gnss-js 1.20.0 → 1.22.0

package/dist/index.cjs

@@ -231,6 +231,7 @@ __export(src_exports, {
   parseSbfCnav: () => parseSbfCnav,
   parseSbfGalNav: () => parseSbfGalNav,
   parseSbfGloNav: () => parseSbfGloNav,
+  parseSbfHas: () => parseSbfHas,
   parseSbfIonoUtc: () => parseSbfIonoUtc,
   parseSbfMeas: () => parseSbfMeas,
   parseSbfNav: () => parseSbfNav,
@@ -240,6 +241,7 @@ __export(src_exports, {
   parseUbxCnav: () => parseUbxCnav,
   parseUbxIonoUtc: () => parseUbxIonoUtc,
   parseUbxNav: () => parseUbxNav,
+  parseUbxRawNav: () => parseUbxRawNav,
   parseUbxRawx: () => parseUbxRawx,
   phiAltBOC: () => phiAltBOC,
   phiBOCc: () => phiBOCc,
@@ -5403,541 +5405,288 @@ function parseUbxCnav(data) {
   return { ephemerides, badCrc, messages };
 }
 
-// src/ubx/index.ts
-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"] },
-  // GPS L1C/A, L2CL, L2CM
-  1: { 0: ["S", "1C"] },
-  // SBAS L1C/A
-  2: { 0: ["E", "1X"], 1: ["E", "1X"], 5: ["E", "7X"], 6: ["E", "7X"] },
-  // E1C/B, E5bI/Q
-  3: { 0: ["C", "2I"], 1: ["C", "2I"], 2: ["C", "7I"], 3: ["C", "7I"] },
-  // B1I D1/D2, B2I D1/D2
-  5: { 0: ["J", "1C"], 4: ["J", "2X"], 5: ["J", "2X"] },
-  // QZSS L1C/A, L2CM/CL
-  6: { 0: ["R", "1C"], 2: ["R", "2C"] }
-  // GLONASS L1OF, L2OF
-};
-function prnFor(gnssId, svId) {
-  const two4 = (n) => String(n).padStart(2, "0");
-  switch (gnssId) {
-    case 0:
-      return svId >= 1 && svId <= 32 ? `G${two4(svId)}` : null;
-    case 1:
-      return svId >= 120 && svId <= 158 ? `S${two4(svId - 100)}` : null;
-    case 2:
-      return svId >= 1 && svId <= 36 ? `E${two4(svId)}` : null;
-    case 3:
-      return svId >= 1 && svId <= 63 ? `C${two4(svId)}` : null;
-    case 5:
-      return svId >= 1 && svId <= 10 ? `J${two4(svId)}` : null;
-    case 6:
-      return svId >= 1 && svId <= 32 ? `R${two4(svId)}` : null;
-    default:
-      return null;
-  }
+// src/navbits/bds.ts
+var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK4 = 7 * 86400;
+var MS_PER_WEEK2 = SEC_PER_WEEK4 * 1e3;
+var HALF_WEEK2 = 302400;
+var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK4;
+var BDS_SUBFRAME_BYTES = 38;
+function getBitU2(b, p1, l1, p2, l2) {
+  return getBitU(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
 }
-function parseUbxRawx(data) {
-  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
-  const epochs = [];
-  const messageCounts = {};
-  const obsCodes = {};
-  const stats = { badChecksums: 0 };
-  for (const frame of ubxFrames(data, stats)) {
-    const { msgClass: cls, msgId: id } = frame;
-    const len = frame.payload.length;
-    const key = `${cls.toString(16).padStart(2, "0")}-${id.toString(16).padStart(2, "0")}`;
-    messageCounts[key] = (messageCounts[key] ?? 0) + 1;
-    if (cls === 2 && id === 21 && len >= 16) {
-      const p = frame.payloadStart;
-      const rcvTow = view.getFloat64(p, true);
-      const week = view.getUint16(p + 8, true);
-      const leapS = view.getInt8(p + 10);
-      const numMeas = data[p + 11];
-      const recStat = data[p + 12];
-      const leapValid = (recStat & 1) !== 0;
-      const meas = [];
-      for (let k = 0; k < numMeas; k++) {
-        const off = p + 16 + 32 * k;
-        if (off + 32 > p + len) break;
-        const gnssId = data[off + 20];
-        const svId = data[off + 21];
-        const sigId = data[off + 22];
-        const trkStat = data[off + 30];
-        const prn = prnFor(gnssId, svId);
-        const sig = SIGNALS[gnssId]?.[sigId];
-        if (!prn || !sig) continue;
-        const prValid = (trkStat & 1) !== 0;
-        const cpValid = (trkStat & 2) !== 0;
-        const cp = view.getFloat64(off + 8, true);
-        meas.push({
-          prn,
-          code: sig[1],
-          pr: prValid ? view.getFloat64(off, true) : null,
-          cp: cpValid && cp !== 0 ? cp : null,
-          doppler: view.getFloat32(off + 16, true),
-          cn0: data[off + 26],
-          halfCycleAmbiguous: (trkStat & 4) !== 0,
-          lockTimeMs: view.getUint16(off + 24, true)
-        });
-        const sys = sig[0];
-        const codes = obsCodes[sys] ??= [];
-        if (!codes.includes(sig[1])) codes.push(sig[1]);
-      }
-      epochs.push({
-        timeMs: GPS_EPOCH_MS4 + week * MS_PER_WEEK2 + Math.round(rcvTow * 1e3),
-        leapS: leapValid ? leapS : null,
-        meas
-      });
-    }
-  }
-  return { epochs, messageCounts, obsCodes, badChecksums: stats.badChecksums };
+function getBitS2(b, p1, l1, p2, l2) {
+  return getBitS(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
 }
-
-// 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 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 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;
+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 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;
+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;
 }
-
-// src/sbf/nav.ts
-var PI2 = Math.PI;
-var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
-var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
-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) {
-  let offset = refWeek % mod - wn;
-  if (offset > mod / 2) offset -= mod;
-  if (offset < -(mod / 2 - 1)) offset += mod;
-  return refWeek - offset;
+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;
 }
-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;
-  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));
+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_MS + week * MS_PER_WEEK2 + f.tocSec * 1e3);
   return {
-    system: sys,
-    prn: `${sys}${String(prn).padStart(2, "0")}`,
+    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 + 24),
-    crs: view.getFloat32(b + 48, true),
-    deltaN: view.getFloat32(b + 52, true) * PI2,
-    m0: view.getFloat64(b + 56, true) * PI2,
-    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) * PI2,
-    cis: view.getFloat32(b + 104, true),
-    i0: view.getFloat64(b + 108, true) * PI2,
-    crc: view.getFloat32(b + 116, true),
-    omega: view.getFloat64(b + 120, true) * PI2,
-    omegaDot: view.getFloat32(b + 128, true) * PI2,
-    idot: view.getFloat32(b + 132, true) * PI2,
-    // 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
+    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 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) * PI2,
-    m0: view.getFloat64(b + 24, true) * PI2,
-    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) * PI2,
-    cis: view.getFloat32(b + 96, true),
-    i0: view.getFloat64(b + 40, true) * PI2,
-    crc: view.getFloat32(b + 84, true),
-    omega: view.getFloat64(b + 48, true) * PI2,
-    omegaDot: view.getFloat32(b + 64, true) * PI2,
-    idot: view.getFloat32(b + 68, true) * PI2,
-    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_WEEK3 + 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) * PI2,
-    m0: view.getFloat64(b + 56, true) * PI2,
-    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) * PI2,
-    cis: view.getFloat32(b + 104, true),
-    i0: view.getFloat64(b + 108, true) * PI2,
-    crc: view.getFloat32(b + 116, true),
-    omega: view.getFloat64(b + 120, true) * PI2,
-    omegaDot: view.getFloat32(b + 128, true) * PI2,
-    idot: view.getFloat32(b + 132, true) * PI2,
-    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_MS5) / 1e3 % SEC_PER_WEEK4;
-  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);
+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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const svh = getBitU(b, i + 42, 1);
+  const week = getBitU(b, i + 60, 13);
+  const tocSec = getBitU2(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 = getBitU2(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 = getBitU2(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 = getBitU2(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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const toe2 = getBitU2(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
   });
-  return { ephemerides, badCrc };
 }
-var GAL_SQRT_A_NOMINAL = Math.sqrt(296e5);
-var GAL_I_NOMINAL = 56 / 180 * PI2;
-var I_REF_03 = 0.3 * PI2;
-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) * PI2;
-    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) * PI2;
-    sqrtA += GAL_SQRT_A_NOMINAL;
-    health = view.getUint16(b + 58, true);
+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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const svh = getBitU(b, i + 46, 1);
+  const week = getBitU(b, i + 64, 13);
+  const tocSec = getBitU2(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 = getBitU2(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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const af1p4 = getBitU2(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 = getBitU2(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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const ep6 = getBitU2(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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const cicp7 = getBitU2(b, i + 46, 6, i + 60, 2);
+  const cis = getBitS(b, i + 62, 18) * 2 ** -31;
+  const toes = getBitU2(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 = getBitU2(b, i + 18, 8, i + 30, 12);
+  const i0p8 = getBitU2(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 = getBitU2(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 = getBitU2(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;
   }
-  return {
-    system: sys,
-    prn: `${sys}${String(prn).padStart(2, "0")}`,
-    weekAlm,
-    toaSec: toa,
+  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,
-    e: view.getFloat32(b + 16, true),
-    i0OrDeltaI: i0,
-    omega0: view.getFloat32(b + 36, true) * PI2,
-    omega: view.getFloat32(b + 40, true) * PI2,
-    m0: view.getFloat32(b + 44, true) * PI2,
-    omegaDot: view.getFloat32(b + 28, true) * PI2,
-    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) * PI2,
-    omega0: view.getFloat32(b + 36, true) * PI2,
-    omega: view.getFloat32(b + 28, true) * PI2,
-    m0: view.getFloat32(b + 32, true) * PI2,
-    omegaDot: view.getFloat32(b + 40, true) * PI2,
-    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) * PI2,
-    lambda: view.getFloat32(b + 28, true) * PI2,
-    tLambda: view.getFloat32(b + 32, true),
-    omega: view.getFloat32(b + 36, true) * PI2,
-    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);
+    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
   });
-  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 };
+function isBdsGeoPrn(prn) {
+  return prn < 6 || prn > 58;
 }
-
-// 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;
+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);
     }
-    if (!cnavCrcOk(msg)) {
-      badCrc++;
-      return;
+    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 });
     }
-    const eph = assemblers[signal].push(msg);
-    if (eph) ephemerides.push({ ...eph, signal });
-  });
-  return { ephemerides, badCrc, messages };
-}
+    if (!eph) return null;
+    const key = `${eph.week}:${eph.toe}`;
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
 
 // src/navbits/gal.ts
-var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS4 = Date.UTC(1980, 0, 6);
 var SEC_PER_WEEK5 = 7 * 86400;
-var HALF_WEEK2 = 302400;
+var HALF_WEEK3 = 302400;
 var GST_GPS_WEEK_OFFSET = 1024;
 function galInavPageCrcOk(page) {
   if (page.length < 28) return false;
@@ -5948,14 +5697,14 @@ function galFnavPageCrcOk(page) {
   return crc24q(page, 214) === getBitU(page, 214, 24);
 }
 function gpsDate2(week, sec) {
-  return new Date(GPS_EPOCH_MS6 + (week * SEC_PER_WEEK5 + sec) * 1e3);
+  return new Date(GPS_EPOCH_MS4 + (week * SEC_PER_WEEK5 + sec) * 1e3);
 }
 function weekOfToe(week, tow, toe) {
-  if (toe - tow > HALF_WEEK2) return week - 1;
-  if (toe - tow < -HALF_WEEK2) return week + 1;
+  if (toe - tow > HALF_WEEK3) return week - 1;
+  if (toe - tow < -HALF_WEEK3) return week + 1;
   return week;
 }
-var two2 = (n) => String(n).padStart(2, "0");
+var two = (n) => String(n).padStart(2, "0");
 function decodeGalInavWords(words) {
   if (words.length < 96) return null;
   const b = words;
@@ -6043,7 +5792,7 @@ function decodeGalInavWords(words) {
   const tocDate = gpsDate2(week, tocs);
   return {
     system: "E",
-    prn: `E${two2(svid)}`,
+    prn: `E${two(svid)}`,
     toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
     tocDate,
     af0,
@@ -6151,7 +5900,7 @@ function decodeGalFnavPages(pages) {
   const tocDate = gpsDate2(week, tocs);
   return {
     system: "E",
-    prn: `E${two2(svid)}`,
+    prn: `E${two(svid)}`,
     toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
     tocDate,
     af0,
@@ -6207,7 +5956,7 @@ var GalInavAssembler = class {
     sat.words[type * 16 + 15] = getBitU(page, 124, 8);
     if (type !== 5) return null;
     const eph = decodeGalInavWords(sat.words);
-    if (!eph || eph.prn !== `E${two2(prn)}`) return null;
+    if (!eph || eph.prn !== `E${two(prn)}`) return null;
     const key = dedupKey(eph);
     if (key === sat.lastKey) return null;
     sat.lastKey = key;
@@ -6231,517 +5980,870 @@ var GalFnavAssembler = class {
       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${two2(prn)}`) return null;
-    const key = dedupKey(eph);
-    if (key === sat.lastKey) return null;
-    sat.lastKey = key;
-    return eph;
+    sat.words.set(page.subarray(0, 31), (type - 1) * 31);
+    if (type !== 4) return null;
+    const eph = decodeGalFnavPages(sat.words);
+    if (!eph || eph.prn !== `E${two(prn)}`) return null;
+    const key = dedupKey(eph);
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
+
+// src/navbits/glo.ts
+var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK6 = 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_MS5) / 1e3;
+  const week = Math.floor(utcSec / SEC_PER_WEEK6);
+  let tow = utcSec - week * SEC_PER_WEEK6;
+  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${String(slot).padStart(2, "0")}`,
+    // RINEX GLONASS epochs are UTC: build the UTC toe Date directly.
+    tocDate: new Date(GPS_EPOCH_MS5 + (week * SEC_PER_WEEK6 + tow + toe) * 1e3),
+    tauN: -tauN,
+    // RINEX stores −τn; the SIS carries τn (ICD sign)
+    gammaN,
+    // v3 message frame time: seconds of the UTC week (RTKLIB tof).
+    messageFrameTime: ((tow + tof) % SEC_PER_WEEK6 + SEC_PER_WEEK6) % SEC_PER_WEEK6,
+    x,
+    xDot,
+    xAcc,
+    y,
+    yDot,
+    yAcc,
+    z,
+    zDot,
+    zAcc,
+    // MSB of the 3-bit Bn word — the unhealthy flag RINEX carries
+    health: bn,
+    freqNum: opts.freqNum ?? 0
+  };
+}
+var GloStringAssembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one navigation string (10+ bytes, bit 0 = string bit 85) for
+   * the satellite `prn` ("R09"), received at the GPS-scale `time`.
+   * Returns the newly completed ephemeris, or null. The decoded
+   * string-4 slot number must match `prn`, or nothing is emitted.
+   */
+  push(prn, str, time, freqNum = 0) {
+    if (str.length < GLO_STRING_BYTES) return null;
+    const m = getBitU(str, 1, 4);
+    if (m < 1) return null;
+    const sec = Math.floor(time.getTime() / 1e3);
+    let sat = this.sats.get(prn);
+    if (!sat) {
+      sat = { buf: new Uint8Array(4 * GLO_STRING_BYTES), batchSec: sec };
+      this.sats.set(prn, sat);
+    } else if (Math.abs(sec - sat.batchSec) > 30) {
+      sat.buf.fill(0);
+      sat.batchSec = sec;
+    }
+    if (m > 4) return null;
+    sat.buf.set(str.subarray(0, GLO_STRING_BYTES), (m - 1) * 10);
+    if (m !== 4) return null;
+    const eph = decodeGloStrings(sat.buf, time, { freqNum });
+    if (!eph || eph.prn !== prn) return null;
+    const key = `${eph.tocDate.getTime()}:${eph.health}`;
+    if (key === sat.lastKey) return null;
+    sat.lastKey = key;
+    return eph;
+  }
+};
+
+// src/ubx/rawnav.ts
+var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK7 = 7 * 86400;
+var two2 = (n) => String(n).padStart(2, "0");
+function parseUbxRawNav(data, opts = {}) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const counts = { gal: 0, bds: 0, glo: 0 };
+  let badParity = 0;
+  const inav = new GalInavAssembler();
+  const bds = new BdsAssembler();
+  const glo = new GloStringAssembler();
+  let refDate = null;
+  for (const f of ubxFrames(data)) {
+    if (f.msgClass !== 2) continue;
+    if (f.msgId === 21 && f.payload.length >= 16) {
+      const rcvTow = view.getFloat64(f.payloadStart, true);
+      let week = view.getUint16(f.payloadStart + 8, true);
+      if (week === 0 && opts.refWeek !== void 0) week = opts.refWeek;
+      if (week > 0) {
+        refDate = new Date(
+          GPS_EPOCH_MS6 + (week * SEC_PER_WEEK7 + rcvTow) * 1e3
+        );
+      }
+      continue;
+    }
+    if (f.msgId !== 19) continue;
+    const p = f.payload;
+    if (p.length < 8) continue;
+    const gnssId = p[0];
+    const svId = p[1];
+    const sigId = p[2];
+    const base = f.payloadStart + 8;
+    if (gnssId === 2) {
+      if (sigId === 3 || sigId === 8) continue;
+      if (p.length < 8 + 32) continue;
+      counts.gal++;
+      if (svId < 1 || svId > 36) continue;
+      const buff = new Uint8Array(32);
+      for (let k = 0; k < 8; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        buff[4 * k] = w >>> 24;
+        buff[4 * k + 1] = w >>> 16 & 255;
+        buff[4 * k + 2] = w >>> 8 & 255;
+        buff[4 * k + 3] = w & 255;
+      }
+      const page = new Uint8Array(30);
+      for (let k = 0; k < 14; k++) page[k] = buff[k];
+      setBitU(page, 112, 2, getBitU(buff, 112, 2));
+      for (let k = 0; k < 15; k++) {
+        setBitU(page, 114 + 8 * k, 8, getBitU(buff, 128 + 8 * k, 8));
+      }
+      if (getBitU(page, 0, 1) !== 0 || getBitU(page, 114, 1) !== 1) continue;
+      if (getBitU(page, 1, 1) === 1 || getBitU(page, 115, 1) === 1) continue;
+      if (!galInavPageCrcOk(page)) {
+        badParity++;
+        continue;
+      }
+      const eph = inav.push(svId, page);
+      if (eph) ephemerides.push(eph);
+    } else if (gnssId === 3) {
+      if (sigId === 6 || sigId === 8) continue;
+      if (p.length < 8 + 40) continue;
+      counts.bds++;
+      if (svId < 1 || svId > 63) continue;
+      const sf = new Uint8Array(38);
+      for (let k = 0; k < 10; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        setBitU(sf, 30 * k, 30, w & 1073741823);
+      }
+      if (!bdsSubframeParityOk(sf)) {
+        badParity++;
+        continue;
+      }
+      const eph = bds.push(`C${two2(svId)}`, sf);
+      if (eph) ephemerides.push(eph);
+    } else if (gnssId === 6) {
+      if (p.length < 8 + 16) continue;
+      counts.glo++;
+      if (svId < 1 || svId > 32) continue;
+      const str = new Uint8Array(16);
+      for (let k = 0; k < 4; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        str[4 * k] = w >>> 24;
+        str[4 * k + 1] = w >>> 16 & 255;
+        str[4 * k + 2] = w >>> 8 & 255;
+        str[4 * k + 3] = w & 255;
+      }
+      if (!testGloString(str)) {
+        badParity++;
+        continue;
+      }
+      if (!refDate) continue;
+      const eph = glo.push(`R${two2(svId)}`, str, refDate, p[3] - 7);
+      if (eph) ephemerides.push(eph);
+    }
+  }
+  return { ephemerides, counts, badParity };
+}
+
+// src/ubx/index.ts
+var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
+var MS_PER_WEEK3 = 7 * 864e5;
+var SIGNALS = {
+  0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
+  // GPS L1C/A, L2CL, L2CM
+  1: { 0: ["S", "1C"] },
+  // SBAS L1C/A
+  2: { 0: ["E", "1X"], 1: ["E", "1X"], 5: ["E", "7X"], 6: ["E", "7X"] },
+  // E1C/B, E5bI/Q
+  3: { 0: ["C", "2I"], 1: ["C", "2I"], 2: ["C", "7I"], 3: ["C", "7I"] },
+  // B1I D1/D2, B2I D1/D2
+  5: { 0: ["J", "1C"], 4: ["J", "2X"], 5: ["J", "2X"] },
+  // QZSS L1C/A, L2CM/CL
+  6: { 0: ["R", "1C"], 2: ["R", "2C"] }
+  // GLONASS L1OF, L2OF
+};
+function prnFor(gnssId, svId) {
+  const two5 = (n) => String(n).padStart(2, "0");
+  switch (gnssId) {
+    case 0:
+      return svId >= 1 && svId <= 32 ? `G${two5(svId)}` : null;
+    case 1:
+      return svId >= 120 && svId <= 158 ? `S${two5(svId - 100)}` : null;
+    case 2:
+      return svId >= 1 && svId <= 36 ? `E${two5(svId)}` : null;
+    case 3:
+      return svId >= 1 && svId <= 63 ? `C${two5(svId)}` : null;
+    case 5:
+      return svId >= 1 && svId <= 10 ? `J${two5(svId)}` : null;
+    case 6:
+      return svId >= 1 && svId <= 32 ? `R${two5(svId)}` : null;
+    default:
+      return null;
+  }
+}
+function parseUbxRawx(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const epochs = [];
+  const messageCounts = {};
+  const obsCodes = {};
+  const stats = { badChecksums: 0 };
+  for (const frame of ubxFrames(data, stats)) {
+    const { msgClass: cls, msgId: id } = frame;
+    const len = frame.payload.length;
+    const key = `${cls.toString(16).padStart(2, "0")}-${id.toString(16).padStart(2, "0")}`;
+    messageCounts[key] = (messageCounts[key] ?? 0) + 1;
+    if (cls === 2 && id === 21 && len >= 16) {
+      const p = frame.payloadStart;
+      const rcvTow = view.getFloat64(p, true);
+      const week = view.getUint16(p + 8, true);
+      const leapS = view.getInt8(p + 10);
+      const numMeas = data[p + 11];
+      const recStat = data[p + 12];
+      const leapValid = (recStat & 1) !== 0;
+      const meas = [];
+      for (let k = 0; k < numMeas; k++) {
+        const off = p + 16 + 32 * k;
+        if (off + 32 > p + len) break;
+        const gnssId = data[off + 20];
+        const svId = data[off + 21];
+        const sigId = data[off + 22];
+        const trkStat = data[off + 30];
+        const prn = prnFor(gnssId, svId);
+        const sig = SIGNALS[gnssId]?.[sigId];
+        if (!prn || !sig) continue;
+        const prValid = (trkStat & 1) !== 0;
+        const cpValid = (trkStat & 2) !== 0;
+        const cp = view.getFloat64(off + 8, true);
+        meas.push({
+          prn,
+          code: sig[1],
+          pr: prValid ? view.getFloat64(off, true) : null,
+          cp: cpValid && cp !== 0 ? cp : null,
+          doppler: view.getFloat32(off + 16, true),
+          cn0: data[off + 26],
+          halfCycleAmbiguous: (trkStat & 4) !== 0,
+          lockTimeMs: view.getUint16(off + 24, true)
+        });
+        const sys = sig[0];
+        const codes = obsCodes[sys] ??= [];
+        if (!codes.includes(sig[1])) codes.push(sig[1]);
+      }
+      epochs.push({
+        timeMs: GPS_EPOCH_MS7 + week * MS_PER_WEEK3 + Math.round(rcvTow * 1e3),
+        leapS: leapValid ? leapS : null,
+        meas
+      });
+    }
   }
-};
+  return { epochs, messageCounts, obsCodes, badChecksums: stats.badChecksums };
+}
 
-// 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();
+// 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 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 i = 0;
+  while (i + 8 <= data.length) {
+    if (data[i] !== 36 || data[i + 1] !== 64) {
+      i++;
+      continue;
     }
-    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);
+    const len = view.getUint16(i + 6, true);
+    if (len < 8 || len % 4 !== 0) {
+      i++;
+      continue;
     }
-    if (eph) ephemerides.push({ ...eph, source: src });
-  });
-  return { ephemerides, badCrc, messages };
-}
-function getBitU2(buff, pos) {
-  return buff[pos >> 3] >> 7 - (pos & 7) & 1;
+    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;
 }
-function isFnavDummy(page) {
-  return page[0] >> 2 === 63;
+var two3 = (n) => String(n).padStart(2, "0");
+function svidToPrn(svid) {
+  if (svid >= 1 && svid <= 37) return svid <= 32 ? `G${two3(svid)}` : null;
+  if (svid <= 61) return svid - 37 <= 27 ? `R${two3(svid - 37)}` : null;
+  if (svid <= 62) return null;
+  if (svid <= 68) return svid - 38 <= 27 ? `R${two3(svid - 38)}` : null;
+  if (svid <= 70) return null;
+  if (svid <= 106) return svid - 70 <= 36 ? `E${two3(svid - 70)}` : null;
+  if (svid <= 119) return null;
+  if (svid <= 140) return `S${two3(svid - 100)}`;
+  if (svid <= 180) return svid - 140 <= 50 ? `C${two3(svid - 140)}` : null;
+  if (svid <= 190) return `J${two3(svid - 180)}`;
+  if (svid <= 197) return svid - 190 <= 14 ? `I${two3(svid - 190)}` : null;
+  if (svid <= 215) return `S${two3(svid - 157)}`;
+  if (svid <= 222) return svid - 208 <= 14 ? `I${two3(svid - 208)}` : null;
+  if (svid <= 245) return svid - 182 <= 50 ? `C${two3(svid - 182)}` : null;
+  return null;
 }
 
-// src/navbits/bds.ts
+// src/sbf/nav.ts
+var PI2 = Math.PI;
+var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK6 = 7 * 86400;
-var MS_PER_WEEK4 = SEC_PER_WEEK6 * 1e3;
-var HALF_WEEK3 = 302400;
-var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK6;
-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 SEC_PER_WEEK8 = 7 * 86400;
+var MS_PER_WEEK4 = SEC_PER_WEEK8 * 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 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;
+var gpsMs = (week, sec) => GPS_EPOCH_MS8 + week * MS_PER_WEEK4 + sec * 1e3;
+var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK8;
+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: sowOf2(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) * PI2,
+    m0: view.getFloat64(b + 56, true) * PI2,
+    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) * PI2,
+    cis: view.getFloat32(b + 104, true),
+    i0: view.getFloat64(b + 108, true) * PI2,
+    crc: view.getFloat32(b + 116, true),
+    omega: view.getFloat64(b + 120, true) * PI2,
+    omegaDot: view.getFloat32(b + 128, true) * PI2,
+    idot: view.getFloat32(b + 132, true) * PI2,
+    // 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 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 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: sowOf2(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) * PI2,
+    m0: view.getFloat64(b + 24, true) * PI2,
+    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) * PI2,
+    cis: view.getFloat32(b + 96, true),
+    i0: view.getFloat64(b + 40, true) * PI2,
+    crc: view.getFloat32(b + 84, true),
+    omega: view.getFloat64(b + 48, true) * PI2,
+    omegaDot: view.getFloat32(b + 64, true) * PI2,
+    idot: view.getFloat32(b + 68, true) * PI2,
+    week: wnc,
+    // RINEX GAL week is GPS-aligned and continuous
+    svHealth: svh,
+    tgd: bgdE5a !== F4_DNU ? bgdE5a : 0
+    // BGD E5a/E1 (RINEX slot)
+  };
 }
-function buildBdsEphemeris(prn, f) {
-  let week = f.week;
-  if (f.toes < f.sow - HALF_WEEK3) week++;
-  else if (f.toes > f.sow + HALF_WEEK3) week--;
-  const tocDate = new Date(BDT_EPOCH_MS2 + week * MS_PER_WEEK4 + f.tocSec * 1e3);
+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_MS2 + wnToc * MS_PER_WEEK4 + tocs * 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,
+    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) * PI2,
+    m0: view.getFloat64(b + 56, true) * PI2,
+    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) * PI2,
+    cis: view.getFloat32(b + 104, true),
+    i0: view.getFloat64(b + 108, true) * PI2,
+    crc: view.getFloat32(b + 116, true),
+    omega: view.getFloat64(b + 120, true) * PI2,
+    omegaDot: view.getFloat32(b + 128, true) * PI2,
+    idot: view.getFloat32(b + 132, true) * PI2,
+    week: wnToe,
+    // RINEX BDS week field is the BDT week
+    svHealth: view.getUint8(b + 19),
     // SatH1
-    tgd: f.tgd1
-    // TGD1 (B1) — RINEX slot
+    tgd: tgd1 !== F4_DNU ? tgd1 : 0
+    // TGD1 B1/B3 (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 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_MS8) / 1e3 % SEC_PER_WEEK8;
+  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 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 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 };
 }
-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}:${eph.toe}`;
-    if (key === sat.lastKey) return null;
-    sat.lastKey = key;
-    return eph;
+var GAL_SQRT_A_NOMINAL = Math.sqrt(296e5);
+var GAL_I_NOMINAL = 56 / 180 * PI2;
+var I_REF_03 = 0.3 * PI2;
+function decodeGpsGalAlm(view, b, sys) {
+  const wnc = view.getUint16(b + 12, true);
+  const toa = view.getUint32(b + 20, true);
+  if (toa === U4_DNU) return null;
+  let prn;
+  let weekAlm;
+  let i0;
+  let sqrtA = view.getFloat32(b + 32, true);
+  let health;
+  if (sys === "G") {
+    prn = view.getUint8(b + 14);
+    if (prn < 1 || prn > 32) return null;
+    weekAlm = adjustWeek(wnc, view.getUint8(b + 56), 256);
+    i0 = I_REF_03 + view.getFloat32(b + 24, true) * PI2;
+    health = view.getUint8(b + 58);
+  } else {
+    prn = view.getUint8(b + 57) - 70;
+    if (prn < 1 || prn > 36) return null;
+    weekAlm = adjustWeek(wnc, view.getUint8(b + 56), 4);
+    i0 = GAL_I_NOMINAL + view.getFloat32(b + 24, true) * PI2;
+    sqrtA += GAL_SQRT_A_NOMINAL;
+    health = view.getUint16(b + 58, true);
   }
-};
-
-// src/navbits/glo.ts
-var GPS_EPOCH_MS7 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK7 = 7 * 86400;
-var SEC_PER_DAY = 86400;
-var GLO_STRING_BYTES = 10;
-function getBitG(b, pos, len) {
-  const value = getBitU(b, pos + 1, len - 1);
-  return getBitU(b, pos, 1) && value !== 0 ? -value : value;
+  return {
+    system: sys,
+    prn: `${sys}${String(prn).padStart(2, "0")}`,
+    weekAlm,
+    toaSec: toa,
+    sqrtA,
+    e: view.getFloat32(b + 16, true),
+    i0OrDeltaI: i0,
+    omega0: view.getFloat32(b + 36, true) * PI2,
+    omega: view.getFloat32(b + 40, true) * PI2,
+    m0: view.getFloat32(b + 44, true) * PI2,
+    omegaDot: view.getFloat32(b + 28, true) * PI2,
+    af0: view.getFloat32(b + 52, true),
+    af1: view.getFloat32(b + 48, true),
+    health
+  };
 }
-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 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) * PI2,
+    omega0: view.getFloat32(b + 36, true) * PI2,
+    omega: view.getFloat32(b + 28, true) * PI2,
+    m0: view.getFloat32(b + 32, true) * PI2,
+    omegaDot: view.getFloat32(b + 40, true) * PI2,
+    af0: view.getFloat32(b + 48, true),
+    af1: view.getFloat32(b + 52, true),
+    health: view.getUint16(b + 56, true)
+  };
 }
-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_MS7) / 1e3;
-  const week = Math.floor(utcSec / SEC_PER_WEEK7);
-  let tow = utcSec - week * SEC_PER_WEEK7;
-  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;
+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: `R${String(slot).padStart(2, "0")}`,
-    // RINEX GLONASS epochs are UTC: build the UTC toe Date directly.
-    tocDate: new Date(GPS_EPOCH_MS7 + (week * SEC_PER_WEEK7 + 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_WEEK7 + SEC_PER_WEEK7) % SEC_PER_WEEK7,
-    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
+    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) * PI2,
+    lambda: view.getFloat32(b + 28, true) * PI2,
+    tLambda: view.getFloat32(b + 32, true),
+    omega: view.getFloat32(b + 36, true) * PI2,
+    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)
   };
 }
-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;
+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);
     }
-    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;
-  }
+    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/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 (getBitU22(page, 0) !== 0 || getBitU22(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 getBitU22(buff, pos) {
+  return buff[pos >> 3] >> 7 - (pos & 7) & 1;
+}
+function isFnavDummy(page) {
+  return page[0] >> 2 === 63;
+}
 
 // src/sbf/rawnav-bds.ts
-var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS9 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK5 = 7 * 86400 * 1e3;
 var TOW_DNU = 4294967295;
 var WNC_DNU = 65535;
@@ -6811,7 +6913,7 @@ function parseSbfGloNav(data) {
     const eph = assembler.push(
       prn,
       str,
-      new Date(GPS_EPOCH_MS8 + wnc * MS_PER_WEEK5 + towMs),
+      new Date(GPS_EPOCH_MS9 + wnc * MS_PER_WEEK5 + towMs),
       view.getUint8(b + 18) - 8
       // FreqNr, offset by 8
     );
@@ -6820,9 +6922,532 @@ function parseSbfGloNav(data) {
   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_MS9 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS10 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK6 = 7 * 864e5;
 var M3_SYS = ["G", "R", "E", "C", "S", "J", "I"];
 var M3_PR_BASE = [19e6, 19e6, 22e6, 2e7, 34e6, 34e6, 34e6];
@@ -6922,23 +7547,23 @@ var MEAS2_SIG = [
   ["J", "1E"],
   ["J", "5P"]
 ];
-var two3 = (n) => String(n).padStart(2, "0");
+var two4 = (n) => String(n).padStart(2, "0");
 function m3Prn(navsys, svid) {
   switch (navsys) {
     case 0:
-      return svid < 32 ? `G${two3(svid + 1)}` : null;
+      return svid < 32 ? `G${two4(svid + 1)}` : null;
     case 1:
-      return svid < 27 ? `R${two3(svid + 1)}` : null;
+      return svid < 27 ? `R${two4(svid + 1)}` : null;
     case 2:
-      return svid < 36 ? `E${two3(svid + 1)}` : null;
+      return svid < 36 ? `E${two4(svid + 1)}` : null;
     case 3:
-      return svid < 50 ? `C${two3(svid + 1)}` : null;
+      return svid < 50 ? `C${two4(svid + 1)}` : null;
     case 4:
-      return svid <= 38 ? `S${two3(svid + 20)}` : null;
+      return svid <= 38 ? `S${two4(svid + 20)}` : null;
     case 5:
-      return svid < 10 ? `J${two3(svid + 1)}` : null;
+      return svid < 10 ? `J${two4(svid + 1)}` : null;
     case 6:
-      return svid < 14 ? `I${two3(svid + 1)}` : null;
+      return svid < 14 ? `I${two4(svid + 1)}` : null;
     default:
       return null;
   }
@@ -7476,7 +8101,7 @@ 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_MS9 + wnc * MS_PER_WEEK6 + tow);
+        ensureEpoch(GPS_EPOCH_MS10 + wnc * MS_PER_WEEK6 + tow);
         if (id === 4109) decodeMeas3Ranges(i, tow);
         else if (id === 4110) decodeMeas3CN0(i, len);
         else if (id === 4111) decodeMeas3Doppler(i, len);
@@ -7541,15 +8166,15 @@ var ID_GALEPHEMERIS = 1122;
 var ID_QZSSEPHEMERIS = 1336;
 var ID_GPSEPHEM = 7;
 var ID_BDSEPHEMERIS = 1696;
-var GPS_EPOCH_MS10 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK8 = 7 * 86400;
+var SEC_PER_WEEK9 = 7 * 86400;
 var SEC_PER_DAY2 = 86400;
-var MS_PER_WEEK7 = SEC_PER_WEEK8 * 1e3;
-var gpsMs2 = (week, sec) => GPS_EPOCH_MS10 + week * MS_PER_WEEK7 + sec * 1e3;
-var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK8;
+var MS_PER_WEEK7 = SEC_PER_WEEK9 * 1e3;
+var gpsMs2 = (week, sec) => GPS_EPOCH_MS11 + week * MS_PER_WEEK7 + sec * 1e3;
+var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK9;
 function nearWeekMs(refMs, sow) {
-  const refWeek = Math.floor((refMs - GPS_EPOCH_MS10) / MS_PER_WEEK7);
+  const refWeek = Math.floor((refMs - GPS_EPOCH_MS11) / MS_PER_WEEK7);
   let ms = gpsMs2(refWeek, sow);
   if (ms < refMs - MS_PER_WEEK7 / 2) ms += MS_PER_WEEK7;
   else if (ms > refMs + MS_PER_WEEK7 / 2) ms -= MS_PER_WEEK7;
@@ -7576,9 +8201,9 @@ function decodeGloEphemeris(view, p) {
   tof += Math.floor(tow / SEC_PER_DAY2) * SEC_PER_DAY2;
   if (tof < tow - 43200) tof += SEC_PER_DAY2;
   else if (tof > tow + 43200) tof -= SEC_PER_DAY2;
-  const toeGpsMs = GPS_EPOCH_MS10 + (week * SEC_PER_WEEK8 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS10 + (week * SEC_PER_WEEK8 + tof) * 1e3;
-  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS10) / 1e3;
+  const toeGpsMs = GPS_EPOCH_MS11 + (week * SEC_PER_WEEK9 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS11 + (week * SEC_PER_WEEK9 + tof) * 1e3;
+  const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS11) / 1e3;
   return {
     system: "R",
     prn: `R${String(slot).padStart(2, "0")}`,
@@ -7586,7 +8211,7 @@ function decodeGloEphemeris(view, p) {
     tauN: -view.getFloat64(p + 100, true),
     // RINEX stores −τ_n
     gammaN: view.getFloat64(p + 116, true),
-    messageFrameTime: (tofUtcSec % SEC_PER_WEEK8 + SEC_PER_WEEK8) % SEC_PER_WEEK8,
+    messageFrameTime: (tofUtcSec % SEC_PER_WEEK9 + SEC_PER_WEEK9) % SEC_PER_WEEK9,
     x: view.getFloat64(p + 28, true) / 1e3,
     y: view.getFloat64(p + 36, true) / 1e3,
     z: view.getFloat64(p + 44, true) / 1e3,
@@ -7643,7 +8268,7 @@ 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_MS10) / MS_PER_WEEK7),
+      week: Math.floor((toeMs - GPS_EPOCH_MS11) / MS_PER_WEEK7),
       // 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,
@@ -7815,7 +8440,7 @@ function parseNovatelNav(data) {
 }
 
 // src/novatel/index.ts
-var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK8 = 7 * 864e5;
 var HDR = 28;
 var ID_RANGE = 43;
@@ -7985,7 +8610,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS11 + week * MS_PER_WEEK8 + towMs,
+          timeMs: GPS_EPOCH_MS12 + week * MS_PER_WEEK8 + towMs,
           meas
         });
       }
@@ -8037,7 +8662,7 @@ function parseNovatelRange(data) {
           if (!codes.includes(code)) codes.push(code);
         }
         epochs.push({
-          timeMs: GPS_EPOCH_MS11 + week * MS_PER_WEEK8 + towMs,
+          timeMs: GPS_EPOCH_MS12 + week * MS_PER_WEEK8 + towMs,
           meas
         });
       }
@@ -8051,7 +8676,7 @@ function parseNovatelRange(data) {
 var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
-var GPS_EPOCH_MS12 = Date.UTC(1980, 0, 6);
+var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
 var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
 var WEEK_MS = 6048e5;
 var BDT_MINUS_GPST_MS = 14e3;
@@ -8060,7 +8685,7 @@ function almanacEpochMs(alm) {
   if (alm.system === "C") {
     return BDT_EPOCH_MS4 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
   }
-  return GPS_EPOCH_MS12 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
+  return GPS_EPOCH_MS13 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
 }
 function almanacSatPosition(alm, timeMs) {
   const GM = alm.system === "E" ? GM_GAL : alm.system === "C" ? GM_BDS : GM_GPS;
@@ -8570,10 +9195,10 @@ function selectBest(ephs, timeMs) {
   }
   return best;
 }
-var GPS_EPOCH_MS13 = START_GPS_TIME.getTime();
+var GPS_EPOCH_MS14 = START_GPS_TIME.getTime();
 var MS_PER_WEEK9 = 7 * 864e5;
 var BDS_EPOCH_MS = START_BDS_TIME.getTime();
-var GAL_EPOCH_MS = GPS_EPOCH_MS13 + 1024 * MS_PER_WEEK9;
+var GAL_EPOCH_MS = GPS_EPOCH_MS14 + 1024 * MS_PER_WEEK9;
 function ephInfoToEphemeris(info) {
   const sys = info.prn.charAt(0);
   if (sys === "R") {
@@ -8624,8 +9249,8 @@ function ephInfoToEphemeris(info) {
   } else if (sys === "E") {
     epochMs = GAL_EPOCH_MS;
   } else {
-    epochMs = GPS_EPOCH_MS13;
-    const weeksNow = (info.lastReceived - GPS_EPOCH_MS13) / MS_PER_WEEK9;
+    epochMs = GPS_EPOCH_MS14;
+    const weeksNow = (info.lastReceived - GPS_EPOCH_MS14) / MS_PER_WEEK9;
     week += 1024 * Math.round((weeksNow - week) / 1024);
   }
   const tocDate = new Date(epochMs + week * MS_PER_WEEK9 + tocSec * 1e3);
@@ -11736,6 +12361,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseSbfCnav,
   parseSbfGalNav,
   parseSbfGloNav,
+  parseSbfHas,
   parseSbfIonoUtc,
   parseSbfMeas,
   parseSbfNav,
@@ -11745,6 +12371,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseUbxCnav,
   parseUbxIonoUtc,
   parseUbxNav,
+  parseUbxRawNav,
   parseUbxRawx,
   phiAltBOC,
   phiBOCc,