gnss-js 1.19.0 → 1.21.0

package/dist/chunk-K3V3NHWL.js

@@ -0,0 +1,2541 @@
+import {
+  CnavAssembler,
+  GPS_PI,
+  cnavCrcOk,
+  crc24q,
+  getBitS,
+  getBitU
+} from "./chunk-WZDFZ76K.js";
+import {
+  getGpsLeap,
+  getUtcDate
+} from "./chunk-HVXYFUCB.js";
+
+// src/sbf/frame.ts
+var CRC_TABLE = (() => {
+  const t = new Uint16Array(256);
+  for (let n = 0; n < 256; n++) {
+    let c = n << 8;
+    for (let k = 0; k < 8; k++)
+      c = c & 32768 ? (c << 1 ^ 4129) & 65535 : c << 1 & 65535;
+    t[n] = c;
+  }
+  return t;
+})();
+function crc16(data, start, end) {
+  let crc = 0;
+  for (let i = start; i < end; i++)
+    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/iono.ts
+var F4_DNU2 = -2e10;
+function parseSbfIonoUtc(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ionoCorrections = {};
+  let leapSeconds = null;
+  const f4s = (b, n) => {
+    const out = [];
+    for (let k = 0; k < n; k++) {
+      const v = view.getFloat32(b + 4 * k, true);
+      if (v === F4_DNU2) return null;
+      out.push(v);
+    }
+    return out;
+  };
+  scanSbfFrames(data, view, (id, b, len) => {
+    if ((id === 5893 || id === 4120) && len >= 48) {
+      const alpha = f4s(b + 16, 4);
+      const beta = f4s(b + 32, 4);
+      if (!alpha || !beta) return;
+      const sys = id === 5893 ? "GPS" : "BDS";
+      ionoCorrections[`${sys}A`] = alpha;
+      ionoCorrections[`${sys}B`] = beta;
+    } else if (id === 4030 && len >= 28) {
+      const ai = f4s(b + 16, 3);
+      if (ai) ionoCorrections["GAL"] = ai;
+    } else if (id === 5894 && len >= 37) {
+      leapSeconds = view.getInt8(b + 33);
+    }
+  });
+  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/navbits/gal.ts
+var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK2 = 7 * 86400;
+var HALF_WEEK = 302400;
+var GST_GPS_WEEK_OFFSET = 1024;
+function galInavPageCrcOk(page) {
+  if (page.length < 28) return false;
+  return crc24q(page, 196) === getBitU(page, 196, 24);
+}
+function galFnavPageCrcOk(page) {
+  if (page.length < 30) return false;
+  return crc24q(page, 214) === getBitU(page, 214, 24);
+}
+function gpsDate(week, sec) {
+  return new Date(GPS_EPOCH_MS2 + (week * SEC_PER_WEEK2 + sec) * 1e3);
+}
+function weekOfToe(week, tow, toe) {
+  if (toe - tow > HALF_WEEK) return week - 1;
+  if (toe - tow < -HALF_WEEK) return week + 1;
+  return week;
+}
+var two2 = (n) => String(n).padStart(2, "0");
+function decodeGalInavWords(words) {
+  if (words.length < 96) return null;
+  const b = words;
+  let i = 128;
+  const type1 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav1 = getBitU(b, i, 10);
+  i += 10;
+  const toes = getBitU(b, i, 14) * 60;
+  i += 14;
+  const m0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const e = getBitU(b, i, 32) * 2 ** -33;
+  i += 32;
+  const sqrtA = getBitU(b, i, 32) * 2 ** -19;
+  i = 128 * 2;
+  const type2 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav2 = getBitU(b, i, 10);
+  i += 10;
+  const omega0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const i0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const omega = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const idot = getBitS(b, i, 14) * 2 ** -43 * GPS_PI;
+  i = 128 * 3;
+  const type3 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav3 = getBitU(b, i, 10);
+  i += 10;
+  const omegaDot = getBitS(b, i, 24) * 2 ** -43 * GPS_PI;
+  i += 24;
+  const deltaN = getBitS(b, i, 16) * 2 ** -43 * GPS_PI;
+  i += 16;
+  const cuc = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const cus = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const crc = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const crs = getBitS(b, i, 16) * 2 ** -5;
+  i = 128 * 4;
+  const type4 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav4 = getBitU(b, i, 10);
+  i += 10;
+  const svid = getBitU(b, i, 6);
+  i += 6;
+  const cic = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const cis = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const tocs = getBitU(b, i, 14) * 60;
+  i += 14;
+  const af0 = getBitS(b, i, 31) * 2 ** -34;
+  i += 31;
+  const af1 = getBitS(b, i, 21) * 2 ** -46;
+  i += 21;
+  const af2 = getBitS(b, i, 6) * 2 ** -59;
+  i = 128 * 5;
+  const type5 = getBitU(b, i, 6);
+  i += 6 + 11 + 11 + 14 + 5;
+  const bgdE5a = getBitS(b, i, 10) * 2 ** -32;
+  i += 10;
+  i += 10;
+  const e5bHs = getBitU(b, i, 2);
+  i += 2;
+  const e1bHs = getBitU(b, i, 2);
+  i += 2;
+  const e5bDvs = getBitU(b, i, 1);
+  i += 1;
+  const e1bDvs = getBitU(b, i, 1);
+  i += 1;
+  const gstWeek = getBitU(b, i, 12);
+  i += 12;
+  const tow = getBitU(b, i, 20);
+  if (type1 !== 1 || type2 !== 2 || type3 !== 3 || type4 !== 4 || type5 !== 5)
+    return null;
+  if (iodNav1 !== iodNav2 || iodNav1 !== iodNav3 || iodNav1 !== iodNav4)
+    return null;
+  if (svid < 1 || svid > 36) return null;
+  const week = weekOfToe(gstWeek, tow, toes) + GST_GPS_WEEK_OFFSET;
+  const tocDate = gpsDate(week, tocs);
+  return {
+    system: "E",
+    prn: `E${two2(svid)}`,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK2,
+    tocDate,
+    af0,
+    af1,
+    af2,
+    iode: iodNav1,
+    crs,
+    deltaN,
+    m0,
+    cuc,
+    e,
+    cus,
+    sqrtA,
+    toe: toes,
+    cic,
+    omega0,
+    cis,
+    i0,
+    crc,
+    omega,
+    omegaDot,
+    idot,
+    week,
+    svHealth: e5bHs << 7 | e5bDvs << 6 | e1bHs << 1 | e1bDvs,
+    tgd: bgdE5a
+  };
+}
+function decodeGalFnavPages(pages) {
+  if (pages.length < 124) return null;
+  const b = pages;
+  let i = 0;
+  const type1 = getBitU(b, i, 6);
+  i += 6;
+  const svid = getBitU(b, i, 6);
+  i += 6;
+  const iodNav1 = getBitU(b, i, 10);
+  i += 10;
+  const tocs = getBitU(b, i, 14) * 60;
+  i += 14;
+  const af0 = getBitS(b, i, 31) * 2 ** -34;
+  i += 31;
+  const af1 = getBitS(b, i, 21) * 2 ** -46;
+  i += 21;
+  const af2 = getBitS(b, i, 6) * 2 ** -59;
+  i += 6;
+  i += 8 + 11 + 11 + 14 + 5;
+  const bgdE5a = getBitS(b, i, 10) * 2 ** -32;
+  i += 10;
+  const e5aHs = getBitU(b, i, 2);
+  i += 2;
+  const gstWeek = getBitU(b, i, 12);
+  i += 12;
+  const tow = getBitU(b, i, 20);
+  i += 20;
+  const e5aDvs = getBitU(b, i, 1);
+  i = 31 * 8;
+  const type2 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav2 = getBitU(b, i, 10);
+  i += 10;
+  const m0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const omegaDot = getBitS(b, i, 24) * 2 ** -43 * GPS_PI;
+  i += 24;
+  const e = getBitU(b, i, 32) * 2 ** -33;
+  i += 32;
+  const sqrtA = getBitU(b, i, 32) * 2 ** -19;
+  i += 32;
+  const omega0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const idot = getBitS(b, i, 14) * 2 ** -43 * GPS_PI;
+  i = 62 * 8;
+  const type3 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav3 = getBitU(b, i, 10);
+  i += 10;
+  const i0 = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const omega = getBitS(b, i, 32) * 2 ** -31 * GPS_PI;
+  i += 32;
+  const deltaN = getBitS(b, i, 16) * 2 ** -43 * GPS_PI;
+  i += 16;
+  const cuc = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const cus = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const crc = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const crs = getBitS(b, i, 16) * 2 ** -5;
+  i += 16;
+  const toes = getBitU(b, i, 14) * 60;
+  i = 93 * 8;
+  const type4 = getBitU(b, i, 6);
+  i += 6;
+  const iodNav4 = getBitU(b, i, 10);
+  i += 10;
+  const cic = getBitS(b, i, 16) * 2 ** -29;
+  i += 16;
+  const cis = getBitS(b, i, 16) * 2 ** -29;
+  if (type1 !== 1 || type2 !== 2 || type3 !== 3 || type4 !== 4) return null;
+  if (iodNav1 !== iodNav2 || iodNav1 !== iodNav3 || iodNav1 !== iodNav4)
+    return null;
+  if (svid < 1 || svid > 36) return null;
+  const week = weekOfToe(gstWeek, tow, toes) + GST_GPS_WEEK_OFFSET;
+  const tocDate = gpsDate(week, tocs);
+  return {
+    system: "E",
+    prn: `E${two2(svid)}`,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK2,
+    tocDate,
+    af0,
+    af1,
+    af2,
+    iode: iodNav1,
+    crs,
+    deltaN,
+    m0,
+    cuc,
+    e,
+    cus,
+    sqrtA,
+    toe: toes,
+    cic,
+    omega0,
+    cis,
+    i0,
+    crc,
+    omega,
+    omegaDot,
+    idot,
+    week,
+    svHealth: e5aHs << 4 | e5aDvs << 3,
+    tgd: bgdE5a
+  };
+}
+var dedupKey = (eph) => `${eph.iode}:${eph.toe}:${eph.tocDate.getTime()}`;
+var GalInavAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one I/NAV page pair for satellite `prn` (1-36): the 234-bit
+   * even+odd concatenation, even part first with its 6 tail bits
+   * removed, bit 0 = the even part's Even/Odd bit (≥ 17 bytes).
+   * Returns the newly completed ephemeris, or null. Pages that are
+   * not an even/odd nominal pair, alert pages and word types outside
+   * 1-5 are ignored.
+   */
+  push(prn, page) {
+    if (prn < 1 || prn > 36 || page.length < 17) return null;
+    if (getBitU(page, 0, 1) !== 0 || getBitU(page, 114, 1) !== 1) return null;
+    if (getBitU(page, 1, 1) === 1 || getBitU(page, 115, 1) === 1) return null;
+    const type = getBitU(page, 2, 6);
+    if (type < 1 || type > 5) return null;
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = { words: new Uint8Array(96) };
+      this.sats.set(prn, sat);
+    }
+    for (let k = 0; k < 14; k++)
+      sat.words[type * 16 + k] = getBitU(page, 2 + 8 * k, 8);
+    sat.words[type * 16 + 14] = getBitU(page, 116, 8);
+    sat.words[type * 16 + 15] = getBitU(page, 124, 8);
+    if (type !== 5) return null;
+    const eph = decodeGalInavWords(sat.words);
+    if (!eph || eph.prn !== `E${two2(prn)}`) return null;
+    const key = dedupKey(eph);
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
+var GalFnavAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one F/NAV page for satellite `prn` (1-36): 244 bits with the
+   * sync field stripped, bit 0 = first page-type bit (≥ 31 bytes).
+   * Returns the newly completed ephemeris, or null. Dummy pages
+   * (type 63) and page types outside 1-4 are ignored.
+   */
+  push(prn, page) {
+    if (prn < 1 || prn > 36 || page.length < 31) return null;
+    const type = getBitU(page, 0, 6);
+    if (type < 1 || type > 4) return null;
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = { words: new Uint8Array(124) };
+      this.sats.set(prn, sat);
+    }
+    sat.words.set(page.subarray(0, 31), (type - 1) * 31);
+    if (type !== 4) return null;
+    const eph = decodeGalFnavPages(sat.words);
+    if (!eph || eph.prn !== `E${two2(prn)}`) return null;
+    const key = dedupKey(eph);
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
+
+// src/sbf/rawnav-gal.ts
+var INAV_SOURCES = [17, 21, 22];
+var FNAV_SOURCES = [20, 22];
+function parseSbfGalNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const inav = new GalInavAssembler();
+  const fnav = new GalFnavAssembler();
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4022 && id !== 4023 || len < 52) return;
+    messages++;
+    const prnStr = svidToPrn(data[b + 14]);
+    if (!prnStr || prnStr[0] !== "E") return;
+    const prn = parseInt(prnStr.slice(1), 10);
+    const source = data[b + 17] & 31;
+    const page = new Uint8Array(32);
+    for (let k = 0; k < 8; k++) {
+      const w = view.getUint32(b + 20 + 4 * k, true);
+      page[4 * k] = w >>> 24;
+      page[4 * k + 1] = w >>> 16 & 255;
+      page[4 * k + 2] = w >>> 8 & 255;
+      page[4 * k + 3] = w & 255;
+    }
+    let eph;
+    let src;
+    if (id === 4023) {
+      src = "inav";
+      if (!INAV_SOURCES.includes(source)) return;
+      if (getBitU2(page, 0) !== 0 || getBitU2(page, 114) !== 1) return;
+      if (!galInavPageCrcOk(page)) {
+        badCrc++;
+        return;
+      }
+      eph = inav.push(prn, page);
+    } else {
+      src = "fnav";
+      if (!FNAV_SOURCES.includes(source)) return;
+      if (isFnavDummy(page)) return;
+      if (!galFnavPageCrcOk(page)) {
+        badCrc++;
+        return;
+      }
+      eph = fnav.push(prn, page);
+    }
+    if (eph) ephemerides.push({ ...eph, source: src });
+  });
+  return { ephemerides, badCrc, messages };
+}
+function getBitU2(buff, pos) {
+  return buff[pos >> 3] >> 7 - (pos & 7) & 1;
+}
+function isFnavDummy(page) {
+  return page[0] >> 2 === 63;
+}
+
+// src/navbits/bds.ts
+var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK3 = 7 * 86400;
+var MS_PER_WEEK2 = SEC_PER_WEEK3 * 1e3;
+var HALF_WEEK2 = 302400;
+var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK3;
+var BDS_SUBFRAME_BYTES = 38;
+function getBitU22(b, p1, l1, p2, l2) {
+  return getBitU(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
+}
+function getBitS2(b, p1, l1, p2, l2) {
+  return getBitS(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
+}
+function getBitU3(b, p1, l1, p2, l2, p3, l3) {
+  return getBitU(b, p1, l1) * 2 ** (l2 + l3) + getBitU(b, p2, l2) * 2 ** l3 + getBitU(b, p3, l3);
+}
+function getBitS3(b, p1, l1, p2, l2, p3, l3) {
+  return getBitS(b, p1, l1) * 2 ** (l2 + l3) + getBitU(b, p2, l2) * 2 ** l3 + getBitU(b, p3, l3);
+}
+var mergeS = (hi, lo, n) => hi * 2 ** n + lo;
+function bchOk(cw) {
+  for (let i = 14; i >= 4; i--) {
+    if (cw & 1 << i) cw ^= 19 << i - 4;
+  }
+  return cw === 0;
+}
+function bdsSubframeParityOk(subframe) {
+  if (subframe.length < BDS_SUBFRAME_BYTES) return false;
+  if (!bchOk(getBitU(subframe, 15, 15))) return false;
+  for (let w = 1; w < 10; w++) {
+    const base = 30 * w;
+    const cw1 = getBitU(subframe, base, 11) * 16 + getBitU(subframe, base + 22, 4);
+    const cw2 = getBitU(subframe, base + 11, 11) * 16 + getBitU(subframe, base + 26, 4);
+    if (!bchOk(cw1) || !bchOk(cw2)) return false;
+  }
+  return true;
+}
+function buildBdsEphemeris(prn, f) {
+  let week = f.week;
+  if (f.toes < f.sow - HALF_WEEK2) week++;
+  else if (f.toes > f.sow + HALF_WEEK2) week--;
+  const tocDate = new Date(BDT_EPOCH_MS2 + week * MS_PER_WEEK2 + f.tocSec * 1e3);
+  return {
+    system: "C",
+    prn,
+    toc: sowOf2(tocDate.getTime()),
+    tocDate,
+    af0: f.af0,
+    af1: f.af1,
+    af2: f.af2,
+    // AODE is not in the ephemeris subframes; RTKLIB derives the RINEX
+    // IODE/AODE slot from toc per the BDS ICD update schedule.
+    iode: Math.floor(f.tocSec / 720) % 240,
+    crs: f.crs,
+    deltaN: f.deltaN,
+    m0: f.m0,
+    cuc: f.cuc,
+    e: f.e,
+    cus: f.cus,
+    sqrtA: f.sqrtA,
+    toe: f.toes,
+    cic: f.cic,
+    omega0: f.omega0,
+    cis: f.cis,
+    i0: f.i0,
+    crc: f.crc,
+    omega: f.omega,
+    omegaDot: f.omegaDot,
+    idot: f.idot,
+    week,
+    // RINEX BDS week field is the BDT week of toe
+    svHealth: f.svh,
+    // SatH1
+    tgd: f.tgd1
+    // TGD1 (B1) — RINEX slot
+  };
+}
+function decodeBdsD1Frame(subframes, opts = {}) {
+  if (subframes.length < 3 * BDS_SUBFRAME_BYTES) return null;
+  const b = subframes;
+  let i = 8 * 38 * 0;
+  const frn1 = getBitU(b, i + 15, 3);
+  const sow1 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const svh = getBitU(b, i + 42, 1);
+  const week = getBitU(b, i + 60, 13);
+  const tocSec = getBitU22(b, i + 73, 9, i + 90, 8) * 8;
+  const tgd1 = getBitS(b, i + 98, 10) * 0.1 * 1e-9;
+  const af2 = getBitS(b, i + 214, 11) * 2 ** -66;
+  const af0 = getBitS2(b, i + 225, 7, i + 240, 17) * 2 ** -33;
+  const af1 = getBitS2(b, i + 257, 5, i + 270, 17) * 2 ** -50;
+  i = 8 * 38 * 1;
+  const frn2 = getBitU(b, i + 15, 3);
+  const sow2 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const deltaN = getBitS2(b, i + 42, 10, i + 60, 6) * 2 ** -43 * GPS_PI;
+  const cuc = getBitS2(b, i + 66, 16, i + 90, 2) * 2 ** -31;
+  const m0 = getBitS2(b, i + 92, 20, i + 120, 12) * 2 ** -31 * GPS_PI;
+  const e = getBitU22(b, i + 132, 10, i + 150, 22) * 2 ** -33;
+  const cus = getBitS(b, i + 180, 18) * 2 ** -31;
+  const crc = getBitS2(b, i + 198, 4, i + 210, 14) * 2 ** -6;
+  const crs = getBitS2(b, i + 224, 8, i + 240, 10) * 2 ** -6;
+  const sqrtA = getBitU22(b, i + 250, 12, i + 270, 20) * 2 ** -19;
+  const toe1 = getBitU(b, i + 290, 2);
+  i = 8 * 38 * 2;
+  const frn3 = getBitU(b, i + 15, 3);
+  const sow3 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const toe2 = getBitU22(b, i + 42, 10, i + 60, 5);
+  const i0 = getBitS2(b, i + 65, 17, i + 90, 15) * 2 ** -31 * GPS_PI;
+  const cic = getBitS2(b, i + 105, 7, i + 120, 11) * 2 ** -31;
+  const omegaDot = getBitS2(b, i + 131, 11, i + 150, 13) * 2 ** -43 * GPS_PI;
+  const cis = getBitS2(b, i + 163, 9, i + 180, 9) * 2 ** -31;
+  const idot = getBitS2(b, i + 189, 13, i + 210, 1) * 2 ** -43 * GPS_PI;
+  const omega0 = getBitS2(b, i + 211, 21, i + 240, 11) * 2 ** -31 * GPS_PI;
+  const omega = getBitS2(b, i + 251, 11, i + 270, 21) * 2 ** -31 * GPS_PI;
+  const toes = (toe1 * 2 ** 15 + toe2) * 8;
+  if (frn1 !== 1 || frn2 !== 2 || frn3 !== 3) return null;
+  if (sow2 !== sow1 + 6 || sow3 !== sow2 + 6) return null;
+  if (tocSec !== toes) return null;
+  return buildBdsEphemeris(opts.prn ?? "C00", {
+    week,
+    sow: sow1,
+    toes,
+    tocSec,
+    svh,
+    tgd1,
+    af0,
+    af1,
+    af2,
+    crs,
+    deltaN,
+    m0,
+    cuc,
+    e,
+    cus,
+    sqrtA,
+    cic,
+    omega0,
+    cis,
+    i0,
+    crc,
+    omega,
+    omegaDot,
+    idot
+  });
+}
+function decodeBdsD2Frame(pages, opts = {}) {
+  if (pages.length < 10 * BDS_SUBFRAME_BYTES) return null;
+  const b = pages;
+  let i = 8 * 38 * 0;
+  const pgn1 = getBitU(b, i + 42, 4);
+  const sow1 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const svh = getBitU(b, i + 46, 1);
+  const week = getBitU(b, i + 64, 13);
+  const tocSec = getBitU22(b, i + 77, 5, i + 90, 12) * 8;
+  const tgd1 = getBitS(b, i + 102, 10) * 0.1 * 1e-9;
+  i = 8 * 38 * 2;
+  const pgn3 = getBitU(b, i + 42, 4);
+  const sow3 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const af0 = getBitS2(b, i + 100, 12, i + 120, 12) * 2 ** -33;
+  const af1p3 = getBitS(b, i + 132, 4);
+  i = 8 * 38 * 3;
+  const pgn4 = getBitU(b, i + 42, 4);
+  const sow4 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const af1p4 = getBitU22(b, i + 46, 6, i + 60, 12);
+  const af2 = getBitS2(b, i + 72, 10, i + 90, 1) * 2 ** -66;
+  const deltaN = getBitS(b, i + 96, 16) * 2 ** -43 * GPS_PI;
+  const cucp4 = getBitS(b, i + 120, 14);
+  i = 8 * 38 * 4;
+  const pgn5 = getBitU(b, i + 42, 4);
+  const sow5 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const cucp5 = getBitU(b, i + 46, 4);
+  const m0 = getBitS3(b, i + 50, 2, i + 60, 22, i + 90, 8) * 2 ** -31 * GPS_PI;
+  const cus = getBitS2(b, i + 98, 14, i + 120, 4) * 2 ** -31;
+  const ep5 = getBitS(b, i + 124, 10);
+  i = 8 * 38 * 5;
+  const pgn6 = getBitU(b, i + 42, 4);
+  const sow6 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const ep6 = getBitU22(b, i + 46, 6, i + 60, 16);
+  const sqrtA = getBitU3(b, i + 76, 6, i + 90, 22, i + 120, 4) * 2 ** -19;
+  const cicp6 = getBitS(b, i + 124, 10);
+  i = 8 * 38 * 6;
+  const pgn7 = getBitU(b, i + 42, 4);
+  const sow7 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const cicp7 = getBitU22(b, i + 46, 6, i + 60, 2);
+  const cis = getBitS(b, i + 62, 18) * 2 ** -31;
+  const toes = getBitU22(b, i + 80, 2, i + 90, 15) * 8;
+  const i0p7 = getBitS2(b, i + 105, 7, i + 120, 14);
+  i = 8 * 38 * 7;
+  const pgn8 = getBitU(b, i + 42, 4);
+  const sow8 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const i0p8 = getBitU22(b, i + 46, 6, i + 60, 5);
+  const crc = getBitS2(b, i + 65, 17, i + 90, 1) * 2 ** -6;
+  const crs = getBitS(b, i + 91, 18) * 2 ** -6;
+  const omegaDotP8 = getBitS2(b, i + 109, 3, i + 120, 16);
+  i = 8 * 38 * 8;
+  const pgn9 = getBitU(b, i + 42, 4);
+  const sow9 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const omegaDotP9 = getBitU(b, i + 46, 5);
+  const omega0 = getBitS3(b, i + 51, 1, i + 60, 22, i + 90, 9) * 2 ** -31 * GPS_PI;
+  const omegaP9 = getBitS2(b, i + 99, 13, i + 120, 14);
+  i = 8 * 38 * 9;
+  const pgn10 = getBitU(b, i + 42, 4);
+  const sow10 = getBitU22(b, i + 18, 8, i + 30, 12);
+  const omegaP10 = getBitU(b, i + 46, 5);
+  const idot = getBitS2(b, i + 51, 1, i + 60, 13) * 2 ** -43 * GPS_PI;
+  if (pgn1 !== 1 || pgn3 !== 3 || pgn4 !== 4 || pgn5 !== 5 || pgn6 !== 6 || pgn7 !== 7 || pgn8 !== 8 || pgn9 !== 9 || pgn10 !== 10) {
+    return null;
+  }
+  if (sow3 !== sow1 + 6 || sow4 !== sow3 + 3 || sow5 !== sow4 + 3 || sow6 !== sow5 + 3 || sow7 !== sow6 + 3 || sow8 !== sow7 + 3 || sow9 !== sow8 + 3 || sow10 !== sow9 + 3) {
+    return null;
+  }
+  if (tocSec !== toes) return null;
+  return buildBdsEphemeris(opts.prn ?? "C00", {
+    week,
+    sow: sow1,
+    toes,
+    tocSec,
+    svh,
+    tgd1,
+    af0,
+    af1: mergeS(af1p3, af1p4, 18) * 2 ** -50,
+    af2,
+    crs,
+    deltaN,
+    m0,
+    cuc: mergeS(cucp4, cucp5, 4) * 2 ** -31,
+    e: mergeS(ep5, ep6, 22) * 2 ** -33,
+    cus,
+    sqrtA,
+    cic: mergeS(cicp6, cicp7, 8) * 2 ** -31,
+    omega0,
+    cis,
+    i0: mergeS(i0p7, i0p8, 11) * 2 ** -31 * GPS_PI,
+    crc,
+    omega: mergeS(omegaP9, omegaP10, 5) * 2 ** -31 * GPS_PI,
+    omegaDot: mergeS(omegaDotP8, omegaDotP9, 5) * 2 ** -43 * GPS_PI,
+    idot
+  });
+}
+function isBdsGeoPrn(prn) {
+  return prn < 6 || prn > 58;
+}
+var BdsAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one 300-bit subframe (38+ bytes, bit 0 = first bit of the
+   * preamble) for the satellite `prn` ("C06"). Returns the newly
+   * completed ephemeris, or null.
+   */
+  push(prn, subframe) {
+    if (subframe.length < BDS_SUBFRAME_BYTES) return null;
+    const num = parseInt(prn.slice(1), 10);
+    if (!Number.isFinite(num) || num < 1 || num > 63) return null;
+    const id = getBitU(subframe, 15, 3);
+    if (id < 1 || id > 5) return null;
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = { buf: new Uint8Array(10 * BDS_SUBFRAME_BYTES) };
+      this.sats.set(prn, sat);
+    }
+    let eph = null;
+    if (!isBdsGeoPrn(num)) {
+      sat.buf.set(subframe.subarray(0, BDS_SUBFRAME_BYTES), (id - 1) * 38);
+      if (id === 3) eph = decodeBdsD1Frame(sat.buf, { prn });
+    } else {
+      if (id !== 1) return null;
+      const pgn = getBitU(subframe, 42, 4);
+      if (pgn < 1 || pgn > 10) return null;
+      sat.buf.set(subframe.subarray(0, BDS_SUBFRAME_BYTES), (pgn - 1) * 38);
+      if (pgn === 10) eph = decodeBdsD2Frame(sat.buf, { prn });
+    }
+    if (!eph) return null;
+    const key = `${eph.week}:${eph.toe}`;
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
+
+// src/navbits/glo.ts
+var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK4 = 7 * 86400;
+var SEC_PER_DAY = 86400;
+var GLO_STRING_BYTES = 10;
+function getBitG(b, pos, len) {
+  const value = getBitU(b, pos + 1, len - 1);
+  return getBitU(b, pos, 1) && value !== 0 ? -value : value;
+}
+var HAMMING_MASKS = [
+  [85, 85, 90, 170, 170, 170, 181, 85, 106, 216, 8],
+  [102, 102, 108, 204, 204, 204, 217, 153, 179, 104, 16],
+  [135, 135, 143, 15, 15, 15, 30, 30, 60, 112, 32],
+  [7, 248, 15, 240, 15, 240, 31, 224, 63, 128, 64],
+  [248, 0, 15, 255, 240, 0, 31, 255, 192, 0, 128],
+  [0, 0, 15, 255, 255, 255, 224, 0, 0, 1, 0],
+  [255, 255, 240, 0, 0, 0, 0, 0, 0, 2, 0],
+  [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 248]
+];
+function testGloString(buff) {
+  if (buff.length < 11) return false;
+  let n = 0;
+  let cs = 0;
+  for (const mask of HAMMING_MASKS) {
+    cs = 0;
+    for (let j = 0; j < 11; j++) {
+      let x = buff[j] & mask[j];
+      x ^= x >> 4;
+      x ^= x >> 2;
+      x ^= x >> 1;
+      cs ^= x & 1;
+    }
+    if (cs) n++;
+  }
+  return n === 0 || n === 2 && cs === 1;
+}
+function decodeGloStrings(strings, refDate, opts = {}) {
+  if (strings.length < 4 * GLO_STRING_BYTES) return null;
+  const b = strings;
+  let i = 1;
+  const frn1 = getBitU(b, i, 4);
+  i += 4 + 2;
+  i += 2;
+  const tkH = getBitU(b, i, 5);
+  i += 5;
+  const tkM = getBitU(b, i, 6);
+  i += 6;
+  const tkS = getBitU(b, i, 1) * 30;
+  i += 1;
+  const xDot = getBitG(b, i, 24) * 2 ** -20;
+  i += 24;
+  const xAcc = getBitG(b, i, 5) * 2 ** -30;
+  i += 5;
+  const x = getBitG(b, i, 27) * 2 ** -11;
+  i = 80 + 1;
+  const frn2 = getBitU(b, i, 4);
+  i += 4;
+  const bn = getBitU(b, i, 1);
+  i += 1 + 2;
+  i += 1;
+  const tb = getBitU(b, i, 7);
+  i += 7 + 5;
+  const yDot = getBitG(b, i, 24) * 2 ** -20;
+  i += 24;
+  const yAcc = getBitG(b, i, 5) * 2 ** -30;
+  i += 5;
+  const y = getBitG(b, i, 27) * 2 ** -11;
+  i = 160 + 1;
+  const frn3 = getBitU(b, i, 4);
+  i += 4;
+  i += 1;
+  const gammaN = getBitG(b, i, 11) * 2 ** -40;
+  i += 11 + 1;
+  i += 2;
+  i += 1;
+  const zDot = getBitG(b, i, 24) * 2 ** -20;
+  i += 24;
+  const zAcc = getBitG(b, i, 5) * 2 ** -30;
+  i += 5;
+  const z = getBitG(b, i, 27) * 2 ** -11;
+  i = 240 + 1;
+  const frn4 = getBitU(b, i, 4);
+  i += 4;
+  const tauN = getBitG(b, i, 22) * 2 ** -30;
+  i += 22;
+  i += 5;
+  i += 5;
+  i += 14;
+  i += 1;
+  i += 4;
+  i += 3;
+  i += 11;
+  const slot = getBitU(b, i, 5);
+  if (frn1 !== 1 || frn2 !== 2 || frn3 !== 3 || frn4 !== 4) return null;
+  if (slot < 1 || slot > 27) return null;
+  const utcSec = (getUtcDate(refDate).getTime() - GPS_EPOCH_MS3) / 1e3;
+  const week = Math.floor(utcSec / SEC_PER_WEEK4);
+  let tow = utcSec - week * SEC_PER_WEEK4;
+  const tod = tow % SEC_PER_DAY;
+  tow -= tod;
+  let tof = tkH * 3600 + tkM * 60 + tkS - 10800;
+  if (tof < tod - 43200) tof += SEC_PER_DAY;
+  else if (tof > tod + 43200) tof -= SEC_PER_DAY;
+  let toe = tb * 900 - 10800;
+  if (toe < tod - 43200) toe += SEC_PER_DAY;
+  else if (toe > tod + 43200) toe -= SEC_PER_DAY;
+  return {
+    system: "R",
+    prn: `R${String(slot).padStart(2, "0")}`,
+    // RINEX GLONASS epochs are UTC: build the UTC toe Date directly.
+    tocDate: new Date(GPS_EPOCH_MS3 + (week * SEC_PER_WEEK4 + tow + toe) * 1e3),
+    tauN: -tauN,
+    // RINEX stores −τn; the SIS carries τn (ICD sign)
+    gammaN,
+    // v3 message frame time: seconds of the UTC week (RTKLIB tof).
+    messageFrameTime: ((tow + tof) % SEC_PER_WEEK4 + SEC_PER_WEEK4) % SEC_PER_WEEK4,
+    x,
+    xDot,
+    xAcc,
+    y,
+    yDot,
+    yAcc,
+    z,
+    zDot,
+    zAcc,
+    // MSB of the 3-bit Bn word — the unhealthy flag RINEX carries
+    health: bn,
+    freqNum: opts.freqNum ?? 0
+  };
+}
+var GloStringAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one navigation string (10+ bytes, bit 0 = string bit 85) for
+   * the satellite `prn` ("R09"), received at the GPS-scale `time`.
+   * Returns the newly completed ephemeris, or null. The decoded
+   * string-4 slot number must match `prn`, or nothing is emitted.
+   */
+  push(prn, str, time, freqNum = 0) {
+    if (str.length < GLO_STRING_BYTES) return null;
+    const m = getBitU(str, 1, 4);
+    if (m < 1) return null;
+    const sec = Math.floor(time.getTime() / 1e3);
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = { buf: new Uint8Array(4 * GLO_STRING_BYTES), batchSec: sec };
+      this.sats.set(prn, sat);
+    } else if (Math.abs(sec - sat.batchSec) > 30) {
+      sat.buf.fill(0);
+      sat.batchSec = sec;
+    }
+    if (m > 4) return null;
+    sat.buf.set(str.subarray(0, GLO_STRING_BYTES), (m - 1) * 10);
+    if (m !== 4) return null;
+    const eph = decodeGloStrings(sat.buf, time, { freqNum });
+    if (!eph || eph.prn !== prn) return null;
+    const key = `${eph.tocDate.getTime()}:${eph.health}`;
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
+
+// src/sbf/rawnav-bds.ts
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK3 = 7 * 86400 * 1e3;
+var TOW_DNU = 4294967295;
+var WNC_DNU = 65535;
+function parseSbfBdsNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const assembler = new BdsAssembler();
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4047 || len < 60) return;
+    messages++;
+    const prn = svidToPrn(view.getUint8(b + 14));
+    if (!prn || prn[0] !== "C") return;
+    const sf = new Uint8Array(38);
+    for (let k = 0; k < 10; k++) {
+      const w = view.getUint32(b + 20 + 4 * k, true);
+      sf[4 * k] = w >>> 24;
+      if (k < 9) {
+        sf[4 * k + 1] = w >>> 16 & 255;
+        sf[4 * k + 2] = w >>> 8 & 255;
+        sf[4 * k + 3] = w & 255;
+      } else {
+        sf[37] = w >>> 16 & 240;
+      }
+    }
+    if (!bdsSubframeParityOk(sf)) {
+      badCrc++;
+      return;
+    }
+    const eph = assembler.push(prn, sf);
+    if (eph) ephemerides.push(eph);
+  });
+  return { ephemerides, badCrc, messages };
+}
+function parseSbfGloNav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const assembler = new GloStringAssembler();
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4026 || len < 32) return;
+    messages++;
+    const prn = svidToPrn(view.getUint8(b + 14));
+    if (!prn || prn[0] !== "R") return;
+    const towMs = view.getUint32(b + 8, true);
+    const wnc = view.getUint16(b + 12, true);
+    if (towMs === TOW_DNU || wnc === WNC_DNU) return;
+    const str = new Uint8Array(11);
+    for (let k = 0; k < 3; k++) {
+      const w = view.getUint32(b + 20 + 4 * k, true);
+      str[4 * k] = w >>> 24;
+      if (k < 2) {
+        str[4 * k + 1] = w >>> 16 & 255;
+        str[4 * k + 2] = w >>> 8 & 255;
+        str[4 * k + 3] = w & 255;
+      } else {
+        str[9] = w >>> 16 & 255;
+        str[10] = w >>> 8 & 248;
+      }
+    }
+    if (!testGloString(str)) {
+      badCrc++;
+      return;
+    }
+    const eph = assembler.push(
+      prn,
+      str,
+      new Date(GPS_EPOCH_MS4 + wnc * MS_PER_WEEK3 + towMs),
+      view.getUint8(b + 18) - 8
+      // FreqNr, offset by 8
+    );
+    if (eph) ephemerides.push(eph);
+  });
+  return { ephemerides, badCrc, messages };
+}
+
+// src/navbits/rs255.ts
+var RS255_N = 255;
+var RS255_K = 32;
+var EXP = new Uint8Array(510);
+var LOG = new Int16Array(256).fill(-1);
+{
+  let x = 1;
+  for (let i = 0; i < 255; i++) {
+    EXP[i] = x;
+    LOG[x] = i;
+    x <<= 1;
+    if (x & 256) x ^= 285;
+  }
+  for (let i = 255; i < 510; i++) EXP[i] = EXP[i - 255];
+}
+var gfMul = (a, b) => a === 0 || b === 0 ? 0 : EXP[LOG[a] + LOG[b]];
+var gfInv = (a) => EXP[255 - LOG[a]];
+var GEN_POLY = (() => {
+  let g = new Uint8Array([1]);
+  for (let i = 1; i <= 223; i++) {
+    const root = EXP[i];
+    const next = new Uint8Array(g.length + 1);
+    for (let j = 0; j < g.length; j++) {
+      next[j] ^= g[j];
+      next[j + 1] ^= gfMul(g[j], root);
+    }
+    g = next;
+  }
+  return g;
+})();
+function rs255Encode(info) {
+  if (info.length > RS255_K)
+    throw new RangeError(`rs255Encode: info length ${info.length} > 32`);
+  const cw = new Uint8Array(RS255_N);
+  cw.set(info, 0);
+  const work = new Uint8Array(RS255_N);
+  work.set(info, 0);
+  for (let i = 0; i < RS255_K; i++) {
+    const coef = work[i];
+    if (coef === 0) continue;
+    for (let j = 1; j < GEN_POLY.length; j++)
+      work[i + j] ^= gfMul(GEN_POLY[j], coef);
+  }
+  cw.set(work.subarray(RS255_K), RS255_K);
+  return cw;
+}
+var genMatrix = null;
+function generatorMatrix() {
+  if (genMatrix) return genMatrix;
+  const rows = [];
+  for (let r = 0; r < RS255_N; r++) rows.push(new Uint8Array(RS255_K));
+  for (let c = 0; c < RS255_K; c++) {
+    const e = new Uint8Array(RS255_K);
+    e[c] = 1;
+    const cw = rs255Encode(e);
+    for (let r = 0; r < RS255_N; r++) rows[r][c] = cw[r];
+  }
+  genMatrix = rows;
+  return rows;
+}
+function rs255DecodeErasures(pages, k) {
+  if (k < 1 || k > RS255_K) return null;
+  const seen = /* @__PURE__ */ new Set();
+  const use = [];
+  for (const p of pages) {
+    if (p.pageId < 1 || p.pageId > RS255_N || seen.has(p.pageId)) continue;
+    seen.add(p.pageId);
+    use.push(p);
+    if (use.length === k) break;
+  }
+  if (use.length < k) return null;
+  const width = use[0].octets.length;
+  if (use.some((p) => p.octets.length !== width)) return null;
+  const G = generatorMatrix();
+  const a = use.map((p) => G[p.pageId - 1].slice(0, k));
+  const inv = use.map((_, r) => {
+    const row = new Uint8Array(k);
+    row[r] = 1;
+    return row;
+  });
+  for (let c = 0; c < k; c++) {
+    let pivot = -1;
+    for (let r = c; r < k; r++)
+      if (a[r][c] !== 0) {
+        pivot = r;
+        break;
+      }
+    if (pivot < 0) return null;
+    [a[c], a[pivot]] = [a[pivot], a[c]];
+    [inv[c], inv[pivot]] = [inv[pivot], inv[c]];
+    const s = gfInv(a[c][c]);
+    for (let j = 0; j < k; j++) {
+      a[c][j] = gfMul(a[c][j], s);
+      inv[c][j] = gfMul(inv[c][j], s);
+    }
+    for (let r = 0; r < k; r++) {
+      if (r === c || a[r][c] === 0) continue;
+      const f = a[r][c];
+      for (let j = 0; j < k; j++) {
+        a[r][j] ^= gfMul(a[c][j], f);
+        inv[r][j] ^= gfMul(inv[c][j], f);
+      }
+    }
+  }
+  const out = new Uint8Array(k * width);
+  for (let r = 0; r < k; r++)
+    for (let c = 0; c < width; c++) {
+      let v = 0;
+      for (let j = 0; j < k; j++) v ^= gfMul(inv[r][j], use[j].octets[c]);
+      out[r * width + c] = v;
+    }
+  return out;
+}
+
+// src/navbits/has.ts
+var HAS_DUMMY_HEADER = 11484099;
+var HAS_VALIDITY_SECONDS = [
+  5,
+  10,
+  15,
+  20,
+  30,
+  60,
+  90,
+  120,
+  180,
+  240,
+  300,
+  600,
+  900,
+  1800,
+  3600,
+  null
+];
+var HAS_GPS_SIGNALS = [
+  "L1 C/A",
+  "Reserved",
+  "Reserved",
+  "L1C(D)",
+  "L1C(P)",
+  "L1C(D+P)",
+  "L2 CM",
+  "L2 CL",
+  "L2 CM+CL",
+  "L2 P",
+  "Reserved",
+  "L5 I",
+  "L5 Q",
+  "L5 I+Q",
+  "Reserved",
+  "Reserved"
+];
+var HAS_GALILEO_SIGNALS = [
+  "E1-B",
+  "E1-C",
+  "E1-B+E1-C",
+  "E5a-I",
+  "E5a-Q",
+  "E5a-I+E5a-Q",
+  "E5b-I",
+  "E5b-Q",
+  "E5b-I+E5b-Q",
+  "E5-I",
+  "E5-Q",
+  "E5-I+E5-Q",
+  "E6-B",
+  "E6-C",
+  "E6-B+E6-C",
+  "Reserved"
+];
+var SYSTEM_OF_GNSS_ID = { 0: "G", 2: "E" };
+var IOD_BITS = { G: 8, E: 10 };
+function hasPageCrcOk(page) {
+  if (page.length < 61) return false;
+  return crc24q(page, 462) === getBitU(page, 462, 24);
+}
+function parseHasPage(page) {
+  if (getBitU(page, 14, 24) === HAS_DUMMY_HEADER) return null;
+  const body = new Uint8Array(53);
+  for (let i = 0; i < 53; i++) body[i] = getBitU(page, 38 + 8 * i, 8);
+  return {
+    status: getBitU(page, 14, 2),
+    messageType: getBitU(page, 18, 2),
+    messageId: getBitU(page, 20, 5),
+    messageSize: getBitU(page, 25, 5) + 1,
+    pageId: getBitU(page, 30, 8),
+    body
+  };
+}
+var Cursor = class {
+  constructor(buf, bits) {
+    this.buf = buf;
+    this.bits = bits;
+  }
+  pos = 0;
+  u(len) {
+    if (this.pos + len > this.bits) throw new RangeError("truncated");
+    const v = getBitU(this.buf, this.pos, len);
+    this.pos += len;
+    return v;
+  }
+  s(len) {
+    if (this.pos + len > this.bits) throw new RangeError("truncated");
+    const v = getBitS(this.buf, this.pos, len);
+    this.pos += len;
+    return v;
+  }
+};
+var prnOf = (system, idx) => `${system}${String(idx + 1).padStart(2, "0")}`;
+function parseMaskBlock(c, maskId) {
+  const nSys = c.u(4);
+  const systems = [];
+  for (let s = 0; s < nSys; s++) {
+    const gnssId = c.u(4);
+    const system = SYSTEM_OF_GNSS_ID[gnssId];
+    if (system === void 0) throw new RangeError(`unknown GNSS ID ${gnssId}`);
+    const prns = [];
+    for (let b = 0; b < 40; b++) if (c.u(1)) prns.push(prnOf(system, b));
+    const signalIndices = [];
+    for (let b = 0; b < 16; b++) if (c.u(1)) signalIndices.push(b);
+    const signalNames = system === "G" ? HAS_GPS_SIGNALS : HAS_GALILEO_SIGNALS;
+    let cellMask = null;
+    if (c.u(1)) {
+      cellMask = prns.map(() => signalIndices.map(() => c.u(1) === 1));
+    }
+    systems.push({
+      gnssId,
+      system,
+      prns,
+      signalIndices,
+      signals: signalIndices.map((i) => signalNames[i]),
+      cellMask,
+      navMessage: c.u(3)
+    });
+  }
+  c.u(6);
+  return { maskId, systems };
+}
+function parseOrbitBlock(c, masks) {
+  const validityIndex = c.u(4);
+  const corrections = [];
+  for (const sys of masks.systems) {
+    for (const prn of sys.prns) {
+      const gnssIod = c.u(IOD_BITS[sys.system]);
+      const rad = c.s(13);
+      const inT = c.s(12);
+      const cross = c.s(12);
+      corrections.push({
+        system: sys.system,
+        prn,
+        gnssIod,
+        deltaRadial: rad === -4096 ? null : rad * 25e-4,
+        deltaInTrack: inT === -2048 ? null : inT * 8e-3,
+        deltaCrossTrack: cross === -2048 ? null : cross * 8e-3
+      });
+    }
+  }
+  return {
+    validityIndex,
+    validitySeconds: HAS_VALIDITY_SECONDS[validityIndex],
+    corrections
+  };
+}
+function clockValue(c, system, prn, multiplier) {
+  const raw = c.s(13);
+  return {
+    system,
+    prn,
+    deltaClock: raw === -4096 || raw === 4095 ? null : raw * 25e-4 * multiplier,
+    notUsable: raw === 4095
+  };
+}
+function parseClockFullBlock(c, masks) {
+  const validityIndex = c.u(4);
+  const multipliers = masks.systems.map((sys) => ({
+    system: sys.system,
+    multiplier: c.u(2) + 1
+  }));
+  const corrections = [];
+  for (let s = 0; s < masks.systems.length; s++) {
+    const sys = masks.systems[s];
+    for (const prn of sys.prns)
+      corrections.push(
+        clockValue(c, sys.system, prn, multipliers[s].multiplier)
+      );
+  }
+  return {
+    validityIndex,
+    validitySeconds: HAS_VALIDITY_SECONDS[validityIndex],
+    multipliers,
+    corrections
+  };
+}
+function parseClockSubsetBlock(c, masks) {
+  const validityIndex = c.u(4);
+  const nSys = c.u(4);
+  const multipliers = [];
+  const corrections = [];
+  for (let s = 0; s < nSys; s++) {
+    const gnssId = c.u(4);
+    const sys = masks.systems.find((m) => m.gnssId === gnssId);
+    if (!sys) throw new RangeError(`subset GNSS ID ${gnssId} not in mask`);
+    const multiplier = c.u(2) + 1;
+    multipliers.push({ system: sys.system, multiplier });
+    const selected = [];
+    for (const prn of sys.prns) if (c.u(1)) selected.push(prn);
+    for (const prn of selected)
+      corrections.push(clockValue(c, sys.system, prn, multiplier));
+  }
+  return {
+    validityIndex,
+    validitySeconds: HAS_VALIDITY_SECONDS[validityIndex],
+    multipliers,
+    corrections
+  };
+}
+function parseBiasBlock(c, masks, kind) {
+  const validityIndex = c.u(4);
+  const biases = [];
+  for (const sys of masks.systems) {
+    for (let s = 0; s < sys.prns.length; s++) {
+      for (let g = 0; g < sys.signalIndices.length; g++) {
+        if (sys.cellMask && !sys.cellMask[s][g]) continue;
+        const raw = c.s(11);
+        const entry = {
+          system: sys.system,
+          prn: sys.prns[s],
+          signalIndex: sys.signalIndices[g],
+          signal: sys.signals[g],
+          bias: raw === -1024 ? null : raw * (kind === "code" ? 0.02 : 0.01)
+        };
+        if (kind === "phase") entry.discontinuity = c.u(2);
+        biases.push(entry);
+      }
+    }
+  }
+  return {
+    validityIndex,
+    validitySeconds: HAS_VALIDITY_SECONDS[validityIndex],
+    biases
+  };
+}
+function parseHasMt1(payload, header, cachedMasks) {
+  const c = new Cursor(payload, payload.length * 8);
+  const toh = c.u(12);
+  const flags = {
+    mask: c.u(1) === 1,
+    orbit: c.u(1) === 1,
+    clockFullSet: c.u(1) === 1,
+    clockSubset: c.u(1) === 1,
+    codeBias: c.u(1) === 1,
+    phaseBias: c.u(1) === 1
+  };
+  c.u(4);
+  const maskId = c.u(5);
+  const iodSetId = c.u(5);
+  const msg = {
+    ...header,
+    toh,
+    maskId,
+    iodSetId,
+    flags,
+    maskFromCache: false,
+    parseError: null
+  };
+  try {
+    let masks;
+    if (flags.mask) {
+      masks = parseMaskBlock(c, maskId);
+    } else if (cachedMasks) {
+      masks = cachedMasks;
+      msg.maskFromCache = true;
+    } else {
+      msg.parseError = "mask-unavailable";
+      return msg;
+    }
+    msg.masks = masks;
+    if (flags.orbit) msg.orbit = parseOrbitBlock(c, masks);
+    if (flags.clockFullSet) msg.clockFullSet = parseClockFullBlock(c, masks);
+    if (flags.clockSubset) msg.clockSubset = parseClockSubsetBlock(c, masks);
+    if (flags.codeBias) msg.codeBias = parseBiasBlock(c, masks, "code");
+    if (flags.phaseBias) msg.phaseBias = parseBiasBlock(c, masks, "phase");
+  } catch (e) {
+    msg.parseError = e instanceof Error ? e.message : String(e);
+  }
+  return msg;
+}
+var HasAssembler = class {
+  slots = /* @__PURE__ */ new Map();
+  lastMessageId = -1;
+  maskCache = /* @__PURE__ */ new Map();
+  /** Pages a message may span before its slot is restarted (s). */
+  timeoutSec;
+  stats = {
+    pages: 0,
+    dummyPages: 0,
+    skippedPages: 0,
+    duplicatePages: 0,
+    resets: 0,
+    messages: 0,
+    parseErrors: 0
+  };
+  constructor(opts = {}) {
+    this.timeoutSec = opts.timeoutSec ?? 30;
+  }
+  /**
+   * Push one 492-bit C/NAV page (≥ 61 bytes; check the CRC first with
+   * `hasPageCrcOk`). `tow` — a receiver time of week in seconds, any
+   * origin as long as it is common to all pages — enables the slot
+   * timeout and is stamped on completed messages.
+   */
+  push(page, tow) {
+    const p = parseHasPage(page);
+    if (!p) {
+      this.stats.dummyPages++;
+      return null;
+    }
+    this.stats.pages++;
+    if (p.messageType !== 1 || p.status > 1 || p.pageId === 0) {
+      this.stats.skippedPages++;
+      return null;
+    }
+    if (p.messageId === this.lastMessageId) return null;
+    let slot = this.slots.get(p.messageId);
+    const timedOut = slot?.firstTow !== void 0 && tow !== void 0 && tow - slot.firstTow > this.timeoutSec;
+    if (slot && (slot.messageSize !== p.messageSize || timedOut)) {
+      this.stats.resets++;
+      slot = void 0;
+    }
+    if (!slot) {
+      slot = {
+        messageSize: p.messageSize,
+        status: p.status,
+        pages: [],
+        bodies: /* @__PURE__ */ new Map(),
+        firstTow: tow
+      };
+      this.slots.set(p.messageId, slot);
+    }
+    const bodyKey = Array.from(
+      p.body,
+      (b) => b.toString(16).padStart(2, "0")
+    ).join("");
+    const existing = slot.bodies.get(p.pageId);
+    if (existing !== void 0) {
+      if (existing === bodyKey) {
+        this.stats.duplicatePages++;
+        return null;
+      }
+      this.stats.resets++;
+      slot.pages = [];
+      slot.bodies.clear();
+      slot.firstTow = tow;
+    }
+    slot.bodies.set(p.pageId, bodyKey);
+    slot.pages.push({ pageId: p.pageId, octets: p.body });
+    if (slot.pages.length < slot.messageSize) return null;
+    const payload = rs255DecodeErasures(slot.pages, slot.messageSize);
+    if (!payload) return null;
+    this.slots.delete(p.messageId);
+    this.lastMessageId = p.messageId;
+    const msg = parseHasMt1(
+      payload,
+      {
+        status: slot.status,
+        messageId: p.messageId,
+        messageSize: slot.messageSize
+      },
+      void 0
+    );
+    const resolved = msg.parseError === "mask-unavailable" && this.maskCache.has(msg.maskId) ? parseHasMt1(
+      payload,
+      {
+        status: slot.status,
+        messageId: p.messageId,
+        messageSize: slot.messageSize
+      },
+      this.maskCache.get(msg.maskId)
+    ) : msg;
+    if (resolved.flags.mask && resolved.masks)
+      this.maskCache.set(resolved.maskId, resolved.masks);
+    if (tow !== void 0) resolved.tow = tow;
+    this.stats.messages++;
+    if (resolved.parseError !== null) this.stats.parseErrors++;
+    return resolved;
+  }
+};
+
+// src/sbf/rawnav-has.ts
+function parseSbfHas(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const assembler = new HasAssembler();
+  const messages = [];
+  let pagesSeen = 0;
+  let pagesBadCrc = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4024 || len < 84) return;
+    pagesSeen++;
+    const page = new Uint8Array(64);
+    for (let k = 0; k < 16; k++) {
+      const w = view.getUint32(b + 20 + 4 * k, true);
+      page[4 * k] = w >>> 24;
+      page[4 * k + 1] = w >>> 16 & 255;
+      page[4 * k + 2] = w >>> 8 & 255;
+      page[4 * k + 3] = w & 255;
+    }
+    if (!hasPageCrcOk(page)) {
+      pagesBadCrc++;
+      return;
+    }
+    const tow = view.getUint32(b + 8, true) / 1e3;
+    const msg = assembler.push(page, tow);
+    if (msg) messages.push({ ...msg, tow, wnc: view.getUint16(b + 12, true) });
+  });
+  return {
+    messages,
+    pagesSeen,
+    pagesBadCrc,
+    pagesDummy: assembler.stats.dummyPages,
+    pagesHas: assembler.stats.pages
+  };
+}
+
+// src/sbf/index.ts
+var CLIGHT = 299792458;
+var GPS_EPOCH_MS5 = 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];
+var M3_INTERVALS = [
+  1,
+  500,
+  1e3,
+  2e3,
+  5e3,
+  1e4,
+  15e3,
+  3e4,
+  6e4,
+  12e4,
+  1,
+  1,
+  1,
+  1,
+  1,
+  1
+];
+var M3_LOCK_TIME = [
+  0,
+  6e4,
+  3e4,
+  15e3,
+  1e4,
+  5e3,
+  2e3,
+  1e3,
+  500,
+  200,
+  100,
+  50,
+  40,
+  20,
+  10,
+  0
+];
+var M3_SIG_DEFAULT = [
+  ["1C", "2L", "5Q", "1W", "2W", "1L"],
+  // GPS
+  ["1C", "2C", "1P", "2P", "3Q"],
+  // GLONASS
+  ["1C", "5Q", "7Q", "6C", "8Q"],
+  // Galileo
+  ["2I", "7I", "6I", "1P", "5P", "7D"],
+  // BeiDou
+  ["1C", "5I"],
+  // SBAS
+  ["1C", "2L", "5Q", "6L", "1L", "1Z", "5P", "1E"],
+  // QZSS
+  ["5A", "1E", "9A"]
+  // NavIC
+];
+var MEAS2_SIG = [
+  ["G", "1C"],
+  ["G", "1W"],
+  ["G", "2W"],
+  ["G", "2L"],
+  ["G", "5Q"],
+  ["G", "1L"],
+  ["J", "1C"],
+  ["J", "2L"],
+  ["R", "1C"],
+  ["R", "1P"],
+  ["R", "2P"],
+  ["R", "2C"],
+  ["R", "3Q"],
+  ["C", "1P"],
+  ["C", "5P"],
+  ["I", "5A"],
+  null,
+  ["E", "1C"],
+  null,
+  ["E", "6C"],
+  ["E", "5Q"],
+  ["E", "7Q"],
+  ["E", "8Q"],
+  null,
+  // L-band
+  ["S", "1C"],
+  ["S", "5I"],
+  ["J", "5Q"],
+  ["J", "6L"],
+  ["C", "2I"],
+  ["C", "7I"],
+  ["C", "6I"],
+  null,
+  ["J", "1L"],
+  ["J", "1Z"],
+  ["C", "7D"],
+  null,
+  ["I", "9A"],
+  null,
+  // NavIC L1 (no obs code assigned)
+  ["J", "1E"],
+  ["J", "5P"]
+];
+var two3 = (n) => String(n).padStart(2, "0");
+function m3Prn(navsys, svid) {
+  switch (navsys) {
+    case 0:
+      return svid < 32 ? `G${two3(svid + 1)}` : null;
+    case 1:
+      return svid < 27 ? `R${two3(svid + 1)}` : null;
+    case 2:
+      return svid < 36 ? `E${two3(svid + 1)}` : null;
+    case 3:
+      return svid < 50 ? `C${two3(svid + 1)}` : null;
+    case 4:
+      return svid <= 38 ? `S${two3(svid + 20)}` : null;
+    case 5:
+      return svid < 10 ? `J${two3(svid + 1)}` : null;
+    case 6:
+      return svid < 14 ? `I${two3(svid + 1)}` : null;
+    default:
+      return null;
+  }
+}
+function carrierFreq(sys, code, fcn) {
+  const band = code.charCodeAt(0) - 48;
+  switch (sys) {
+    case "G":
+    case "J":
+      if (band === 1) return 157542e4;
+      if (band === 2) return 12276e5;
+      if (band === 5) return 117645e4;
+      if (band === 6) return 127875e4;
+      return 0;
+    case "R":
+      if (band === 1) return 1602e6 + fcn * 562500;
+      if (band === 2) return 1246e6 + fcn * 437500;
+      if (band === 3) return 1202025e3;
+      return 0;
+    case "E":
+      if (band === 1) return 157542e4;
+      if (band === 5) return 117645e4;
+      if (band === 6) return 127875e4;
+      if (band === 7) return 120714e4;
+      if (band === 8) return 1191795e3;
+      return 0;
+    case "C":
+      if (band === 1) return 157542e4;
+      if (band === 2) return 1561098e3;
+      if (band === 5) return 117645e4;
+      if (band === 6) return 126852e4;
+      if (band === 7) return 120714e4;
+      if (band === 8) return 1191795e3;
+      return 0;
+    case "S":
+      if (band === 1) return 157542e4;
+      if (band === 5) return 117645e4;
+      return 0;
+    case "I":
+      if (band === 1) return 157542e4;
+      if (band === 5) return 117645e4;
+      if (band === 9) return 2492028e3;
+      return 0;
+    default:
+      return 0;
+  }
+}
+var ZERO_REF_SLOT = {
+  sigIdx: 0,
+  pr: 0,
+  cp: 0,
+  cn0: 0,
+  lockTimeMs: null
+};
+function freshRefEpoch(tow) {
+  return {
+    tow,
+    headers: new Array(7).fill(null),
+    sats: Array.from({ length: 7 }, () => new Array(64))
+  };
+}
+function parseSbfMeas(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const epochs = [];
+  const messageCounts = {};
+  const obsCodes = {};
+  let ref = freshRefEpoch(-1);
+  let curTime = NaN;
+  let curMeas = [];
+  let curSats = [];
+  const flush = () => {
+    if (curMeas.length > 0) {
+      const meas = curMeas.map((m) => {
+        const codes = obsCodes[m.sys] ??= [];
+        if (!codes.includes(m.code)) codes.push(m.code);
+        return {
+          prn: m.prn,
+          code: m.code,
+          pr: m.pr !== 0 ? m.pr : null,
+          cp: m.cp !== 0 ? m.cp : null,
+          doppler: m.doppler,
+          cn0: m.cn0,
+          lockTimeMs: m.lockTimeMs
+        };
+      });
+      epochs.push({ timeMs: curTime, meas });
+    }
+    curMeas = [];
+    curSats = [];
+  };
+  const ensureEpoch = (timeMs) => {
+    if (timeMs !== curTime) {
+      flush();
+      curTime = timeMs;
+    }
+  };
+  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];
+    if (version > 31) return;
+    if ((misc & 7) !== 0) return;
+    const prrAvailable = (misc & 8) !== 0;
+    const interval = M3_INTERVALS[misc >> 4];
+    const isRef = tow % interval === 0;
+    const dtow = tow % interval;
+    if (isRef) {
+      ref = freshRefEpoch(tow);
+    } else if (ref.tow !== Math.floor(tow / interval) * interval) {
+      curMeas = [];
+      curSats = [];
+      return;
+    }
+    let idx = o + 12;
+    for (let navsys = 0; navsys < 7; navsys++) {
+      if ((constellations & 1 << navsys) === 0) continue;
+      const sys = M3_SYS[navsys];
+      const useRefHeader = data[idx] === 0;
+      const hdr = useRefHeader ? ref.headers[navsys] ?? new Uint8Array(0) : data.subarray(idx, idx + 32);
+      const BF1 = hdr[0] ?? 0;
+      let nB = BF1 & 7;
+      if (nB === 7) nB = 8;
+      const sigIdxMasterShort = BF1 >> 3 & 15;
+      const sigExclPresent = BF1 >> 7 !== 0;
+      let h = 1;
+      const maskBytes = hdr.subarray(h, h + nB);
+      let nSats = 0;
+      for (const b of maskBytes)
+        for (let k = 0; k < 8; k++) nSats += b >> k & 1;
+      h += nB;
+      let gloFncs = new Uint8Array(0);
+      let bdsLongRange = 0;
+      if (navsys === 1) {
+        gloFncs = hdr.subarray(h, h + (nSats + 1 >> 1));
+        h += nSats + 1 >> 1;
+      } else if (navsys === 3) {
+        bdsLongRange = (hdr[h] ?? 0) | (hdr[h + 1] ?? 0) << 8;
+        h += 2;
+      }
+      const sigExcluded = sigExclPresent ? hdr[h++] ?? 0 : 0;
+      if (isRef) ref.headers[navsys] = data.slice(idx, idx + h);
+      idx += useRefHeader ? 1 : h;
+      const sigTable = [];
+      for (let s = 0; s < 16; s++)
+        if ((sigExcluded & 1 << s) === 0)
+          sigTable.push(M3_SIG_DEFAULT[navsys][s] ?? null);
+      while (sigTable.length < 16) sigTable.push(null);
+      let satCnt = 0;
+      for (let svid = 0; svid < 64 && satCnt < nSats; svid++) {
+        if (((maskBytes[svid >> 3] ?? 0) >> (svid & 7) & 1) === 0) continue;
+        const glofnc = navsys === 1 ? ((gloFncs[satCnt >> 1] ?? 0) >> 4 * (satCnt % 2) & 15) - 8 : 0;
+        const prn = m3Prn(navsys, svid);
+        const prbase = navsys === 3 && (bdsLongRange & 1 << satCnt) !== 0 ? 34e6 : M3_PR_BASE[navsys];
+        const refSat = ref.sats[navsys][svid];
+        const refSlot = (k) => refSat?.slots[k] ?? ZERO_REF_SLOT;
+        const entry = { navsys, svid, prn, slots: [] };
+        const bt = data[idx];
+        let masterSigIdx;
+        let slaveMask;
+        let prRate = 0;
+        let mPr = 0;
+        let mCp = 0;
+        let mCn0 = 0;
+        let mLock = null;
+        let masterCode;
+        let mFreq = 0;
+        if ((bt & 1) === 1) {
+          const BF1m = view.getUint32(idx, true);
+          const prLsb = view.getUint32(idx + 4, true);
+          const cmc = BF1m >>> 1 & 262143;
+          const prMsb = BF1m >>> 19 & 1;
+          const lti3 = BF1m >>> 20 & 7;
+          const cn0 = BF1m >>> 23 & 31;
+          const signalList = BF1m >>> 28 & 15;
+          masterSigIdx = sigIdxMasterShort;
+          slaveMask = signalList << masterSigIdx + 1;
+          masterCode = sigTable[masterSigIdx] ?? null;
+          if (masterCode) {
+            mFreq = carrierFreq(sys, masterCode, glofnc);
+            mPr = prbase + (prLsb + 4294967296 * prMsb) * 1e-3;
+            mCn0 = cn0 + 24;
+            if (cmc !== 0) mCp = mPr / (CLIGHT / mFreq) - 131.072 + cmc * 1e-3;
+            mLock = M3_LOCK_TIME[lti3];
+          }
+          prRate = prrAvailable ? view.getInt16(idx + 8, true) : 0;
+          idx += prrAvailable ? 10 : 8;
+        } else if ((bt & 3) === 0) {
+          const BF1m = view.getUint32(idx, true);
+          const prLsb = view.getUint32(idx + 4, true);
+          const BF2 = view.getUint16(idx + 8, true);
+          const BF3 = data[idx + 10];
+          const prMsb = BF1m >>> 2 & 15;
+          const cmc = BF1m >>> 6 & 4194303;
+          const lti4 = BF1m >>> 28 & 15;
+          const cn0 = BF2 & 63;
+          let signalMask = BF2 >>> 6 & 511;
+          const cont = BF2 >>> 15 & 1;
+          if (cont !== 0) signalMask |= (BF3 & 127) << 9;
+          masterSigIdx = 0;
+          while (masterSigIdx < 32 && (signalMask >> masterSigIdx & 1) === 0)
+            masterSigIdx++;
+          slaveMask = signalMask !== 0 ? signalMask ^ 1 << masterSigIdx : 0;
+          masterCode = sigTable[masterSigIdx] ?? null;
+          if (masterCode) {
+            mFreq = carrierFreq(sys, masterCode, glofnc);
+            const isGpsPCode = navsys === 0 && (masterCode === "1W" || masterCode === "2W");
+            mPr = (prLsb + 4294967296 * prMsb) * 1e-3;
+            mCn0 = isGpsPCode ? cn0 : cn0 + 10;
+            if (cmc !== 0)
+              mCp = mPr / (CLIGHT / mFreq) - 2097.152 + cmc * 1e-3;
+            mLock = M3_LOCK_TIME[lti4];
+          }
+          prRate = prrAvailable ? view.getInt16(idx + 10, true) : 0;
+          idx += (prrAvailable ? 12 : 10) + cont;
+        } else if ((bt & 12) === 12) {
+          const BF1m = data[idx];
+          const BF2 = view.getUint32(idx + 1, true);
+          const prDelta = BF1m >> 4 << 13 | BF2 & 8191;
+          const cn0Delta = BF2 >>> 13 & 7;
+          const cmc = BF2 >>> 16;
+          masterSigIdx = refSlot(0).sigIdx;
+          slaveMask = refSat?.slaveMask ?? 0;
+          masterCode = sigTable[masterSigIdx] ?? null;
+          if (masterCode) {
+            const r = refSlot(0);
+            mFreq = carrierFreq(sys, masterCode, glofnc);
+            mPr = r.pr + Math.trunc((refSat?.prRate ?? 0) * 64 * dtow / 1e3) * 1e-3 + prDelta * 1e-3 - 65.536;
+            mCn0 = r.cn0 - 4 + cn0Delta;
+            if (cmc !== 0)
+              mCp = (mPr - r.pr) / (CLIGHT / mFreq) + r.cp - 32.768 + cmc * 1e-3;
+            mLock = r.lockTimeMs;
+          }
+          idx += 5;
+        } else {
+          const BF1m = view.getUint32(idx, true);
+          const prDelta = BF1m >>> 4 & 16383;
+          const cmc = BF1m >>> 18 & 16383;
+          const cn0Delta = BF1m >>> 2 & 3;
+          masterSigIdx = refSlot(0).sigIdx;
+          slaveMask = refSat?.slaveMask ?? 0;
+          masterCode = sigTable[masterSigIdx] ?? null;
+          if (masterCode) {
+            const r = refSlot(0);
+            mFreq = carrierFreq(sys, masterCode, glofnc);
+            mPr = r.pr + Math.trunc((refSat?.prRate ?? 0) * 64 * dtow / 1e3) * 1e-3 + prDelta * 1e-3 - 8.192;
+            mCn0 = r.cn0 - 1 + cn0Delta;
+            if (cmc !== 0)
+              mCp = (mPr - r.pr) / (CLIGHT / mFreq) + r.cp - 8.192 + cmc * 1e-3;
+            mLock = r.lockTimeMs;
+          }
+          idx += 4;
+        }
+        let masterMeas = null;
+        if (masterCode && prn) {
+          masterMeas = {
+            prn,
+            sys,
+            code: masterCode,
+            freq: mFreq,
+            pr: mPr,
+            cp: mCp,
+            cn0: mCn0,
+            doppler: null,
+            lockTimeMs: mLock
+          };
+          curMeas.push(masterMeas);
+        }
+        entry.slots.push(masterMeas);
+        let newRefSat = null;
+        if (isRef && prn) {
+          newRefSat = {
+            slaveMask,
+            prRate,
+            slots: [
+              {
+                sigIdx: masterSigIdx,
+                pr: mPr,
+                cp: mCp,
+                cn0: mCn0,
+                lockTimeMs: mLock
+              }
+            ]
+          };
+          ref.sats[navsys][svid] = newRefSat;
+        }
+        let slaveCnt = 0;
+        let mask = slaveMask;
+        for (let s = 1; s < 16 && mask !== 0; s++) {
+          if ((mask & 1 << s) === 0) continue;
+          const bt2 = data[idx];
+          const code = sigTable[s] ?? null;
+          const freq = code ? carrierFreq(sys, code, glofnc) : 0;
+          let sPr = 0;
+          let sCp = 0;
+          let sCn0 = 0;
+          let sLock = null;
+          if ((bt2 & 1) === 1) {
+            const BF1s = view.getUint32(idx, true);
+            const BF2s = data[idx + 4];
+            const cmcRes = BF1s >>> 1 & 65535;
+            const prRel = BF1s >>> 17;
+            const lti3 = BF2s & 7;
+            const cn0 = BF2s >> 3;
+            if (code) {
+              sPr = mFreq > freq ? mPr + prRel * 1e-3 - 10 : mPr - prRel * 1e-3 + 10;
+              if (cmcRes !== 0)
+                sCp = sPr / (CLIGHT / freq) + (mCp - mPr / (CLIGHT / mFreq)) * (mFreq / freq) - 32.768 + cmcRes * 1e-3;
+              sCn0 = navsys === 0 && (code === "1W" || code === "2W") ? mCn0 - 3 - cn0 : cn0 + 24;
+              sLock = M3_LOCK_TIME[lti3];
+            }
+            idx += 5;
+          } else if ((bt2 & 3) === 0) {
+            const BF1s = view.getUint32(idx, true);
+            const prLsbRel = view.getUint16(idx + 4, true);
+            const BF3s = data[idx + 6];
+            const cmc = BF1s >>> 2 & 4194303;
+            const lti4 = BF1s >>> 24 & 15;
+            const prMsbRel = BF1s >>> 28 & 7;
+            const cn0 = BF3s & 63;
+            if (code) {
+              sPr = mPr + (prMsbRel * 65536 + prLsbRel) * 1e-3 - 262.144;
+              if (cmc !== 0)
+                sCp = sPr / (CLIGHT / freq) - 2097.152 + cmc * 1e-3;
+              sCn0 = navsys === 0 && (code === "1W" || code === "2W") ? cn0 : cn0 + 10;
+              sLock = M3_LOCK_TIME[lti4];
+            }
+            idx += 7;
+          } else {
+            const BF1s = view.getUint16(idx, true);
+            const dC = data[idx + 2];
+            const dPr = BF1s >>> 2 & 4095;
+            const cn0Delta = BF1s >>> 14;
+            if (code) {
+              const rS = refSlot(slaveCnt + 1);
+              const rM = refSlot(0);
+              sCp = rS.cp + (mCp - rM.cp) * (freq / mFreq) - 0.128 + dC * 1e-3;
+              sPr = rS.pr + (sCp - rS.cp) * (CLIGHT / freq) - 2.048 + dPr * 1e-3;
+              sCn0 = rS.cn0 - 2 + cn0Delta;
+              sLock = rS.lockTimeMs;
+            }
+            idx += 3;
+          }
+          let slaveMeas = null;
+          if (code && prn) {
+            slaveMeas = {
+              prn,
+              sys,
+              code,
+              freq,
+              pr: sPr,
+              cp: sCp,
+              cn0: sCn0,
+              doppler: null,
+              lockTimeMs: sLock
+            };
+            curMeas.push(slaveMeas);
+          }
+          entry.slots.push(slaveMeas);
+          if (newRefSat)
+            newRefSat.slots[slaveCnt + 1] = {
+              sigIdx: s,
+              pr: sPr,
+              cp: sCp,
+              cn0: sCn0,
+              lockTimeMs: sLock
+            };
+          slaveCnt++;
+          mask &= ~(1 << s);
+        }
+        curSats.push(entry);
+        satCnt++;
+      }
+    }
+  };
+  const decodeMeas3CN0 = (i, len) => {
+    const flags = view.getUint16(i + 14, true);
+    if ((flags & 7) !== 0) return;
+    const maxNibbles = (len - 16) * 2;
+    let off = 0;
+    for (const e of curSats) {
+      if (off >= maxNibbles) break;
+      if (!e.prn) continue;
+      for (let k = 0; k < e.slots.length; k++) {
+        const slot = e.slots[k];
+        if (k > 0 && !slot) break;
+        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++;
+      }
+    }
+  };
+  const readPrRate = (base, off) => {
+    const byteAt = (k) => data[base + off + k] ?? 0;
+    const v = (byteAt(0) | byteAt(1) << 8 | byteAt(2) << 16 | byteAt(3) << 24) >>> 0;
+    let value;
+    let size;
+    if ((v & 2) === 0) {
+      value = (v & 255) >>> 2;
+      size = 1;
+    } else if ((v & 6) === 2) {
+      value = (v & 65535) >>> 3;
+      size = 2;
+    } else if ((v & 14) === 6) {
+      value = (v & 16777215) >>> 4;
+      size = 3;
+    } else {
+      value = v >>> 4;
+      size = 4;
+    }
+    if ((v & 1) === 1) value = -value;
+    return { value, size };
+  };
+  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(i + 16, off);
+      off += master.size;
+      if (master.value === -268435455) continue;
+      const refPrRate = ref.sats[e.navsys][e.svid]?.prRate ?? 0;
+      const m = e.slots[0];
+      const mD = m ? -(master.value + refPrRate * 64) * 1e-3 / (CLIGHT / m.freq) : 0;
+      if (m) m.doppler = mD;
+      for (let k = 1; k < e.slots.length; k++) {
+        const slot = e.slots[k];
+        if (!slot) break;
+        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 = (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;
+      const svid = data[p + 2];
+      const misc = data[p + 3];
+      const info = data[p + 18];
+      const n2 = data[p + 19];
+      let fcn = 0;
+      if (sig === 31) sig = (info >> 3) + 32;
+      else if (sig >= 8 && sig <= 11) fcn = (info >> 3) - 8;
+      const prn = svidToPrn(svid);
+      const sigDef = MEAS2_SIG[sig] ?? null;
+      if (ant !== 0 || !prn || !sigDef || sigDef[0] !== prn[0]) {
+        p += len1 + len2 * n2;
+        continue;
+      }
+      const [sys, code] = sigDef;
+      const freq1 = carrierFreq(sys, code, fcn);
+      const codeLsb = view.getUint32(p + 4, true);
+      const dopplerRaw = view.getInt32(p + 8, true);
+      const carrierLsb = view.getUint16(p + 12, true);
+      const carrierMsb = view.getInt8(p + 14);
+      const cn0Raw = data[p + 15];
+      const lock = view.getUint16(p + 16, true);
+      let p1 = 0;
+      if ((misc & 15) !== 0 || codeLsb !== 0)
+        p1 = (misc & 15) * 4294967296e-3 + codeLsb * 1e-3;
+      const d1 = dopplerRaw !== -2147483648 ? dopplerRaw * 1e-4 : null;
+      let l1 = 0;
+      if (p1 !== 0 && freq1 > 0 && lock !== 65535 && (carrierMsb !== -128 || carrierLsb !== 0))
+        l1 = p1 * freq1 / CLIGHT + carrierMsb * 65.536 + carrierLsb * 1e-3;
+      const cn0 = cn0Raw !== 255 ? cn0Raw * 0.25 + (sig === 1 || sig === 2 ? 0 : 10) : null;
+      curMeas.push({
+        prn,
+        sys,
+        code,
+        freq: freq1,
+        pr: p1,
+        cp: l1,
+        cn0,
+        doppler: d1,
+        lockTimeMs: lock !== 65535 ? lock * 1e3 : null
+      });
+      p += len1;
+      for (let b2 = 0; b2 < n2 && p + 12 <= end; b2++, p += len2) {
+        let sig2 = data[p] & 31;
+        const ant2 = data[p] >> 5;
+        const lock2 = data[p + 1];
+        const cn0Raw2 = data[p + 2];
+        const offsetsMsb = data[p + 3];
+        const carrierMsb2 = view.getInt8(p + 4);
+        const info2 = data[p + 5];
+        if (sig2 === 31) sig2 = (info2 >> 3) + 32;
+        const sigDef2 = MEAS2_SIG[sig2] ?? null;
+        if (ant2 !== 0 || !sigDef2 || sigDef2[0] !== prn[0]) continue;
+        const code2 = sigDef2[1];
+        const freq2 = carrierFreq(sys, code2, fcn);
+        const codeOffMsb = (offsetsMsb & 7) << 29 >> 29;
+        const dopplerOffMsb = offsetsMsb >> 3 << 27 >> 27;
+        const codeOffLsb = view.getUint16(p + 6, true);
+        const carrierLsb2 = view.getUint16(p + 8, true);
+        const dopplerOffLsb = view.getUint16(p + 10, true);
+        let p2 = 0;
+        if (p1 !== 0 && (codeOffMsb !== -4 || codeOffLsb !== 0))
+          p2 = p1 + codeOffMsb * 65.536 + codeOffLsb * 1e-3;
+        let l2 = 0;
+        if (p2 !== 0 && freq2 > 0 && (carrierMsb2 !== -128 || carrierLsb2 !== 0))
+          l2 = p2 * freq2 / CLIGHT + carrierMsb2 * 65.536 + carrierLsb2 * 1e-3;
+        let d2 = null;
+        if (d1 !== null && freq1 > 0 && freq2 > 0 && (dopplerOffMsb !== -16 || dopplerOffLsb !== 0))
+          d2 = d1 * freq2 / freq1 + dopplerOffMsb * 6.5536 + dopplerOffLsb * 1e-4;
+        const cn02 = cn0Raw2 !== 255 ? cn0Raw2 * 0.25 + (sig2 === 1 || sig2 === 2 ? 0 : 10) : null;
+        curMeas.push({
+          prn,
+          sys,
+          code: code2,
+          freq: freq2,
+          pr: p2,
+          cp: l2,
+          cn0: cn02,
+          doppler: d2,
+          lockTimeMs: lock2 !== 255 ? lock2 * 1e3 : null
+        });
+      }
+    }
+  };
+  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_MS5 + 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);
+        else decodeMeasEpoch(i, len);
+      }
+    }
+  });
+  flush();
+  return { epochs, messageCounts, obsCodes, badCrc };
+}
+
+export {
+  crc16,
+  scanSbfFrames,
+  parseSbfNav,
+  parseSbfAlmanac,
+  parseSbfIonoUtc,
+  parseSbfCnav,
+  parseSbfGalNav,
+  parseSbfBdsNav,
+  parseSbfGloNav,
+  parseSbfHas,
+  parseSbfMeas
+};