, t10.toe);
+    const a = CNAV_A_REF + t10.deltaA;
+    return {
+      system: "G",
+      prn: `G${String(prn).padStart(2, "0")}`,
+      week: t10.week,
+      health: t10.health,
+      uraEd: t10.uraEd,
+      uraNed0: clock.uraNed0,
+      uraNed1: clock.uraNed1,
+      uraNed2: clock.uraNed2,
+      top: t10.top,
+      toe: t10.toe,
+      toeDate: gpsDate(weekToe, t10.toe),
+      a,
+      deltaA: t10.deltaA,
+      aDot: t10.aDot,
+      deltaN0: t10.deltaN0,
+      deltaN0Dot: t10.deltaN0Dot,
+      m0: t10.m0,
+      e: t10.e,
+      omega: t10.omega,
+      omega0: t11.omega0,
+      i0: t11.i0,
+      omegaDot: CNAV_OMEGA_DOT_REF * GPS_PI + t11.deltaOmegaDot,
+      deltaOmegaDot: t11.deltaOmegaDot,
+      i0Dot: t11.i0Dot,
+      cis: t11.cis,
+      cic: t11.cic,
+      crs: t11.crs,
+      crc: t11.crc,
+      cus: t11.cus,
+      cuc: t11.cuc,
+      toc: clock.toc,
+      tocDate: gpsDate(weekToe, clock.toc),
+      af0: clock.af0,
+      af1: clock.af1,
+      af2: clock.af2,
+      clockMsgType: clock.msgType,
+      tgd: extras?.tgd ?? null,
+      iscL1ca: extras?.iscL1ca ?? null,
+      iscL2c: extras?.iscL2c ?? null,
+      iscL5i5: extras?.iscL5i5 ?? null,
+      iscL5q5: extras?.iscL5q5 ?? null,
+      ...extras?.ionoAlpha && { ionoAlpha: extras.ionoAlpha },
+      ...extras?.ionoBeta && { ionoBeta: extras.ionoBeta },
+      ...extras?.wnOp !== void 0 && { wnOp: extras.wnOp },
+      integrityFlag: t10.integrityFlag,
+      l2cPhasing: t10.l2cPhasing,
+      tow: t10.tow
+    };
+  }
+};
+
 // src/rinex/nav.ts
 var DATA_LINES = {
   G: 7,
@@ -2206,19 +2547,19 @@ var R4_MSG_LINES = {
   SBAS: 4,
   FDMA: 5,
   // RINEX 4 adds orbit-4 (status flags) vs 3 in RINEX 3
-  // EPH types we skip (different field layout)
+  // EPH type parsed into RinexCnavEphemeris for G/J (skipped otherwise)
   CNAV: 9,
+  // EPH types we skip (different field layout)
   CNV1: 10,
   CNV2: 10,
   CNV3: 9,
   L1NV: 8,
   L1OC: 9,
-  L3OC: 9,
-  // Non-EPH records
-  STO: 2,
-  EOP: 3,
-  ION: 3
+  L3OC: 9
 };
+var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK3 = 7 * 86400;
+var QZSS_CNAV_A_REF = 42164200;
 var SUPPORTED_EPH_MSGS = /* @__PURE__ */ new Set([
   "LNAV",
   "INAV",
@@ -2282,6 +2623,20 @@ function parseDataLine(line, colOffset = 4) {
   }
   return values;
 }
+function parseDataLineSlots(line) {
+  const values = [];
+  for (let i = 0; i < 4; i++) {
+    const start = 4 + i * 19;
+    const s = start < line.length ? line.substring(start, start + 19).trim() : "";
+    if (s.length === 0) {
+      values.push(null);
+      continue;
+    }
+    const v = parseFloat19(s);
+    values.push(Number.isFinite(v) ? v : null);
+  }
+  return values;
+}
 function buildKeplerEphemeris(sys, prn, date, epochVals, data) {
   const d = [];
   for (const line of data) {
@@ -2344,6 +2699,68 @@ function buildStateVectorEphemeris(sys, prn, date, epochVals, data) {
     zAcc: d[10] ?? 0
   };
 }
+function buildCnavEphemeris(sys, prn, date, epochVals, d) {
+  const num = (r, c) => d[r]?.[c] ?? 0;
+  const opt = (r, c) => d[r]?.[c] ?? null;
+  const t = (date.getTime() - GPS_EPOCH_MS3) / 1e3;
+  const week = Math.floor(t / SEC_PER_WEEK3);
+  const toc = t - week * SEC_PER_WEEK3;
+  const sqrtA = num(1, 3);
+  const a = sqrtA * sqrtA;
+  const aRef = sys === "J" ? QZSS_CNAV_A_REF : CNAV_A_REF;
+  const omegaDot = num(3, 3);
+  const wnOp = d[7]?.[1];
+  return {
+    system: sys,
+    prn,
+    week,
+    health: num(5, 1),
+    uraEd: num(5, 0),
+    uraNed0: num(4, 2),
+    uraNed1: num(4, 3),
+    uraNed2: num(5, 3),
+    top: num(2, 0),
+    toe: toc,
+    toeDate: date,
+    a,
+    deltaA: a - aRef,
+    aDot: num(0, 0),
+    deltaN0: num(0, 2),
+    deltaN0Dot: num(4, 1),
+    m0: num(0, 3),
+    e: num(1, 1),
+    omega: num(3, 2),
+    omega0: num(2, 2),
+    i0: num(3, 0),
+    omegaDot,
+    deltaOmegaDot: omegaDot - CNAV_OMEGA_DOT_REF * GPS_PI,
+    i0Dot: num(4, 0),
+    cis: num(2, 3),
+    cic: num(2, 1),
+    crs: num(0, 1),
+    crc: num(3, 1),
+    cus: num(1, 2),
+    cuc: num(1, 0),
+    toc,
+    tocDate: date,
+    af0: epochVals[0] ?? 0,
+    af1: epochVals[1] ?? 0,
+    af2: epochVals[2] ?? 0,
+    clockMsgType: 0,
+    // not recorded in RINEX
+    tgd: opt(5, 2),
+    iscL1ca: opt(6, 0),
+    iscL2c: opt(6, 1),
+    iscL5i5: opt(6, 2),
+    iscL5q5: opt(6, 3),
+    ...wnOp != null && { wnOp },
+    integrityFlag: false,
+    // not recorded in RINEX
+    l2cPhasing: false,
+    // not recorded in RINEX
+    tow: num(7, 0)
+  };
+}
 function parseNavFile(text) {
   const lines = text.split("\n");
   const header = {
@@ -2353,6 +2770,7 @@ function parseNavFile(text) {
     ionoCorrections: {}
   };
   const ephemerides = [];
+  const cnav = [];
   let inHeader = true;
   let i = 0;
   while (i < lines.length) {
@@ -2413,8 +2831,15 @@ function parseNavFile(text) {
     if (isV4 && line.charAt(0) === ">") {
       const parts = line.substring(2).trim().split(/\s+/);
       const recType = parts[0] ?? "";
+      const svSys = (parts[1] ?? "").charAt(0);
       const msgType = parts[2] ?? recType;
-      if (recType !== "EPH" || !SUPPORTED_EPH_MSGS.has(msgType)) {
+      if (recType !== "EPH") {
+        const totalLines = recType === "STO" ? 2 : recType === "EOP" ? 3 : recType === "ION" ? svSys === "E" ? 2 : 3 : 2;
+        i += totalLines + 1;
+        continue;
+      }
+      const isCnav = msgType === "CNAV" && (svSys === "G" || svSys === "J");
+      if (!SUPPORTED_EPH_MSGS.has(msgType) && !isCnav) {
         const totalLines = R4_MSG_LINES[msgType] ?? 2;
         i += totalLines + 1;
         continue;
@@ -2426,6 +2851,21 @@ function parseNavFile(text) {
       const sys2 = epochLine.charAt(0);
       const parsed = parseNavEpochV3(epochLine);
       const prn2 = `${sys2}${parsed.prn.substring(1)}`;
+      if (isCnav) {
+        const slotLines = [];
+        for (let j = 0; j < numDataLines2; j++) {
+          i++;
+          if (i >= lines.length) break;
+          slotLines.push(parseDataLineSlots(lines[i]));
+        }
+        if (slotLines.length === numDataLines2 && (sys2 === "G" || sys2 === "J")) {
+          cnav.push(
+            buildCnavEphemeris(sys2, prn2, parsed.date, parsed.values, slotLines)
+          );
+        }
+        i++;
+        continue;
+      }
       const dataLines2 = [];
       for (let j = 0; j < numDataLines2; j++) {
         i++;
@@ -2499,7 +2939,7 @@ function parseNavFile(text) {
     }
     i++;
   }
-  return { header, ephemerides };
+  return cnav.length > 0 ? { header, ephemerides, cnav } : { header, ephemerides };
 }
 
 // src/rinex/nav-writer.ts
@@ -2507,9 +2947,13 @@ function fmtD(val) {
   if (val === 0) return " 0.000000000000E+00";
   const sign = val < 0 ? "-" : " ";
   const abs = Math.abs(val);
-  const exp = Math.floor(Math.log10(abs));
+  let exp = Math.floor(Math.log10(abs));
   const mantissa = abs / 10 ** exp;
-  const mStr = mantissa.toFixed(12);
+  let mStr = mantissa.toFixed(12);
+  if (mStr.length > 14) {
+    exp += 1;
+    mStr = (mantissa / 10).toFixed(12);
+  }
   const expSign = exp >= 0 ? "+" : "-";
   const expStr = String(Math.abs(exp)).padStart(2, "0");
   return `${sign}${mStr}E${expSign}${expStr}`;
@@ -2584,7 +3028,7 @@ function writeKeplerRecord(eph) {
 function writeGlonassRecord(eph) {
   const lines = [];
   lines.push(
-    `${padL(eph.prn, 3)} ${fmtEpoch(eph.tocDate)}${fmtD(-eph.tauN)}${fmtD(eph.gammaN)}${fmtD(eph.messageFrameTime)}`
+    `${padL(eph.prn, 3)} ${fmtEpoch(eph.tocDate)}${fmtD(eph.tauN)}${fmtD(eph.gammaN)}${fmtD(eph.messageFrameTime)}`
   );
   lines.push(orbitLine([eph.x, eph.xDot, eph.xAcc, eph.health]));
   lines.push(orbitLine([eph.y, eph.yDot, eph.yAcc, eph.freqNum]));
@@ -2604,6 +3048,181 @@ function writeRinexNav(nav) {
   return header + records.join("\n") + "\n";
 }
 
+// src/rinex/nav-writer-v4.ts
+var BLANK19 = " ".repeat(19);
+function fmtEpoch4(d) {
+  const p2 = (v) => String(v).padStart(2, "0");
+  return `${d.getUTCFullYear()} ${p2(d.getUTCMonth() + 1)} ${p2(d.getUTCDate())} ${p2(d.getUTCHours())} ${p2(d.getUTCMinutes())} ${p2(d.getUTCSeconds())}`;
+}
+function orbitLine4(values) {
+  const line = "    " + values.map((v) => v == null ? BLANK19 : fmtD(v)).join("");
+  return line.replace(/ +$/, "");
+}
+function epochLine4(prn, date, vals) {
+  return `${padL(prn, 3)} ${fmtEpoch4(date)}${vals.map(fmtD).join("")}`;
+}
+var BDS_GEO = /* @__PURE__ */ new Set([
+  "C01",
+  "C02",
+  "C03",
+  "C04",
+  "C05",
+  "C59",
+  "C60",
+  "C61",
+  "C62",
+  "C63"
+]);
+function msgLabel(eph) {
+  switch (eph.system) {
+    case "E":
+      return "INAV";
+    case "C":
+      return BDS_GEO.has(eph.prn) ? "D2" : "D1";
+    case "R":
+      return "FDMA";
+    case "S":
+      return "SBAS";
+    default:
+      return "LNAV";
+  }
+}
+function isKepler2(eph) {
+  return "af0" in eph;
+}
+function keplerRecord(eph) {
+  return [
+    epochLine4(eph.prn, eph.tocDate, [eph.af0, eph.af1, eph.af2]),
+    orbitLine4([eph.iode, eph.crs, eph.deltaN, eph.m0]),
+    orbitLine4([eph.cuc, eph.e, eph.cus, eph.sqrtA]),
+    orbitLine4([eph.toe, eph.cic, eph.omega0, eph.cis]),
+    orbitLine4([eph.i0, eph.crc, eph.omega, eph.omegaDot]),
+    orbitLine4([eph.idot, 0, eph.week, 0]),
+    orbitLine4([0, eph.svHealth, eph.tgd, 0]),
+    orbitLine4([eph.toe, 0, 0, 0])
+  ].join("\n");
+}
+function stateVectorRecord(eph) {
+  const lines = [
+    epochLine4(eph.prn, eph.tocDate, [
+      eph.tauN,
+      eph.gammaN,
+      eph.messageFrameTime
+    ]),
+    orbitLine4([eph.x, eph.xDot, eph.xAcc, eph.health]),
+    orbitLine4([eph.y, eph.yDot, eph.yAcc, eph.freqNum]),
+    orbitLine4([eph.z, eph.zDot, eph.zAcc, 0])
+  ];
+  if (eph.system === "R") {
+    lines.push(orbitLine4([null, 999999999999e-3, 15, null]));
+  }
+  return lines.join("\n");
+}
+function resolveWnOp(week, wnOp) {
+  if (wnOp == null) return week;
+  return week - ((week - wnOp) % 256 + 256) % 256;
+}
+function cnavRecord(eph) {
+  return [
+    epochLine4(eph.prn, eph.tocDate, [eph.af0, eph.af1, eph.af2]),
+    orbitLine4([eph.aDot, eph.crs, eph.deltaN0, eph.m0]),
+    orbitLine4([eph.cuc, eph.e, eph.cus, Math.sqrt(eph.a)]),
+    orbitLine4([eph.top, eph.cic, eph.omega0, eph.cis]),
+    orbitLine4([eph.i0, eph.crc, eph.omega, eph.omegaDot]),
+    orbitLine4([eph.i0Dot, eph.deltaN0Dot, eph.uraNed0, eph.uraNed1]),
+    orbitLine4([eph.uraEd, eph.health, eph.tgd, eph.uraNed2]),
+    orbitLine4([eph.iscL1ca, eph.iscL2c, eph.iscL5i5, eph.iscL5q5]),
+    orbitLine4([eph.tow, resolveWnOp(eph.week, eph.wnOp)])
+  ].join("\n");
+}
+var KLOBUCHAR_SOURCES = [
+  ["GPSA", "GPSB", "G", "LNAV"],
+  ["QZSA", "QZSB", "J", "LNAV"],
+  ["BDSA", "BDSB", "C", "D1D2"],
+  ["IRNA", "IRNB", "I", "LNAV"]
+];
+function ionRecords(header, epoch) {
+  const records = [];
+  const iono = header.ionoCorrections;
+  for (const [alphaKey, betaKey, sys, msg] of KLOBUCHAR_SOURCES) {
+    const alpha = iono[alphaKey];
+    if (!alpha) continue;
+    const beta = iono[betaKey] ?? [0, 0, 0, 0];
+    records.push(
+      [
+        `> ION ${sys}   ${msg}`,
+        `    ${fmtEpoch4(epoch)}${[alpha[0] ?? 0, alpha[1] ?? 0, alpha[2] ?? 0].map(fmtD).join("")}`,
+        orbitLine4([alpha[3] ?? 0, beta[0] ?? 0, beta[1] ?? 0, beta[2] ?? 0]),
+        orbitLine4([beta[3] ?? 0, null])
+      ].join("\n")
+    );
+  }
+  const gal = iono["GAL"];
+  if (gal) {
+    records.push(
+      [
+        "> ION E   IFNV",
+        `    ${fmtEpoch4(epoch)}${[gal[0] ?? 0, gal[1] ?? 0, gal[2] ?? 0].map(fmtD).join("")}`,
+        orbitLine4([gal[3] ?? 0])
+      ].join("\n")
+    );
+  }
+  return records;
+}
+function writeHeader4(header) {
+  const lines = [];
+  lines.push(
+    hdrLine(
+      padL("     4.01", 9) + "           " + padL("NAVIGATION DATA", 20) + padL("M", 20),
+      "RINEX VERSION / TYPE"
+    )
+  );
+  const now = /* @__PURE__ */ new Date();
+  const dateStr = now.getUTCFullYear().toString() + String(now.getUTCMonth() + 1).padStart(2, "0") + String(now.getUTCDate()).padStart(2, "0") + " " + String(now.getUTCHours()).padStart(2, "0") + String(now.getUTCMinutes()).padStart(2, "0") + String(now.getUTCSeconds()).padStart(2, "0") + " UTC";
+  lines.push(
+    hdrLine(
+      padL("GNSSCalc", 20) + padL("", 20) + padL(dateStr, 20),
+      "PGM / RUN BY / DATE"
+    )
+  );
+  if (header.leapSeconds != null) {
+    lines.push(hdrLine(padR(String(header.leapSeconds), 6), "LEAP SECONDS"));
+  }
+  lines.push(hdrLine("", "END OF HEADER"));
+  return lines.join("\n") + "\n";
+}
+function writeRinexNav4(nav) {
+  const records = [];
+  for (const eph of nav.ephemerides) {
+    const label2 = msgLabel(eph);
+    records.push({
+      prn: eph.prn,
+      time: eph.tocDate.getTime(),
+      label: label2,
+      body: `> EPH ${padL(eph.prn, 3)} ${label2}
+` + (isKepler2(eph) ? keplerRecord(eph) : stateVectorRecord(eph))
+    });
+  }
+  for (const eph of nav.cnav ?? []) {
+    records.push({
+      prn: eph.prn,
+      time: eph.tocDate.getTime(),
+      label: "CNAV",
+      body: `> EPH ${padL(eph.prn, 3)} CNAV
+` + cnavRecord(eph)
+    });
+  }
+  records.sort(
+    (a, b) => a.prn.localeCompare(b.prn) || a.time - b.time || a.label.localeCompare(b.label)
+  );
+  const bodies = records.map((r) => r.body);
+  if (records.length > 0) {
+    const earliest = new Date(Math.min(...records.map((r) => r.time)));
+    bodies.push(...ionRecords(nav.header, earliest));
+  }
+  return writeHeader4(nav.header) + (bodies.length > 0 ? bodies.join("\n") + "\n" : "");
+}
+
 // src/rinex/ionex.ts
 function gridRange(l1, l2, dl) {
   const out = [];
@@ -3227,7 +3846,7 @@ var BitReader = class {
     return this.data.length * 8 - this.bitPos;
   }
 };
-function crc24q(data, length) {
+function crc24q2(data, length) {
   let crc = 0;
   for (let i = 0; i < length; i++) {
     crc ^= data[i] << 16;
@@ -3269,7 +3888,7 @@ var Rtcm3Decoder = class {
       }
       const frameSize = 3 + length + 3;
       if (this.buffer.length < frameSize) break;
-      const crcComputed = crc24q(this.buffer, 3 + length);
+      const crcComputed = crc24q2(this.buffer, 3 + length);
       const crcReceived = this.buffer[3 + length] << 16 | this.buffer[3 + length + 1] << 8 | this.buffer[3 + length + 2];
       if (crcComputed !== crcReceived) {
         this.buffer = this.buffer.slice(1);
@@ -4636,147 +5255,6 @@ function* ubxFrames(data, stats = { badChecksums: 0 }) {
   }
 }
 
-// src/navbits/index.ts
-var GPS_PI = 3.1415926535898;
-var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK = 7 * 86400;
-function getBitU(buff, pos, len) {
-  let bits = 0;
-  for (let i = pos; i < pos + len; i++) {
-    bits = bits * 2 + (buff[i >> 3] >> 7 - (i & 7) & 1);
-  }
-  return bits;
-}
-function getBitS(buff, pos, len) {
-  const bits = getBitU(buff, pos, len);
-  if (len <= 0 || bits < 2 ** (len - 1)) return bits;
-  return bits - 2 ** len;
-}
-function setBitU(buff, pos, len, data) {
-  let mask = 2 ** (len - 1);
-  for (let i = pos; i < pos + len; i++, mask /= 2) {
-    if (data >= mask) {
-      buff[i >> 3] |= 1 << 7 - (i & 7);
-      data -= mask;
-    } else {
-      buff[i >> 3] &= ~(1 << 7 - (i & 7));
-    }
-  }
-}
-function decodeGpsLnavFrame(subframes, opts = {}) {
-  if (subframes.length < 90) return null;
-  const b = subframes;
-  let i = 24;
-  const tow1 = getBitU(b, i, 17) * 6;
-  i += 17 + 2;
-  const id1 = getBitU(b, i, 3);
-  i += 3 + 2;
-  const week10 = getBitU(b, i, 10);
-  i += 10;
-  i += 2;
-  i += 4;
-  const svHealth = getBitU(b, i, 6);
-  i += 6;
-  const iodc0 = getBitU(b, i, 2);
-  i += 2;
-  i += 1 + 87;
-  const tgdRaw = getBitS(b, i, 8);
-  i += 8;
-  const iodc1 = getBitU(b, i, 8);
-  i += 8;
-  const tocSec = getBitU(b, i, 16) * 16;
-  i += 16;
-  const af2 = getBitS(b, i, 8) * 2 ** -55;
-  i += 8;
-  const af1 = getBitS(b, i, 16) * 2 ** -43;
-  i += 16;
-  const af0 = getBitS(b, i, 22) * 2 ** -31;
-  i = 240 + 24;
-  i += 17 + 2;
-  const id2 = getBitU(b, i, 3);
-  i += 3 + 2;
-  const iode = getBitU(b, i, 8);
-  i += 8;
-  const crs = getBitS(b, i, 16) * 2 ** -5;
-  i += 16;
-  const deltaN = getBitS(b, i, 16) * 2 ** -43 * GPS_PI;
-  i += 16;
-  const m0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
-  i += 32;
-  const cuc = getBitS(b, i, 16) * 2 ** -29;
-  i += 16;
-  const e = getBitU(b, i, 32) * 2 ** -33;
-  i += 32;
-  const cus = getBitS(b, i, 16) * 2 ** -29;
-  i += 16;
-  const sqrtA = getBitU(b, i, 32) * 2 ** -19;
-  i += 32;
-  const toes = getBitU(b, i, 16) * 16;
-  i = 480 + 24;
-  i += 17 + 2;
-  const id3 = getBitU(b, i, 3);
-  i += 3 + 2;
-  const cic = getBitS(b, i, 16) * 2 ** -29;
-  i += 16;
-  const omega0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
-  i += 32;
-  const cis = getBitS(b, i, 16) * 2 ** -29;
-  i += 16;
-  const i0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
-  i += 32;
-  const crc = getBitS(b, i, 16) * 2 ** -5;
-  i += 16;
-  const omega = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
-  i += 32;
-  const omegaDot = getBitS(b, i, 24) * 2 ** -43 * GPS_PI;
-  i += 24;
-  const iode3 = getBitU(b, i, 8);
-  i += 8;
-  const idot = getBitS(b, i, 14) * 2 ** -43 * GPS_PI;
-  const iodc = iodc0 * 256 + iodc1;
-  if (id1 !== 1 || id2 !== 2 || id3 !== 3) return null;
-  if (iode3 !== iode || iode !== (iodc & 255)) return null;
-  const ref = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS) / 1e3 / SEC_PER_WEEK);
-  let week = week10 + 1024 * Math.round((ref - week10) / 1024);
-  if (toes < tow1 - 302400) week++;
-  else if (toes > tow1 + 302400) week--;
-  const prn = opts.prn ?? "G00";
-  const tocDate = new Date(
-    GPS_EPOCH_MS + (week * SEC_PER_WEEK + tocSec) * 1e3
-  );
-  return {
-    system: prn[0] === "J" ? "J" : "G",
-    prn,
-    tocDate,
-    // Same seconds-of-week convention as parseNavFile (rinex/nav.ts).
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK,
-    af0,
-    af1,
-    af2,
-    iode,
-    crs,
-    deltaN,
-    m0,
-    cuc,
-    e,
-    cus,
-    sqrtA,
-    toe: toes,
-    cic,
-    omega0,
-    cis,
-    i0,
-    crc,
-    omega,
-    omegaDot,
-    idot,
-    week,
-    svHealth,
-    tgd: tgdRaw === -128 ? 0 : tgdRaw * 2 ** -31
-    // IS-GPS-200: -128 reserved
-  };
-}
-
 // src/ubx/nav.ts
 var PREAMB_CNAV = 139;
 function readLnavSubframe(view, f) {
@@ -4884,8 +5362,42 @@ function parseUbxIonoUtc(data) {
   return { ionoCorrections, leapSeconds };
 }
 
+// src/ubx/cnav.ts
+function parseUbxCnav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const assembler = new CnavAssembler();
+  const ephemerides = [];
+  let badCrc = 0;
+  let messages = 0;
+  for (const f of ubxFrames(data)) {
+    if (f.msgClass !== 2 || f.msgId !== 19) continue;
+    const p = f.payload;
+    if (p.length < 8 + 40) continue;
+    if (p[0] !== 0 || p[2] !== 3 && p[2] !== 4) continue;
+    const svId = p[1];
+    if (svId < 1 || svId > 32) continue;
+    messages++;
+    const msg = new Uint8Array(40);
+    const base = f.payloadStart + 8;
+    for (let k = 0; k < 10; k++) {
+      const w = view.getUint32(base + 4 * k, true);
+      msg[4 * k] = w >>> 24;
+      msg[4 * k + 1] = w >>> 16 & 255;
+      msg[4 * k + 2] = w >>> 8 & 255;
+      msg[4 * k + 3] = w & 255;
+    }
+    if (!cnavCrcOk(msg)) {
+      badCrc++;
+      continue;
+    }
+    const eph = assembler.push(msg);
+    if (eph) ephemerides.push(eph);
+  }
+  return { ephemerides, badCrc, messages };
+}
+
 // src/ubx/index.ts
-var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK2 = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
@@ -4968,7 +5480,7 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK2 + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS4 + week * MS_PER_WEEK2 + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
@@ -5039,10 +5551,10 @@ function svidToPrn(svid) {
 
 // src/sbf/nav.ts
 var PI2 = Math.PI;
-var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK2 = 7 * 86400;
-var MS_PER_WEEK3 = SEC_PER_WEEK2 * 1e3;
+var SEC_PER_WEEK4 = 7 * 86400;
+var MS_PER_WEEK3 = SEC_PER_WEEK4 * 1e3;
 var F4_DNU = -2e10;
 var U4_DNU = 4294967295;
 function adjustWeek(refWeek, wn, mod) {
@@ -5051,8 +5563,8 @@ function adjustWeek(refWeek, wn, mod) {
   if (offset < -(mod / 2 - 1)) offset += mod;
   return refWeek - offset;
 }
-var gpsMs = (week, sec) => GPS_EPOCH_MS3 + week * MS_PER_WEEK3 + sec * 1e3;
-var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK2;
+var gpsMs = (week, sec) => GPS_EPOCH_MS5 + week * MS_PER_WEEK3 + sec * 1e3;
+var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK4;
 function decodeGpsQzsNav(view, b, sys) {
   const svid = view.getUint8(b + 14);
   const prn = sys === "G" ? svid : svid - 180;
@@ -5201,7 +5713,7 @@ function decodeGloNav(view, b) {
   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_MS3) / 1e3 % SEC_PER_WEEK2;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS5) / 1e3 % SEC_PER_WEEK4;
   return {
     system: "R",
     prn,
@@ -5379,9 +5891,45 @@ function parseSbfIonoUtc(data) {
   return { ionoCorrections, leapSeconds };
 }
 
+// src/sbf/rawnav.ts
+var SIGNAL_OF_BLOCK = {
+  4018: "L2C",
+  4019: "L5"
+};
+function parseSbfCnav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const assemblers = {
+    L2C: new CnavAssembler(),
+    L5: new CnavAssembler()
+  };
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    const signal = SIGNAL_OF_BLOCK[id];
+    if (!signal || len < 60) return;
+    messages++;
+    const msg = new Uint8Array(40);
+    for (let k = 0; k < 10; k++) {
+      const w = view.getUint32(b + 20 + 4 * k, true);
+      msg[4 * k] = w >>> 24;
+      msg[4 * k + 1] = w >>> 16 & 255;
+      msg[4 * k + 2] = w >>> 8 & 255;
+      msg[4 * k + 3] = w & 255;
+    }
+    if (!cnavCrcOk(msg)) {
+      badCrc++;
+      return;
+    }
+    const eph = assemblers[signal].push(msg);
+    if (eph) ephemerides.push({ ...eph, signal });
+  });
+  return { ephemerides, badCrc, messages };
+}
+
 // src/sbf/index.ts
 var CLIGHT = 299792458;
-var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK4 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
@@ -6035,7 +6583,7 @@ function parseSbfMeas(data) {
       const tow = view.getUint32(i + 8, true);
       const wnc = view.getUint16(i + 12, true);
       if (tow !== 4294967295 && wnc !== 65535) {
-        ensureEpoch(GPS_EPOCH_MS4 + wnc * MS_PER_WEEK4 + tow);
+        ensureEpoch(GPS_EPOCH_MS6 + wnc * MS_PER_WEEK4 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
@@ -6097,16 +6645,17 @@ var ID_RAWEPHEM = 41;
 var ID_GLOEPHEMERIS = 723;
 var ID_GALEPHEMERIS = 1122;
 var ID_QZSSEPHEMERIS = 1336;
+var ID_GPSEPHEM = 7;
 var ID_BDSEPHEMERIS = 1696;
-var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK3 = 7 * 86400;
+var SEC_PER_WEEK5 = 7 * 86400;
 var SEC_PER_DAY = 86400;
-var MS_PER_WEEK5 = SEC_PER_WEEK3 * 1e3;
-var gpsMs2 = (week, sec) => GPS_EPOCH_MS5 + week * MS_PER_WEEK5 + sec * 1e3;
-var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK3;
+var MS_PER_WEEK5 = SEC_PER_WEEK5 * 1e3;
+var gpsMs2 = (week, sec) => GPS_EPOCH_MS7 + week * MS_PER_WEEK5 + sec * 1e3;
+var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK5;
 function nearWeekMs(refMs, sow) {
-  const refWeek = Math.floor((refMs - GPS_EPOCH_MS5) / MS_PER_WEEK5);
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS7) / MS_PER_WEEK5);
   let ms = gpsMs2(refWeek, sow);
   if (ms < refMs - MS_PER_WEEK5 / 2) ms += MS_PER_WEEK5;
   else if (ms > refMs + MS_PER_WEEK5 / 2) ms -= MS_PER_WEEK5;
@@ -6133,9 +6682,9 @@ function decodeGloEphemeris(view, p) {
   tof += Math.floor(tow / SEC_PER_DAY) * SEC_PER_DAY;
   if (tof < tow - 43200) tof += SEC_PER_DAY;
   else if (tof > tow + 43200) tof -= SEC_PER_DAY;
-  const toeGpsMs = GPS_EPOCH_MS5 + (week * SEC_PER_WEEK3 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS5 + (week * SEC_PER_WEEK3 + tof) * 1e3;
-  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS5) / 1e3;
+  const toeGpsMs = GPS_EPOCH_MS7 + (week * SEC_PER_WEEK5 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS7 + (week * SEC_PER_WEEK5 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS7) / 1e3;
   return {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
@@ -6143,7 +6692,7 @@ function decodeGloEphemeris(view, p) {
     tauN: -view.getFloat64(p + 100, true),
     // RINEX stores −τ_n
     gammaN: view.getFloat64(p + 116, true),
-    messageFrameTime: (tofUtcSec % SEC_PER_WEEK3 + SEC_PER_WEEK3) % SEC_PER_WEEK3,
+    messageFrameTime: (tofUtcSec % SEC_PER_WEEK5 + SEC_PER_WEEK5) % SEC_PER_WEEK5,
     x: view.getFloat64(p + 28, true) / 1e3,
     y: view.getFloat64(p + 36, true) / 1e3,
     z: view.getFloat64(p + 44, true) / 1e3,
@@ -6200,7 +6749,7 @@ function decodeGalEphemeris(view, p, headerMs) {
       omega: view.getFloat64(p + 60, true),
       omegaDot: view.getFloat64(p + 140, true),
       idot: view.getFloat64(p + 124, true),
-      week: Math.floor((toeMs - GPS_EPOCH_MS5) / MS_PER_WEEK5),
+      week: Math.floor((toeMs - GPS_EPOCH_MS7) / MS_PER_WEEK5),
       // RINEX Galileo SVH bit layout (E1B DVS/HS in bits 0-2, E5a in
       // 3-5, E5b in 6-8) — same packing as RTKLIB.
       svHealth: svhE5b << 7 | dvsE5b << 6 | svhE5a << 4 | dvsE5a << 3 | svhE1b << 1 | dvsE1b,
@@ -6251,9 +6800,10 @@ function decodeBdsEphemeris2(view, p) {
     // TGD1 (B1) — RINEX slot
   };
 }
-function decodeQzssEphemeris2(view, p) {
+function decodeGpsQzssEphemeris(view, p, sys) {
   const prn = view.getUint32(p, true);
-  if (prn < 193 || prn > 202) return null;
+  if (sys === "G" && (prn < 1 || prn > 32)) return null;
+  if (sys === "J" && (prn < 193 || prn > 202)) return null;
   const health = view.getUint32(p + 12, true) & 63;
   const iode1 = view.getUint32(p + 16, true);
   const week = view.getUint32(p + 24, true);
@@ -6262,8 +6812,8 @@ function decodeQzssEphemeris2(view, p) {
   const tocs = view.getFloat64(p + 164, true);
   const tocDate = new Date(nearWeekMs(toeMs, tocs));
   return {
-    system: "J",
-    prn: `J${String(prn - 192).padStart(2, "0")}`,
+    system: sys,
+    prn: `${sys}${String(sys === "J" ? prn - 192 : prn).padStart(2, "0")}`,
     toc: sowOf2(tocDate.getTime()),
     tocDate,
     af0: view.getFloat64(p + 180, true),
@@ -6321,8 +6871,11 @@ function parseNovatelNav(data) {
     } else if (frame.id === ID_BDSEPHEMERIS && frame.msgLen >= 196) {
       const eph = decodeBdsEphemeris2(view, frame.payload);
       if (eph) pushKepler(eph.prn, eph);
+    } else if (frame.id === ID_GPSEPHEM && frame.msgLen >= 204) {
+      const eph = decodeGpsQzssEphemeris(view, frame.payload, "G");
+      if (eph) pushKepler(eph.prn, eph);
     } else if (frame.id === ID_QZSSEPHEMERIS && frame.msgLen >= 204) {
-      const eph = decodeQzssEphemeris2(view, frame.payload);
+      const eph = decodeGpsQzssEphemeris(view, frame.payload, "J");
       if (eph) pushKepler(eph.prn, eph);
     } else if (frame.id === ID_IONUTC && frame.msgLen >= 108) {
       const p = frame.payload;
@@ -6350,7 +6903,7 @@ function parseNovatelNav(data) {
 }
 
 // src/novatel/index.ts
-var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK6 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -6520,7 +7073,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK6 + towMs,
+          timeMs: GPS_EPOCH_MS8 + week * MS_PER_WEEK6 + towMs,
           meas
         });
       }
@@ -6572,7 +7125,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS6 + week * MS_PER_WEEK6 + towMs,
+          timeMs: GPS_EPOCH_MS8 + week * MS_PER_WEEK6 + towMs,
           meas
         });
       }
@@ -6931,10 +7484,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS7 = START_GPS_TIME.getTime();
+var GPS_EPOCH_MS9 = START_GPS_TIME.getTime();
 var MS_PER_WEEK7 = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS7 + 1024 * MS_PER_WEEK7;
+var GAL_EPOCH_MS = GPS_EPOCH_MS9 + 1024 * MS_PER_WEEK7;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -6985,8 +7538,8 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS7;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS7) / MS_PER_WEEK7;
+    epochMs = GPS_EPOCH_MS9;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS9) / MS_PER_WEEK7;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
   const tocDate = new Date(epochMs + week * MS_PER_WEEK7 + tocSec * 1e3);
@@ -7522,8 +8075,8 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const dtsClock = satClockCorrection(eph, tTx);
         const sat = computeSatPosition(eph, tTx - dtsClock * 1e3);
         if (!Number.isFinite(sat.x)) continue;
-        const isKepler2 = eph.system !== "R" && eph.system !== "S";
-        const dts = dtsClock - (tgd && isKepler2 ? eph.tgd : 0);
+        const isKepler3 = eph.system !== "R" && eph.system !== "S";
+        const dts = dtsClock - (tgd && isKepler3 ? eph.tgd : 0);
         const travel = Math.hypot(sat.x - x2, sat.y - y2, sat.z - z2) / C_LIGHT;
         const [sx, sy, sz] = sagnac(sat, travel);
         const rho = Math.hypot(sx - x2, sy - y2, sz - z2);
@@ -10004,6 +10557,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   ephInfoToEphemeris,
   euclidean3D,
   fetchSourcetable,
+  fmtD,
   fmtF,
   formatUTCTime,
   frequencyLabel,
@@ -10088,12 +10642,14 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
+  parseSbfCnav,
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
   parseSinexBiasDcb,
   parseSourcetable,
   parseSp3,
+  parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
   parseUbxRawx,
@@ -10129,5 +10685,6 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   writeRinex2ObsBlob,
   writeRinex4ObsBlob,
   writeRinexNav,
+  writeRinexNav4,
   writeRinexObsBlob
 });