gnss-js 2.10.0 → 2.11.0

package/dist/index.cjs

@@ -288,6 +288,7 @@ __export(src_exports, {
   parseNovatelRange: () => parseNovatelRange,
   parseRinexStream: () => parseRinexStream,
   parseSbfAlmanac: () => parseSbfAlmanac,
+  parseSbfBdsCnav: () => parseSbfBdsCnav,
   parseSbfBdsNav: () => parseSbfBdsNav,
   parseSbfCnav: () => parseSbfCnav,
   parseSbfGalNav: () => parseSbfGalNav,
@@ -3026,7 +3027,7 @@ var isc = (b, pos) => {
   return raw === -4096 ? null : raw * 2 ** -35;
 };
 function decodeClock(b, msgType) {
-  const clock = {
+  const clock2 = {
     msgType,
     top: getBitU(b, 38, 11) * 300,
     uraNed0: getBitS(b, 49, 5),
@@ -3038,26 +3039,26 @@ function decodeClock(b, msgType) {
     af2: getBitS(b, 117, 10) * 2 ** -60
   };
   if (msgType === 30) {
-    clock.tgd = isc(b, 127);
-    clock.iscL1ca = isc(b, 140);
-    clock.iscL2c = isc(b, 153);
-    clock.iscL5i5 = isc(b, 166);
-    clock.iscL5q5 = isc(b, 179);
-    clock.ionoAlpha = [
+    clock2.tgd = isc(b, 127);
+    clock2.iscL1ca = isc(b, 140);
+    clock2.iscL2c = isc(b, 153);
+    clock2.iscL5i5 = isc(b, 166);
+    clock2.iscL5q5 = isc(b, 179);
+    clock2.ionoAlpha = [
       getBitS(b, 192, 8) * 2 ** -30,
       getBitS(b, 200, 8) * 2 ** -27,
       getBitS(b, 208, 8) * 2 ** -24,
       getBitS(b, 216, 8) * 2 ** -24
     ];
-    clock.ionoBeta = [
+    clock2.ionoBeta = [
       getBitS(b, 224, 8) * 2 ** 11,
       getBitS(b, 232, 8) * 2 ** 14,
       getBitS(b, 240, 8) * 2 ** 16,
       getBitS(b, 248, 8) * 2 ** 16
     ];
-    clock.wnOp = getBitU(b, 256, 8);
+    clock2.wnOp = getBitU(b, 256, 8);
   }
-  return clock;
+  return clock2;
 }
 function resolveWeek(week, towSec, sec) {
   if (sec < towSec - HALF_WEEK) return week + 1;
@@ -3095,10 +3096,10 @@ var CnavAssembler = class {
     return this.tryEmit(prn, sat);
   }
   tryEmit(prn, sat) {
-    const { t10, t11, clock, extras } = sat;
-    if (!t10 || !t11 || !clock) return null;
-    if (t10.toe !== t11.toe || clock.toc !== t10.toe) return null;
-    const key = `${t10.week}:${t10.toe}:${clock.af0}:${clock.af1}`;
+    const { t10, t11, clock: clock2, extras } = sat;
+    if (!t10 || !t11 || !clock2) return null;
+    if (t10.toe !== t11.toe || clock2.toc !== t10.toe) return null;
+    const key = `${t10.week}:${t10.toe}:${clock2.af0}:${clock2.af1}`;
     if (key === sat.lastKey) return null;
     sat.lastKey = key;
     const weekToe = resolveWeek(t10.week, t10.tow, t10.toe);
@@ -3109,9 +3110,9 @@ var CnavAssembler = class {
       week: t10.week,
       health: t10.health,
       uraEd: t10.uraEd,
-      uraNed0: clock.uraNed0,
-      uraNed1: clock.uraNed1,
-      uraNed2: clock.uraNed2,
+      uraNed0: clock2.uraNed0,
+      uraNed1: clock2.uraNed1,
+      uraNed2: clock2.uraNed2,
       top: t10.top,
       toe: t10.toe,
       toeDate: gpsDate(weekToe, t10.toe),
@@ -3134,12 +3135,12 @@ var CnavAssembler = class {
       crc: t11.crc,
       cus: t11.cus,
       cuc: t11.cuc,
-      toc: clock.toc,
-      tocDate: gpsDate(weekToe, clock.toc),
-      af0: clock.af0,
-      af1: clock.af1,
-      af2: clock.af2,
-      clockMsgType: clock.msgType,
+      toc: clock2.toc,
+      tocDate: gpsDate(weekToe, clock2.toc),
+      af0: clock2.af0,
+      af1: clock2.af1,
+      af2: clock2.af2,
+      clockMsgType: clock2.msgType,
       tgd: extras?.tgd ?? null,
       iscL1ca: extras?.iscL1ca ?? null,
       iscL2c: extras?.iscL2c ?? null,
@@ -3155,6 +3156,304 @@ var CnavAssembler = class {
   }
 };
 
+// src/navbits/bds-cnav.ts
+var BDT_EPOCH_MS = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK3 = 7 * 86400;
+var HALF_WEEK2 = 302400;
+var BDS_CNAV_A_REF_MEO = 27906100;
+var BDS_CNAV_A_REF_IGSO_GEO = 42162200;
+function bdsCnavAref(satType) {
+  return satType === 3 ? BDS_CNAV_A_REF_MEO : BDS_CNAV_A_REF_IGSO_GEO;
+}
+function ephI(b, p) {
+  return {
+    toe: getBitU(b, p, 11) * 300,
+    satType: getBitU(b, p + 11, 2),
+    deltaA: getBitS(b, p + 13, 26) * 2 ** -9,
+    aDot: getBitS(b, p + 39, 25) * 2 ** -21,
+    deltaN0: getBitS(b, p + 64, 17) * 2 ** -44 * GPS_PI,
+    deltaN0Dot: getBitS(b, p + 81, 23) * 2 ** -57 * GPS_PI,
+    m0: getBitS33(b, p + 104) * 2 ** -32 * GPS_PI,
+    e: getBitU33(b, p + 137) * 2 ** -34,
+    omega: getBitS33(b, p + 170) * 2 ** -32 * GPS_PI
+  };
+}
+function ephII(b, p) {
+  return {
+    omega0: getBitS33(b, p) * 2 ** -32 * GPS_PI,
+    i0: getBitS33(b, p + 33) * 2 ** -32 * GPS_PI,
+    omegaDot: getBitS(b, p + 66, 19) * 2 ** -44 * GPS_PI,
+    i0Dot: getBitS(b, p + 85, 15) * 2 ** -44 * GPS_PI,
+    cis: getBitS(b, p + 100, 16) * 2 ** -30,
+    cic: getBitS(b, p + 116, 16) * 2 ** -30,
+    crs: getBitS(b, p + 132, 24) * 2 ** -8,
+    crc: getBitS(b, p + 156, 24) * 2 ** -8,
+    cus: getBitS(b, p + 180, 21) * 2 ** -30,
+    cuc: getBitS(b, p + 201, 21) * 2 ** -30
+  };
+}
+function clock(b, p) {
+  return {
+    toc: getBitU(b, p, 11) * 300,
+    af0: getBitS(b, p + 11, 25) * 2 ** -34,
+    af1: getBitS(b, p + 36, 22) * 2 ** -50,
+    af2: getBitS(b, p + 58, 11) * 2 ** -66
+  };
+}
+function sisaiOc(b, p) {
+  return {
+    top: getBitU(b, p, 11) * 300,
+    ocb: getBitS(b, p + 11, 5),
+    oc1: getBitS(b, p + 16, 3),
+    oc2: getBitS(b, p + 19, 3)
+  };
+}
+var delay = (b, p) => getBitS(b, p, 12) * 2 ** -34;
+function crcOk(msg, dataBits) {
+  const need = Math.ceil((dataBits + 24) / 8);
+  return msg.length >= need && crc24q(msg, dataBits) === getBitU(msg, dataBits, 24);
+}
+var bdsCnav1Sf2CrcOk = (sf2) => crcOk(sf2, 576);
+var bdsCnav1Sf3CrcOk = (sf3) => crcOk(sf3, 240);
+var bdsCnav2CrcOk = (msg) => crcOk(msg, 264);
+var bdsCnav3CrcOk = (msg) => crcOk(msg, 462);
+function resolveWeek2(week, towSec, sec) {
+  if (sec < towSec - HALF_WEEK2) return week + 1;
+  if (sec > towSec + HALF_WEEK2) return week - 1;
+  return week;
+}
+function bdtDate(week, sec) {
+  return new Date(BDT_EPOCH_MS + (week * SEC_PER_WEEK3 + sec) * 1e3);
+}
+var emptyStatus = () => ({
+  top: null,
+  sisaiOe: null,
+  sisaiOcb: null,
+  sisaiOc1: null,
+  sisaiOc2: null,
+  sismai: null,
+  health: null,
+  integrityFlags: null
+});
+function applyOc(s, oc) {
+  s.top = oc.top;
+  s.sisaiOcb = oc.ocb;
+  s.sisaiOc1 = oc.oc1;
+  s.sisaiOc2 = oc.oc2;
+}
+function build(message, prn, wn, tTm, e1, e22, c, d, s) {
+  const week = resolveWeek2(wn, tTm, e1.toe);
+  const weekToc = resolveWeek2(wn, tTm, c.toc);
+  return {
+    system: "C",
+    prn,
+    message,
+    week,
+    toe: e1.toe,
+    toeDate: bdtDate(week, e1.toe),
+    toc: c.toc,
+    tocDate: bdtDate(weekToc, c.toc),
+    satType: e1.satType,
+    a: bdsCnavAref(e1.satType) + e1.deltaA,
+    deltaA: e1.deltaA,
+    aDot: e1.aDot,
+    deltaN0: e1.deltaN0,
+    deltaN0Dot: e1.deltaN0Dot,
+    m0: e1.m0,
+    e: e1.e,
+    omega: e1.omega,
+    ...e22,
+    af0: c.af0,
+    af1: c.af1,
+    af2: c.af2,
+    ...d,
+    ...s,
+    tow: tTm
+  };
+}
+var prnLabel = (prn) => `C${String(prn).padStart(2, "0")}`;
+var BdsCnav1Assembler = class {
+  status = /* @__PURE__ */ new Map();
+  lastKey = /* @__PURE__ */ new Map();
+  /**
+   * Push one frame's CRC-valid subframes (bit-0 aligned; pass null for
+   * a subframe that failed its CRC) for satellite `prn` (1-63). `tTm`
+   * is the frame's transmit time, s of the BDT week. Returns the newly
+   * seen ephemeris, or null.
+   */
+  push(prn, sf2, sf3, tTm) {
+    let s = this.status.get(prn);
+    if (!s) this.status.set(prn, s = emptyStatus());
+    if (sf3) {
+      const page = getBitU(sf3, 0, 6);
+      if (page >= 1 && page <= 4) {
+        s.health = getBitU(sf3, 6, 2);
+        s.integrityFlags = getBitU(sf3, 8, 3);
+        s.sismai = getBitU(sf3, 11, 4);
+        if (page === 1) {
+          s.sisaiOe = getBitU(sf3, 15, 5);
+          applyOc(s, sisaiOc(sf3, 20));
+        } else if (page === 3) s.sisaiOe = getBitU(sf3, 15, 5);
+        else applyOc(s, sisaiOc(sf3, 15));
+      }
+    }
+    if (!sf2) return null;
+    const wn = getBitU(sf2, 0, 13);
+    const iodc = getBitU(sf2, 21, 10);
+    const iode = getBitU(sf2, 31, 8);
+    const e1 = ephI(sf2, 39);
+    const c = clock(sf2, 464);
+    const key = `${wn}:${iodc}:${iode}:${e1.toe}:${c.toc}`;
+    if (this.lastKey.get(prn) === key) return null;
+    this.lastKey.set(prn, key);
+    return build(
+      "CNV1",
+      prnLabel(prn),
+      wn,
+      tTm,
+      e1,
+      ephII(sf2, 242),
+      c,
+      {
+        iode,
+        iodc,
+        tgdB1Cp: delay(sf2, 557),
+        tgdB2ap: delay(sf2, 533),
+        iscB1Cd: delay(sf2, 545),
+        iscB2ad: null,
+        tgdB2bI: null
+      },
+      { ...s }
+    );
+  }
+};
+var BdsCnav2Assembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one CRC-valid 288-bit message (bit 0 = first PRN bit, the
+   * preamble stripped). Returns the newly completed ephemeris, or null.
+   */
+  push(msg) {
+    const prn = getBitU(msg, 0, 6);
+    const type = getBitU(msg, 6, 6);
+    const sow = getBitU(msg, 12, 18) * 3;
+    if (prn < 1) return null;
+    let sat = this.sats.get(prn);
+    if (!sat) this.sats.set(prn, sat = { status: emptyStatus() });
+    const s = sat.status;
+    if (type === 10) {
+      sat.t10 = {
+        wn: getBitU(msg, 30, 13),
+        iode: getBitU(msg, 53, 8),
+        e1: ephI(msg, 61),
+        sow
+      };
+      s.integrityFlags = getBitU(msg, 43, 3) << 3 | getBitU(msg, 50, 3);
+      s.sismai = getBitU(msg, 46, 4);
+      if (sat.t11 && sat.t11.sow < sow) sat.t11 = void 0;
+    } else if (type === 11 || type >= 30 && type <= 34 || type === 40) {
+      s.health = getBitU(msg, 30, 2);
+      s.integrityFlags = getBitU(msg, 32, 3) << 3 | getBitU(msg, 39, 3);
+      s.sismai = getBitU(msg, 35, 4);
+      if (type === 11) {
+        if (!sat.t10 || sow <= sat.t10.sow) return null;
+        sat.t11 = { e2: ephII(msg, 42), sow };
+      } else if (type === 34) {
+        applyOc(s, sisaiOc(msg, 42));
+        sat.clock = { c: clock(msg, 64), iodc: getBitU(msg, 133, 10) };
+      } else if (type === 40) {
+        s.sisaiOe = getBitU(msg, 42, 5);
+        applyOc(s, sisaiOc(msg, 47));
+        return null;
+      } else {
+        sat.clock = { c: clock(msg, 42), iodc: getBitU(msg, 111, 10) };
+        if (type === 30)
+          sat.delays = {
+            tgdB2ap: delay(msg, 121),
+            iscB2ad: delay(msg, 133),
+            tgdB1Cp: delay(msg, 219)
+          };
+      }
+    } else return null;
+    const { t10, t11, clock: ck } = sat;
+    if (!t10 || !t11 || !ck || (ck.iodc & 255) !== t10.iode) return null;
+    const key = `${t10.wn}:${ck.iodc}:${t10.iode}:${t10.e1.toe}:${ck.c.toc}`;
+    if (sat.lastKey === key) return null;
+    sat.lastKey = key;
+    return build(
+      "CNV2",
+      prnLabel(prn),
+      t10.wn,
+      t10.sow,
+      t10.e1,
+      t11.e2,
+      ck.c,
+      {
+        iode: t10.iode,
+        iodc: ck.iodc,
+        tgdB1Cp: sat.delays?.tgdB1Cp ?? null,
+        tgdB2ap: sat.delays?.tgdB2ap ?? null,
+        iscB1Cd: null,
+        iscB2ad: sat.delays?.iscB2ad ?? null,
+        tgdB2bI: null
+      },
+      { ...s }
+    );
+  }
+};
+var BdsCnav3Assembler = class {
+  sats = /* @__PURE__ */ new Map();
+  /**
+   * Push one CRC-valid 486-bit message (bit 0 = first MesType bit) from
+   * satellite `prn`. Returns the newly completed ephemeris, or null.
+   */
+  push(prn, msg) {
+    const type = getBitU(msg, 0, 6);
+    const sow = getBitU(msg, 6, 20);
+    let sat = this.sats.get(prn);
+    if (!sat) this.sats.set(prn, sat = { status: emptyStatus() });
+    const s = sat.status;
+    if (type === 10) {
+      sat.t10 = { e1: ephI(msg, 30), e2: ephII(msg, 233), sow };
+      s.integrityFlags = getBitU(msg, 455, 3);
+      s.sismai = getBitU(msg, 458, 4);
+    } else if (type === 30) {
+      sat.t30 = {
+        wn: getBitU(msg, 26, 13),
+        c: clock(msg, 43),
+        tgd: delay(msg, 112)
+      };
+      applyOc(s, sisaiOc(msg, 433));
+      s.sisaiOe = getBitU(msg, 455, 5);
+      s.health = getBitU(msg, 460, 2);
+    } else return null;
+    const { t10, t30 } = sat;
+    if (!t10 || !t30 || t10.e1.toe !== t30.c.toc) return null;
+    const key = `${t30.wn}:${t10.e1.toe}:${t30.c.af0}:${t10.e1.m0}`;
+    if (sat.lastKey === key) return null;
+    sat.lastKey = key;
+    return build(
+      "CNV3",
+      prnLabel(prn),
+      t30.wn,
+      t10.sow,
+      t10.e1,
+      t10.e2,
+      t30.c,
+      {
+        iode: null,
+        iodc: null,
+        tgdB1Cp: null,
+        tgdB2ap: null,
+        iscB1Cd: null,
+        iscB2ad: null,
+        tgdB2bI: t30.tgd
+      },
+      { ...s }
+    );
+  }
+};
+
 // src/rinex/nav.ts
 var DATA_LINES = {
   G: 7,
@@ -3180,16 +3479,17 @@ var R4_MSG_LINES = {
   // RINEX 4 adds orbit-4 (status flags) vs 3 in RINEX 3
   // EPH type parsed into RinexCnavEphemeris for G/J (skipped otherwise)
   CNAV: 9,
-  // EPH types we skip (different field layout)
+  // BeiDou-3 B-CNAV, parsed into BdsCnavEphemeris
   CNV1: 10,
   CNV2: 10,
   CNV3: 9,
+  // EPH types we skip (different field layout)
   L1NV: 8,
   L1OC: 9,
   L3OC: 9
 };
 var GPS_EPOCH_MS3 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK3 = 7 * 86400;
+var SEC_PER_WEEK4 = 7 * 86400;
 var QZSS_CNAV_A_REF = 42164200;
 var SUPPORTED_EPH_MSGS = /* @__PURE__ */ new Set([
   "LNAV",
@@ -3334,8 +3634,8 @@ function buildCnavEphemeris(sys, prn, date, epochVals, d) {
   const num = (r, c) => d[r]?.[c] ?? 0;
   const opt = (r, c) => d[r]?.[c] ?? null;
   const t = (date.getTime() - GPS_EPOCH_MS3) / 1e3;
-  const week = Math.floor(t / SEC_PER_WEEK3);
-  const toc = t - week * SEC_PER_WEEK3;
+  const week = Math.floor(t / SEC_PER_WEEK4);
+  const toc = t - week * SEC_PER_WEEK4;
   const sqrtA = num(1, 3);
   const a = sqrtA * sqrtA;
   const aRef = sys === "J" ? QZSS_CNAV_A_REF : CNAV_A_REF;
@@ -3392,6 +3692,68 @@ function buildCnavEphemeris(sys, prn, date, epochVals, d) {
     tow: num(7, 0)
   };
 }
+var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
+function buildBdsCnavEphemeris(message, prn, date, epochVals, d) {
+  const num = (r, c) => d[r]?.[c] ?? 0;
+  const opt = (r, c) => d[r]?.[c] ?? null;
+  const cnv3 = message === "CNV3";
+  const t = (date.getTime() - BDT_EPOCH_MS2) / 1e3;
+  const weekToc = Math.floor(t / SEC_PER_WEEK4);
+  const toc = t - weekToc * SEC_PER_WEEK4;
+  const toe = num(2, 0);
+  const week = toe - toc > SEC_PER_WEEK4 / 2 ? weekToc - 1 : toc - toe > SEC_PER_WEEK4 / 2 ? weekToc + 1 : weekToc;
+  const sqrtA = num(1, 3);
+  const a = sqrtA * sqrtA;
+  const satType = num(4, 2);
+  return {
+    system: "C",
+    prn,
+    message,
+    week,
+    toe,
+    toeDate: new Date(BDT_EPOCH_MS2 + (week * SEC_PER_WEEK4 + toe) * 1e3),
+    toc,
+    tocDate: date,
+    satType,
+    a,
+    deltaA: a - bdsCnavAref(satType),
+    aDot: num(0, 0),
+    deltaN0: num(0, 2),
+    deltaN0Dot: num(4, 1),
+    m0: num(0, 3),
+    e: num(1, 1),
+    omega: num(3, 2),
+    omega0: num(2, 2),
+    i0: num(3, 0),
+    omegaDot: num(3, 3),
+    i0Dot: num(4, 0),
+    cis: num(2, 3),
+    cic: num(2, 1),
+    crs: num(0, 1),
+    crc: num(3, 1),
+    cus: num(1, 2),
+    cuc: num(1, 0),
+    af0: epochVals[0] ?? 0,
+    af1: epochVals[1] ?? 0,
+    af2: epochVals[2] ?? 0,
+    iode: cnv3 ? null : opt(8, 3),
+    iodc: cnv3 ? null : opt(7, 3),
+    tgdB1Cp: cnv3 ? null : opt(6, 2),
+    tgdB2ap: cnv3 ? null : opt(6, 3),
+    iscB1Cd: cnv3 ? null : opt(6, 0),
+    iscB2ad: cnv3 ? null : opt(6, 1),
+    tgdB2bI: cnv3 ? opt(6, 3) : null,
+    top: opt(4, 3),
+    sisaiOe: opt(5, 0),
+    sisaiOcb: opt(5, 1),
+    sisaiOc1: opt(5, 2),
+    sisaiOc2: opt(5, 3),
+    sismai: cnv3 ? opt(6, 0) : opt(7, 0),
+    health: cnv3 ? opt(6, 1) : opt(7, 1),
+    integrityFlags: cnv3 ? opt(6, 2) : opt(7, 2),
+    tow: cnv3 ? num(7, 0) : num(8, 0)
+  };
+}
 function parseNavFile(text) {
   const lines = text.split("\n");
   const header = {
@@ -3402,6 +3764,7 @@ function parseNavFile(text) {
   };
   const ephemerides = [];
   const cnav = [];
+  const bdsCnav = [];
   let inHeader = true;
   let i = 0;
   while (i < lines.length) {
@@ -3470,7 +3833,8 @@ function parseNavFile(text) {
         continue;
       }
       const isCnav = msgType === "CNAV" && (svSys === "G" || svSys === "J");
-      if (!SUPPORTED_EPH_MSGS.has(msgType) && !isCnav) {
+      const isBdsCnav = svSys === "C" && (msgType === "CNV1" || msgType === "CNV2" || msgType === "CNV3");
+      if (!SUPPORTED_EPH_MSGS.has(msgType) && !isCnav && !isBdsCnav) {
         const totalLines = R4_MSG_LINES[msgType] ?? 2;
         i += totalLines + 1;
         continue;
@@ -3482,17 +3846,34 @@ function parseNavFile(text) {
       const sys2 = epochLine.charAt(0);
       const parsed = parseNavEpochV3(epochLine);
       const prn2 = `${sys2}${parsed.prn.substring(1)}`;
-      if (isCnav) {
+      if (isCnav || isBdsCnav) {
         const slotLines = [];
         for (let j = 0; j < numDataLines2; j++) {
           i++;
           if (i >= lines.length) break;
           slotLines.push(parseDataLineSlots(lines[i]));
         }
-        if (slotLines.length === numDataLines2 && (sys2 === "G" || sys2 === "J")) {
-          cnav.push(
-            buildCnavEphemeris(sys2, prn2, parsed.date, parsed.values, slotLines)
-          );
+        if (slotLines.length === numDataLines2) {
+          if (isBdsCnav && sys2 === "C")
+            bdsCnav.push(
+              buildBdsCnavEphemeris(
+                msgType,
+                prn2,
+                parsed.date,
+                parsed.values,
+                slotLines
+              )
+            );
+          else if (sys2 === "G" || sys2 === "J")
+            cnav.push(
+              buildCnavEphemeris(
+                sys2,
+                prn2,
+                parsed.date,
+                parsed.values,
+                slotLines
+              )
+            );
         }
         i++;
         continue;
@@ -3570,7 +3951,12 @@ function parseNavFile(text) {
     }
     i++;
   }
-  return cnav.length > 0 ? { header, ephemerides, cnav } : { header, ephemerides };
+  return {
+    header,
+    ephemerides,
+    ...cnav.length > 0 && { cnav },
+    ...bdsCnav.length > 0 && { bdsCnav }
+  };
 }
 
 // src/rinex/nav-writer.ts
@@ -3766,6 +4152,30 @@ function cnavRecord(eph) {
     orbitLine4([eph.tow, resolveWnOp(eph.week, eph.wnOp)])
   ].join("\n");
 }
+function bdsCnavRecord(eph) {
+  const lines = [
+    epochLine4(eph.prn, eph.tocDate, [eph.af0, eph.af1, eph.af2]),
+    orbitLine4([eph.aDot, eph.crs, eph.deltaN0, eph.m0]),
+    orbitLine4([eph.cuc, eph.e, eph.cus, Math.sqrt(eph.a)]),
+    orbitLine4([eph.toe, eph.cic, eph.omega0, eph.cis]),
+    orbitLine4([eph.i0, eph.crc, eph.omega, eph.omegaDot]),
+    orbitLine4([eph.i0Dot, eph.deltaN0Dot, eph.satType, eph.top]),
+    orbitLine4([eph.sisaiOe, eph.sisaiOcb, eph.sisaiOc1, eph.sisaiOc2])
+  ];
+  if (eph.message === "CNV3") {
+    lines.push(
+      orbitLine4([eph.sismai, eph.health, eph.integrityFlags, eph.tgdB2bI]),
+      orbitLine4([eph.tow])
+    );
+  } else {
+    lines.push(
+      orbitLine4([eph.iscB1Cd, eph.iscB2ad, eph.tgdB1Cp, eph.tgdB2ap]),
+      orbitLine4([eph.sismai, eph.health, eph.integrityFlags, eph.iodc]),
+      orbitLine4([eph.tow, null, null, eph.iode])
+    );
+  }
+  return lines.join("\n");
+}
 var KLOBUCHAR_SOURCES = [
   ["GPSA", "GPSB", "G", "LNAV"],
   ["QZSA", "QZSB", "J", "LNAV"],
@@ -3843,6 +4253,15 @@ function writeRinexNav4(nav) {
 ` + cnavRecord(eph)
     });
   }
+  for (const eph of nav.bdsCnav ?? []) {
+    records.push({
+      prn: eph.prn,
+      time: eph.tocDate.getTime(),
+      label: eph.message,
+      body: `> EPH ${padL(eph.prn, 3)} ${eph.message}
+` + bdsCnavRecord(eph)
+    });
+  }
   records.sort(
     (a, b) => a.prn.localeCompare(b.prn) || a.time - b.time || a.label.localeCompare(b.label)
   );
@@ -6729,7 +7148,7 @@ function updateStreamStats(stats, frames, rawBytes) {
     entry.count++;
     entry.lastSeen = now;
     entry.totalBytes += frame.length + 6;
-    const obsEpoch = decodeObs(frame);
+    const obsEpoch = decodeObs(frame, { compactMsm: true });
     if (obsEpoch) {
       for (const obs of obsEpoch.observations) {
         const signals = [];
@@ -6937,11 +7356,11 @@ function parseUbxCnav(data) {
 }
 
 // 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 BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK5 = 7 * 86400;
+var MS_PER_WEEK2 = SEC_PER_WEEK5 * 1e3;
+var HALF_WEEK3 = 302400;
+var sowOf = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK5;
 var BDS_SUBFRAME_BYTES = 38;
 function getBitU2(b, p1, l1, p2, l2) {
   return getBitU(b, p1, l1) * 2 ** l2 + getBitU(b, p2, l2);
@@ -6975,9 +7394,9 @@ function bdsSubframeParityOk(subframe) {
 }
 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);
+  if (f.toes < f.sow - HALF_WEEK3) week++;
+  else if (f.toes > f.sow + HALF_WEEK3) week--;
+  const tocDate = new Date(BDT_EPOCH_MS3 + week * MS_PER_WEEK2 + f.tocSec * 1e3);
   return {
     system: "C",
     prn,
@@ -7216,8 +7635,8 @@ var BdsAssembler = class {
 
 // src/navbits/gal.ts
 var GPS_EPOCH_MS5 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK5 = 7 * 86400;
-var HALF_WEEK3 = 302400;
+var SEC_PER_WEEK6 = 7 * 86400;
+var HALF_WEEK4 = 302400;
 var GST_GPS_WEEK_OFFSET = 1024;
 function galInavPageCrcOk(page) {
   if (page.length < 28) return false;
@@ -7228,11 +7647,11 @@ function galFnavPageCrcOk(page) {
   return crc24q(page, 214) === getBitU(page, 214, 24);
 }
 function gpsDate2(week, sec) {
-  return new Date(GPS_EPOCH_MS5 + (week * SEC_PER_WEEK5 + sec) * 1e3);
+  return new Date(GPS_EPOCH_MS5 + (week * SEC_PER_WEEK6 + sec) * 1e3);
 }
 function weekOfToe(week, tow, toe) {
-  if (toe - tow > HALF_WEEK3) return week - 1;
-  if (toe - tow < -HALF_WEEK3) return week + 1;
+  if (toe - tow > HALF_WEEK4) return week - 1;
+  if (toe - tow < -HALF_WEEK4) return week + 1;
   return week;
 }
 var two4 = (n) => String(n).padStart(2, "0");
@@ -7324,7 +7743,7 @@ function decodeGalInavWords(words) {
   return {
     system: "E",
     prn: `E${two4(svid)}`,
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK6,
     tocDate,
     af0,
     af1,
@@ -7432,7 +7851,7 @@ function decodeGalFnavPages(pages) {
   return {
     system: "E",
     prn: `E${two4(svid)}`,
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK5,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK6,
     tocDate,
     af0,
     af1,
@@ -7524,7 +7943,7 @@ var GalFnavAssembler = class {
 
 // src/navbits/glo.ts
 var GPS_EPOCH_MS6 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK6 = 7 * 86400;
+var SEC_PER_WEEK7 = 7 * 86400;
 var SEC_PER_DAY = 86400;
 var GLO_STRING_BYTES = 10;
 function getBitG(b, pos, len) {
@@ -7618,8 +8037,8 @@ function decodeGloStrings(strings, refDate, opts = {}) {
   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_MS6) / 1e3;
-  const week = Math.floor(utcSec / SEC_PER_WEEK6);
-  let tow = utcSec - week * SEC_PER_WEEK6;
+  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;
@@ -7632,12 +8051,12 @@ function decodeGloStrings(strings, refDate, opts = {}) {
     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_MS6 + (week * SEC_PER_WEEK6 + tow + toe) * 1e3),
+    tocDate: new Date(GPS_EPOCH_MS6 + (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_WEEK6 + SEC_PER_WEEK6) % SEC_PER_WEEK6,
+    messageFrameTime: ((tow + tof) % SEC_PER_WEEK7 + SEC_PER_WEEK7) % SEC_PER_WEEK7,
     x,
     xDot,
     xAcc,
@@ -7730,7 +8149,7 @@ function decodeSbasGeoNav(msg, prn, week, tow) {
 
 // src/ubx/rawnav.ts
 var GPS_EPOCH_MS8 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK7 = 7 * 86400;
+var SEC_PER_WEEK8 = 7 * 86400;
 var two6 = (n) => String(n).padStart(2, "0");
 function parseUbxRawNav(data, opts = {}) {
   const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
@@ -7752,7 +8171,7 @@ function parseUbxRawNav(data, opts = {}) {
       if (week === 0 && opts.refWeek !== void 0) week = opts.refWeek;
       if (week > 0) {
         refDate = new Date(
-          GPS_EPOCH_MS8 + (week * SEC_PER_WEEK7 + rcvTow) * 1e3
+          GPS_EPOCH_MS8 + (week * SEC_PER_WEEK8 + rcvTow) * 1e3
         );
         refWeek = week;
         refTow = rcvTow;
@@ -8066,9 +8485,9 @@ function svidToPrn(svid) {
 // src/sbf/nav.ts
 var PI2 = Math.PI;
 var GPS_EPOCH_MS11 = Date.UTC(1980, 0, 6);
-var BDT_EPOCH_MS2 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK8 = 7 * 86400;
-var MS_PER_WEEK5 = SEC_PER_WEEK8 * 1e3;
+var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK9 = 7 * 86400;
+var MS_PER_WEEK5 = SEC_PER_WEEK9 * 1e3;
 var F4_DNU = -2e10;
 var U4_DNU = 4294967295;
 function adjustWeek(refWeek, wn, mod) {
@@ -8078,7 +8497,7 @@ function adjustWeek(refWeek, wn, mod) {
   return refWeek - offset;
 }
 var gpsMs = (week, sec) => GPS_EPOCH_MS11 + week * MS_PER_WEEK5 + sec * 1e3;
-var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK8;
+var sowOf2 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK9;
 function decodeGpsQzsNav(view, b, sys) {
   const svid = view.getUint8(b + 14);
   const prn = sys === "G" ? svid : svid - 180;
@@ -8181,7 +8600,7 @@ function decodeBdsNav(view, b) {
   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_WEEK5 + tocs * 1e3);
+  const tocDate = new Date(BDT_EPOCH_MS4 + wnToc * MS_PER_WEEK5 + tocs * 1e3);
   return {
     system: "C",
     prn,
@@ -8227,7 +8646,7 @@ function decodeGloNav(view, b) {
   const tocDate = new Date(toeGpsMs - leapMs);
   const tofGpsMs = gpsMs(wnc, 0) + view.getUint32(b + 8, true);
   const tofLeapMs = getGpsLeap(new Date(tofGpsMs)) * 1e3;
-  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS11) / 1e3 % SEC_PER_WEEK8;
+  const messageFrameTime = (tofGpsMs - tofLeapMs - GPS_EPOCH_MS11) / 1e3 % SEC_PER_WEEK9;
   return {
     system: "R",
     prn,
@@ -8550,7 +8969,7 @@ function parseSbfGpsNav(data) {
 
 // src/navbits/navic.ts
 var GPS_EPOCH_MS13 = Date.UTC(1980, 0, 6);
-var SEC_PER_WEEK9 = 604800;
+var SEC_PER_WEEK10 = 604800;
 var DATA = 30;
 function navicSubframeCrcOk(sf) {
   return crc24q(sf, 262) === getBitU(sf, 262, 24);
@@ -8612,16 +9031,16 @@ function decodeNavicSubframes(sf1, sf2, opts = {}) {
   j += 22;
   const i0 = getBitS(sf2, j, 32) * 2 ** -31 * GPS_PI;
   if (sqrtA <= 0 || e >= 1) return null;
-  const week = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS13) / 1e3 / SEC_PER_WEEK9);
+  const week = opts.refWeek ?? Math.floor((Date.now() - GPS_EPOCH_MS13) / 1e3 / SEC_PER_WEEK10);
   const prn = opts.prn ?? "I00";
   const tocDate = new Date(
-    GPS_EPOCH_MS13 + (week * SEC_PER_WEEK9 + tocSec) * 1e3
+    GPS_EPOCH_MS13 + (week * SEC_PER_WEEK10 + tocSec) * 1e3
   );
   return {
     system: "I",
     prn,
     tocDate,
-    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK9,
+    toc: tocDate.getTime() / 1e3 % SEC_PER_WEEK10,
     af0,
     af1,
     af2,
@@ -8896,6 +9315,80 @@ function parseSbfGloNav(data) {
   return { ephemerides, badCrc, messages };
 }
 
+// src/sbf/rawnav-bds-cnav.ts
+var GPS_BDT_OFFSET = 14;
+var B1C_FRAME_S = 18;
+var TOW_DNU2 = 4294967295;
+function newBdsCnavAssemblers() {
+  return {
+    b1c: new BdsCnav1Assembler(),
+    b2a: new BdsCnav2Assembler(),
+    b2b: new BdsCnav3Assembler()
+  };
+}
+function navBits(view, wordsAt, start, nBits) {
+  const out = new Uint8Array(Math.ceil(nBits / 8));
+  for (let i = 0; i < nBits; i++) {
+    const p = start + i;
+    const w = view.getUint32(wordsAt + 4 * (p >>> 5), true);
+    if (w >>> 31 - (p & 31) & 1) out[i >> 3] |= 128 >> (i & 7);
+  }
+  return out;
+}
+var MIN_LEN = { 4218: 248, 4219: 92, 4242: 144 };
+function feedBdsCnavBlock(view, b, id, len, asm) {
+  if (len < (MIN_LEN[id] ?? Infinity)) return {};
+  const prnStr = svidToPrn(view.getUint8(b + 14));
+  if (!prnStr || prnStr[0] !== "C") return {};
+  const prn = Number(prnStr.slice(1));
+  const words = b + 20;
+  if (id === 4218) {
+    const towMs = view.getUint32(b + 8, true);
+    if (towMs === TOW_DNU2) return {};
+    const sf2 = navBits(view, words, 72, 600);
+    const sf3 = navBits(view, words, 1272, 264);
+    const sf2Ok = bdsCnav1Sf2CrcOk(sf2);
+    const bdt = (towMs / 1e3 - GPS_BDT_OFFSET + 604800) % 604800;
+    const tTm = (Math.floor(bdt) - B1C_FRAME_S + 604800) % 604800;
+    const eph = asm.b1c.push(
+      prn,
+      sf2Ok ? sf2 : null,
+      bdsCnav1Sf3CrcOk(sf3) ? sf3 : null,
+      tTm
+    );
+    if (!sf2Ok) return { badCrc: true };
+    return eph ? { eph } : {};
+  }
+  if (id === 4219) {
+    const msg = navBits(view, words, 0, 288);
+    if (!bdsCnav2CrcOk(msg)) return { badCrc: true };
+    const eph = asm.b2a.push(msg);
+    return eph ? { eph } : {};
+  }
+  if (id === 4242) {
+    const msg = navBits(view, words, 12, 486);
+    if (!bdsCnav3CrcOk(msg)) return { badCrc: true };
+    const eph = asm.b2b.push(prn, msg);
+    return eph ? { eph } : {};
+  }
+  return {};
+}
+function parseSbfBdsCnav(data) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const asm = newBdsCnavAssemblers();
+  const ephemerides = [];
+  let badCrc = 0;
+  let messages = 0;
+  scanSbfFrames(data, view, (id, b, len) => {
+    if (id !== 4218 && id !== 4219 && id !== 4242) return;
+    messages++;
+    const r = feedBdsCnavBlock(view, b, id, len, asm);
+    if (r.eph) ephemerides.push(r.eph);
+    else if (r.badCrc) badCrc++;
+  });
+  return { ephemerides, badCrc, messages };
+}
+
 // src/navbits/sbas-l5.ts
 var SBAS_L5_PREAMBLE_UW = 6056250;
 function isSbasL1Preamble(msg) {
@@ -9038,6 +9531,7 @@ function decodeSbfNavigation(data, opts = {}) {
   const ephemerides = [];
   const seen = /* @__PURE__ */ new Set();
   const cnav = [];
+  const bdsCnav = [];
   const ionoCorrections = {};
   let leapSeconds = null;
   const counts = {
@@ -9047,6 +9541,7 @@ function decodeSbfNavigation(data, opts = {}) {
     galRaw: 0,
     gloRaw: 0,
     bdsRaw: 0,
+    bdsCnavRaw: 0,
     sbasRaw: 0,
     sbasL5Raw: 0,
     navicRaw: 0,
@@ -9058,6 +9553,7 @@ function decodeSbfNavigation(data, opts = {}) {
   const galAsm = newGalAssemblers();
   const gloAsm = new GloStringAssembler();
   const bdsAsm = new BdsAssembler();
+  const bdsCnavAsm = newBdsCnavAssemblers();
   const lnavAsm = new GpsLnavAssembler();
   const navicAsm = new NavicAssembler();
   const addEph = (e) => {
@@ -9164,6 +9660,17 @@ function decodeSbfNavigation(data, opts = {}) {
         else if (r.badCrc) counts.badFrames++;
         return;
       }
+      case 4218:
+      // BDSRawB1C
+      case 4219:
+      // BDSRawB2a
+      case 4242: {
+        counts.bdsCnavRaw++;
+        const r = feedBdsCnavBlock(view, b, id, len, bdsCnavAsm);
+        if (r.eph) bdsCnav.push(r.eph);
+        else if (r.badCrc) counts.badFrames++;
+        return;
+      }
       case 4020: {
         if (len < 52) return;
         counts.sbasRaw++;
@@ -9220,7 +9727,15 @@ function decodeSbfNavigation(data, opts = {}) {
     prns: [...dfmcPrns].sort(),
     messages: Object.values(dfmcByType).reduce((a, v) => a + v, 0)
   };
-  return { ephemerides, cnav, ionoCorrections, leapSeconds, dfmc, counts };
+  return {
+    ephemerides,
+    cnav,
+    bdsCnav,
+    ionoCorrections,
+    leapSeconds,
+    dfmc,
+    counts
+  };
 }
 
 // src/navbits/rs255.ts
@@ -10470,12 +10985,12 @@ var ID_BDSEPHEMERIS = 1696;
 var ID_RAWWAASFRAME = 287;
 var ID_RAWSBASFRAME = 973;
 var GPS_EPOCH_MS16 = Date.UTC(1980, 0, 6);
-var BDT_EPOCH_MS3 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK10 = 7 * 86400;
+var BDT_EPOCH_MS5 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK11 = 7 * 86400;
 var SEC_PER_DAY2 = 86400;
-var MS_PER_WEEK8 = SEC_PER_WEEK10 * 1e3;
+var MS_PER_WEEK8 = SEC_PER_WEEK11 * 1e3;
 var gpsMs2 = (week, sec) => GPS_EPOCH_MS16 + week * MS_PER_WEEK8 + sec * 1e3;
-var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK10;
+var sowOf3 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK11;
 function nearWeekMs(refMs, sow) {
   const refWeek = Math.floor((refMs - GPS_EPOCH_MS16) / MS_PER_WEEK8);
   let ms = gpsMs2(refWeek, sow);
@@ -10504,8 +11019,8 @@ 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_MS16 + (week * SEC_PER_WEEK10 + tow) * 1e3;
-  const tofGpsMs = GPS_EPOCH_MS16 + (week * SEC_PER_WEEK10 + tof) * 1e3;
+  const toeGpsMs = GPS_EPOCH_MS16 + (week * SEC_PER_WEEK11 + tow) * 1e3;
+  const tofGpsMs = GPS_EPOCH_MS16 + (week * SEC_PER_WEEK11 + tof) * 1e3;
   const tofUtcSec = (getUtcDate(new Date(tofGpsMs)).getTime() - GPS_EPOCH_MS16) / 1e3;
   return {
     system: "R",
@@ -10514,7 +11029,7 @@ function decodeGloEphemeris(view, p) {
     tauN: -view.getFloat64(p + 100, true),
     // RINEX stores −τ_n
     gammaN: view.getFloat64(p + 116, true),
-    messageFrameTime: (tofUtcSec % SEC_PER_WEEK10 + SEC_PER_WEEK10) % SEC_PER_WEEK10,
+    messageFrameTime: (tofUtcSec % SEC_PER_WEEK11 + SEC_PER_WEEK11) % SEC_PER_WEEK11,
     x: view.getFloat64(p + 28, true) / 1e3,
     y: view.getFloat64(p + 36, true) / 1e3,
     z: view.getFloat64(p + 44, true) / 1e3,
@@ -10588,7 +11103,7 @@ function decodeBdsEphemeris2(view, p) {
   const tgd1 = view.getFloat64(p + 20, true);
   const tocs = view.getUint32(p + 40, true);
   const toes = view.getUint32(p + 72, true);
-  const tocDate = new Date(BDT_EPOCH_MS3 + week * MS_PER_WEEK8 + tocs * 1e3);
+  const tocDate = new Date(BDT_EPOCH_MS5 + week * MS_PER_WEEK8 + tocs * 1e3);
   return {
     system: "C",
     prn: `C${String(prn).padStart(2, "0")}`,
@@ -10936,7 +11451,7 @@ function parseNovatelRange(data) {
           const sigtype = stat >>> 21 & 31;
           const plock = stat >>> 10 & 1;
           const parity = stat >>> 11 & 1;
-          const clock = stat >>> 12 & 1;
+          const clock2 = stat >>> 12 & 1;
           const sig = SIGNALS2[satsys]?.[sigtype];
           if (!sig) continue;
           let [sysL, code] = sig;
@@ -10966,7 +11481,7 @@ function parseNovatelRange(data) {
           meas.push({
             prn: `${sysL}${String(prnNum).padStart(2, "0")}`,
             code,
-            pr: clock ? psr : null,
+            pr: clock2 ? psr : null,
             cp: plock ? cp : null,
             doppler: plock ? dop : null,
             cn0,
@@ -10993,7 +11508,7 @@ function parseNovatelRange(data) {
           const sigtype = stat >>> 21 & 31;
           const plock = stat >>> 10 & 1;
           const parity = stat >>> 11 & 1;
-          const clock = stat >>> 12 & 1;
+          const clock2 = stat >>> 12 & 1;
           const sig = SIGNALS2[satsys]?.[sigtype];
           if (!sig) continue;
           let [sysL, code] = sig;
@@ -11018,7 +11533,7 @@ function parseNovatelRange(data) {
           meas.push({
             prn,
             code,
-            pr: clock ? psr : null,
+            pr: clock2 ? psr : null,
             cp: plock ? -adr : null,
             doppler: plock ? dop : null,
             cn0: snr,
@@ -11081,14 +11596,14 @@ function* trimbleFrames(data, stats) {
 
 // src/trimble/nav.ts
 var GPS_EPOCH_MS19 = Date.UTC(1980, 0, 6);
-var BDT_EPOCH_MS4 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK11 = 7 * 86400;
-var MS_PER_WEEK10 = SEC_PER_WEEK11 * 1e3;
+var BDT_EPOCH_MS6 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK12 = 7 * 86400;
+var MS_PER_WEEK10 = SEC_PER_WEEK12 * 1e3;
 var GPS_PI2 = 3.1415926535898;
 var BDS_WEEK_OFFSET = 1356;
 var BDS_LEAP_SEC = 14;
 var gpsMs3 = (week, sec) => GPS_EPOCH_MS19 + week * MS_PER_WEEK10 + sec * 1e3;
-var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK11;
+var sowOf4 = (dateMs) => dateMs / 1e3 % SEC_PER_WEEK12;
 var SUB_GPS_EPHEMERIS = 1;
 var SUB_ION_UTC = 3;
 var SUB_GLO_EPHEMERIS = 9;
@@ -11169,7 +11684,7 @@ function decodeBdsEphemeris3(view, base) {
   const tocSec = r.tocSec - BDS_LEAP_SEC;
   const toeSec = r.toeSec - BDS_LEAP_SEC;
   const tocDate = new Date(
-    BDT_EPOCH_MS4 + bdsWeek * MS_PER_WEEK10 + tocSec * 1e3
+    BDT_EPOCH_MS6 + bdsWeek * MS_PER_WEEK10 + tocSec * 1e3
   );
   return {
     system: "C",
@@ -11240,7 +11755,7 @@ function decodeGloEphemeris2(view, base) {
     // RINEX stores −τn as the clock bias; the record carries τn (ICD sign).
     tauN: -view.getFloat64(base + 113, false),
     gammaN: view.getFloat64(base + 121, false),
-    messageFrameTime: (tocMs - GPS_EPOCH_MS19) / 1e3 % SEC_PER_WEEK11,
+    messageFrameTime: (tocMs - GPS_EPOCH_MS19) / 1e3 % SEC_PER_WEEK12,
     // State vector: metres / m·s⁻¹ / m·s⁻² → km / km·s⁻¹ / km·s⁻².
     x: view.getFloat64(base + 33, false) / 1e3,
     xDot: view.getFloat64(base + 41, false) / 1e3,
@@ -11692,12 +12207,12 @@ function* binexRecords(data, view, stats) {
 // src/binex/nav.ts
 var GPS_EPOCH_MS21 = Date.UTC(1980, 0, 6);
 var GLO_DAY0_MS = Date.UTC(1980, 0, 1);
-var BDT_EPOCH_MS5 = Date.UTC(2006, 0, 1);
-var SEC_PER_WEEK12 = 7 * 86400;
-var MS_PER_WEEK12 = SEC_PER_WEEK12 * 1e3;
+var BDT_EPOCH_MS7 = Date.UTC(2006, 0, 1);
+var SEC_PER_WEEK13 = 7 * 86400;
+var MS_PER_WEEK12 = SEC_PER_WEEK13 * 1e3;
 var SC2RAD = GPS_PI;
 var gpsMs4 = (week, sec) => GPS_EPOCH_MS21 + week * MS_PER_WEEK12 + sec * 1e3;
-var sowOf5 = (dateMs) => (dateMs / 1e3 % SEC_PER_WEEK12 + SEC_PER_WEEK12) % SEC_PER_WEEK12;
+var sowOf5 = (dateMs) => (dateMs / 1e3 % SEC_PER_WEEK13 + SEC_PER_WEEK13) % SEC_PER_WEEK13;
 var two9 = (n) => String(n).padStart(2, "0");
 var Reader = class {
   constructor(view, start, le) {
@@ -11861,7 +12376,7 @@ function decodeBeidou(view, p, le) {
   const iode = flag1 >> 6 & 31;
   const svHealth = flag1 & 1;
   const tgd = bdsTgd(flag2 >> 4);
-  const tocDate = new Date(BDT_EPOCH_MS5 + week * MS_PER_WEEK12 + toes * 1e3);
+  const tocDate = new Date(BDT_EPOCH_MS7 + week * MS_PER_WEEK12 + toes * 1e3);
   return {
     system: "C",
     prn: `C${two9(prn)}`,
@@ -12389,13 +12904,13 @@ var GM_GPS = 3986005e8;
 var GM_GAL = 3986004418e5;
 var GM_BDS = 3986004418e5;
 var GPS_EPOCH_MS23 = Date.UTC(1980, 0, 6);
-var BDT_EPOCH_MS6 = Date.UTC(2006, 0, 1);
+var BDT_EPOCH_MS8 = Date.UTC(2006, 0, 1);
 var WEEK_MS = 6048e5;
 var BDT_MINUS_GPST_MS = 14e3;
 var BDS_GEO_PRNS = /* @__PURE__ */ new Set([1, 2, 3, 4, 5, 59, 60, 61, 62, 63]);
 function almanacEpochMs(alm) {
   if (alm.system === "C") {
-    return BDT_EPOCH_MS6 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
+    return BDT_EPOCH_MS8 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3 + BDT_MINUS_GPST_MS;
   }
   return GPS_EPOCH_MS23 + alm.weekAlm * WEEK_MS + alm.toaSec * 1e3;
 }
@@ -12770,8 +13285,8 @@ function computeDop(satAzEls) {
   for (const { az, el, prn } of sats) {
     const cosEl = Math.cos(el);
     const row = [cosEl * Math.sin(az), cosEl * Math.cos(az), Math.sin(el)];
-    const clock = dopClock(prn);
-    for (const c of clocks) row.push(c === clock ? 1 : 0);
+    const clock2 = dopClock(prn);
+    for (const c of clocks) row.push(c === clock2 ? 1 : 0);
     H3.push(row);
   }
   const HtH = Array.from({ length: m }, () => new Array(m).fill(0));
@@ -14997,7 +15512,7 @@ var P2_31 = 2 ** -31;
 var P2_39 = 2 ** -39;
 var D2R = Math.PI / 180;
 var R2D = 180 / Math.PI;
-var SEC_PER_WEEK13 = 604800;
+var SEC_PER_WEEK14 = 604800;
 var MAXSBSAGEF = 30;
 var MAXSBSAGEL = 360;
 var MAXBAND = 10;
@@ -15145,7 +15660,7 @@ var igpband2 = [
   [{ coord: 60, arr: x5, bits: 1, bite: 72 }, { coord: 65, arr: x6, bits: 73, bite: 108 }, { coord: 70, arr: x6, bits: 109, bite: 144 }, { coord: 75, arr: x6, bits: 145, bite: 180 }, { coord: 85, arr: x7, bits: 181, bite: 192 }],
   [{ coord: -60, arr: x5, bits: 1, bite: 72 }, { coord: -65, arr: x6, bits: 73, bite: 108 }, { coord: -70, arr: x6, bits: 109, bite: 144 }, { coord: -75, arr: x6, bits: 145, bite: 180 }, { coord: -85, arr: x8, bits: 181, bite: 192 }]
 ];
-var gpsSeconds = (week, tow) => week * SEC_PER_WEEK13 + tow;
+var gpsSeconds = (week, tow) => week * SEC_PER_WEEK14 + tow;
 function maskPrn(i) {
   if (i >= 1 && i <= 37) return `G${two11(i)}`;
   if (i >= 38 && i <= 61) return `R${two11(i - 37)}`;
@@ -15525,8 +16040,8 @@ var SbasProcessor = class {
       const j = block * 15 + i;
       if (j >= b.igp.length) continue;
       const give = getBitU(msg, 22 + i * 13 + 9, 4);
-      const delay = getBitU(msg, 22 + i * 13, 9);
-      b.igp[j].delay = delay === 511 ? 0 : delay * 0.125;
+      const delay2 = getBitU(msg, 22 + i * 13, 9);
+      b.igp[j].delay = delay2 === 511 ? 0 : delay2 * 0.125;
       b.igp[j].give = give + 1 >= 16 ? 0 : give + 1;
       b.igp[j].t0s = t0s;
     }
@@ -15692,19 +16207,19 @@ var SbasProcessor = class {
       if (w[3] < 0) return null;
     } else return null;
     const now = gpsSeconds(week, tow);
-    let delay = 0;
+    let delay2 = 0;
     let varVert = 0;
     for (let i = 0; i < 4; i++) {
       const g = pts[i];
       if (!g) continue;
-      delay += w[i] * g.delay;
+      delay2 += w[i] * g.delay;
       const sigGive = Math.sqrt(varicorr(g.give));
       const d = this.degr;
       const eiono = d ? sbasIonoDeg(d, now - g.t0s) : 0;
       const sig2 = d?.rssIono ? sigGive * sigGive + eiono * eiono : (sigGive + eiono) ** 2;
       varVert += w[i] * sig2;
     }
-    return { delayM: delay * fp, varM2: varVert * fp * fp };
+    return { delayM: delay2 * fp, varM2: varVert * fp * fp };
   }
   /** Find the four IGPs bracketing a pierce point (RTKLIB `searchigp`). */
   searchIgp(latP, lonP) {
@@ -15792,10 +16307,10 @@ function applyOrbitClock(eph, corr, timeMs) {
   const clockM = corr.clockC0 + (corr.clockC1 ?? 0) * age + (corr.clockC2 ?? 0) * age * age + (corr.highRateClock ?? 0);
   return { x, y, z, clockOffsetS: clockM / C_LIGHT };
 }
-function hasToOrbitClock(orbit, clock, refTimeMs, validitySeconds) {
+function hasToOrbitClock(orbit, clock2, refTimeMs, validitySeconds) {
   if (orbit.deltaRadial == null || orbit.deltaInTrack == null || orbit.deltaCrossTrack == null)
     return null;
-  const clockC0 = clock && clock.deltaClock != null && !clock.notUsable ? clock.deltaClock : 0;
+  const clockC0 = clock2 && clock2.deltaClock != null && !clock2.notUsable ? clock2.deltaClock : 0;
   return {
     prn: orbit.prn,
     iod: orbit.gnssIod,
@@ -17171,7 +17686,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     let x9 = 0;
     let y2 = 0;
     let z2 = 0;
-    const clock2 = new Map(systems.map((s) => [s, 0]));
+    const clock3 = new Map(systems.map((s) => [s, 0]));
     const residuals2 = {};
     let iterations2 = 0;
     let converged2 = false;
@@ -17191,7 +17706,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
         const psr = pseudoranges.get(prn);
         const eph = ephemerides.get(prn);
         const sys = prn[0];
-        const clk = clock2.get(sys);
+        const clk = clock3.get(sys);
         const tTx = timeMs - psr / C_LIGHT * 1e3;
         const dtsClock = satClockCorrection(eph, tTx);
         const sat = computeSatPosition(eph, tTx - dtsClock * 1e3);
@@ -17283,13 +17798,13 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
       y2 += dx[1];
       z2 += dx[2];
       for (const s of systems)
-        clock2.set(s, clock2.get(s) + dx[sysIndex.get(s)]);
+        clock3.set(s, clock3.get(s) + dx[sysIndex.get(s)]);
       if (Math.hypot(dx[0], dx[1], dx[2]) < convergenceM) {
         converged2 = true;
         break;
       }
     }
-    return { x: x9, y: y2, z: z2, clock: clock2, residuals: residuals2, iterations: iterations2, converged: converged2 };
+    return { x: x9, y: y2, z: z2, clock: clock3, residuals: residuals2, iterations: iterations2, converged: converged2 };
   };
   const REJECT_THRESHOLD_M = 50;
   let candidates = all;
@@ -17314,7 +17829,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
     candidates = remaining;
   }
   if (!inner) return null;
-  const { x, y, z, clock, residuals, iterations, converged } = inner;
+  const { x, y, z, clock: clock2, residuals, iterations, converged } = inner;
   const used = [];
   const azels = [];
   const [rxLat, rxLon, rxHgt] = ecefToGeodetic(x, y, z);
@@ -17354,7 +17869,7 @@ function solveSpp(pseudoranges, ephemerides, timeMs, opts = {}) {
   const pl = sbas ? sbasProtectionLevels(sbasRows) : null;
   return {
     position: [x, y, z],
-    clockBias: Object.fromEntries(clock),
+    clockBias: Object.fromEntries(clock2),
     usedSatellites: used,
     rejectedSatellites: rejected,
     residuals,
@@ -19895,6 +20410,7 @@ function computePsdDb(centerMHz, halfSpanChips, numPoints, psdFn, f0 = 1023e3, f
   parseNovatelRange,
   parseRinexStream,
   parseSbfAlmanac,
+  parseSbfBdsCnav,
   parseSbfBdsNav,
   parseSbfCnav,
   parseSbfGalNav,