diff --git a/ephemeris.cc b/ephemeris.cc
index b22487f..cd11348 100644
--- a/ephemeris.cc
+++ b/ephemeris.cc
@@ -48,3 +48,47 @@ std::pair<double,double> getLongLat(double x, double y, double z)
 
   return std::make_pair(longitude, latitude);
 }
+
+
+double getElevationDeg(const Point& sat, const Point& our)
+{
+
+  Point core{0,0,0};
+  
+  Vector core2us(core, our);
+  Vector dx(our, sat); //  = x-ourx, dy = y-oury, dz = z-ourz;
+  
+  // https://ds9a.nl/articles/
+  
+  double elev = acos ( core2us.inner(dx) / (core2us.length() * dx.length()));
+  double deg = 180.0* (elev/M_PI);
+  return 90.0 - deg;
+}
+
+// https://gis.stackexchange.com/questions/58923/calculating-view-angle
+
+double getAzimuthDeg(const Point& sat, const Point& our)
+{
+  Point core{0,0,0};
+
+  Vector north{
+    -our.z*our.x,
+    -our.z*our.y,
+    our.x*our.x + our.y * our.y};
+
+  Vector east{-our.y, our.x, 0};
+  
+  Vector dx(our, sat); //  = x-ourx, dy = y-oury, dz = z-ourz;
+  
+  // https://ds9a.nl/articles/
+  
+  double azicos = ( north.inner(dx) / (north.length() * dx.length()));
+  double azisin = ( east.inner(dx) / (east.length() * dx.length()));
+
+  double azi = atan2(azisin, azicos);
+  
+  double deg = 180.0* (azi/M_PI);
+  if(deg < 0)
+    deg += 360;
+  return deg;
+}
diff --git a/ephemeris.hh b/ephemeris.hh
index 64b1f19..94a96cf 100644
--- a/ephemeris.hh
+++ b/ephemeris.hh
@@ -5,7 +5,7 @@
 int ephAge(int tow, int t0e);
 
 template<typename T>
-void getCoordinates(int wn, double tow, const T& iod, Point* p, bool quiet=true)
+void getCoordinates(double tow, const T& iod, Point* p, bool quiet=true)
 {
   using namespace std;
   // here goes
@@ -165,25 +165,25 @@ struct DopplerData
 };
 
 template<typename T>
-void getSpeed(int wn, double tow, const T& eph, Vector* v)
+void getSpeed(double tow, const T& eph, Vector* v)
 {
   Point a, b;
-  getCoordinates(wn, tow-0.5, eph, &a);
-  getCoordinates(wn, tow+0.5, eph, &b);
+  getCoordinates(tow-0.5, eph, &a);
+  getCoordinates(tow+0.5, eph, &b);
   *v = Vector(a, b);
 }
 
 template<typename T>
-DopplerData doDoppler(int wn, int tow, const Point& us, const T& eph, double freq)
+DopplerData doDoppler(double tow, const Point& us, const T& eph, double freq)
 {
   DopplerData ret;
   
   // be careful with time here - we need to evaluate at the timestamp of this RFDataType update
   // which might be newer than .tow in g_svstats
-  getCoordinates(wn, tow, eph, &ret.sat);
+  getCoordinates(tow, eph, &ret.sat);
   Point core;
   Vector us2sat(us, ret.sat);
-  getSpeed(wn, tow, eph, &ret.speed);
+  getSpeed(tow, eph, &ret.speed);
   Vector core2us(core, us);
   Vector dx(us, ret.sat); //  = x-ourx, dy = y-oury, dz = z-ourz;
         
@@ -201,3 +201,5 @@ DopplerData doDoppler(int wn, int tow, const Point& us, const T& eph, double fre
 }
 
 std::pair<double,double> getLongLat(double x, double y, double z);
+double getElevationDeg(const Point& sat, const Point& our);
+double getAzimuthDeg(const Point& sat, const Point& our);
diff --git a/html/almanac.js b/html/almanac.js
index ceeaa32..3dec536 100644
--- a/html/almanac.js
+++ b/html/almanac.js
@@ -14,7 +14,7 @@ function maketable(str, arr)
         enter().
         append("tr");
     
-    var columns = ["sv", "best-tle", "best-tle-dist", "best-tle-norad", "best-tle-int-desig", "e1bhs", "e5bhs", "health", "inclination", "eph-ecefX", "eph-ecefY", "eph-ecefZ", "tle-ecefX", "tle-ecefY", "tle-ecefZ", "eph-latitude", "eph-longitude", "tle-latitude", "tle-longitude", "t0e", "t"]; // , "tle-eciX", "tle-eciY", "tle-eciZ"
+    var columns = ["sv", "best-tle", "best-tle-dist", "best-tle-norad", "best-tle-int-desig", "eph-ecefX", "eph-ecefY", "eph-ecefZ", "tle-ecefX", "tle-ecefY", "tle-ecefZ", "eph-latitude", "eph-longitude", "tle-latitude", "tle-longitude", "tle-eciX", "tle-eciY", "tle-eciZ", "t0e", "t"];    
     
     // append the header row
     thead.append("tr")
@@ -23,10 +23,8 @@ function maketable(str, arr)
         .enter()
         .append("th")
         .text(function(column) {
-            if(column == "best-tle-dist")
-                return "tle-dist";
-            if(column == "best-tle-int-desig")
-                return "int-desig";
+            if(column == "delta_hz_corr")
+                return "ΔHz";
             else
                 return column;
         });
@@ -37,9 +35,7 @@ function maketable(str, arr)
                 var ret={};
                 ret.column = column;
                 ret.color=null;
-                if(row[column] != null && column != "sv" && column != "best-tle" &&
-                   column != "best-tle-norad" && column != "best-tle-int-desig" && column != "e1bhs" &&
-                   column != "e5bhs" && column!="health")
+                if(row[column] != null && column != "sv" && column != "best-tle" && column != "best-tle-norad" && column != "best-tle-int-desig")
                     ret.value = row[column].toFixed(1);
                 else
                     ret.value = row[column];
@@ -90,6 +86,9 @@ function update()
         var livearr=[];
         for(n = 0 ; n < arr.length; n++)
         {
+            if(arr[n].sv[0]!='G')
+                continue;
+
             livearr.push(arr[n]);
         }
 
diff --git a/html/doalles.js b/html/doalles.js
index 5102cac..bd73606 100644
--- a/html/doalles.js
+++ b/html/doalles.js
@@ -200,6 +200,7 @@ function update()
         var livearr=[], stalearr=[];
         for(n = 0 ; n < arr.length; n++)
         {
+//            if(arr[n]["gnssid"]) continue;
             if(arr[n]["last-seen-s"] < 600)
                 livearr.push(arr[n]);
             else
@@ -212,6 +213,6 @@ function update()
     });
 }
 
-update();
+repeat=update();
 
 
diff --git a/html/geo/geo.js b/html/geo/geo.js
index 7777e71..1f1354d 100644
--- a/html/geo/geo.js
+++ b/html/geo/geo.js
@@ -80,7 +80,8 @@ function update()
             .attr("cx", d => aProjection([d["eph-longitude"],d["eph-latitude"]])[0])                
             .attr("cy", d => aProjection([d["eph-longitude"],d["eph-latitude"]])[1])
             .attr("fill", function(d) { if(d.gnssid==2) return "blue";
-                                        if(d.gnssid==3) return "red";
+                                        else if(d.gnssid==3) return "red";
+                                        else if(d.gnssid==6) return "yellow";
                                         else return "green"; });
 
         svg.selectAll("text").data(arr)             
@@ -88,7 +89,9 @@ function update()
             .append("text")
             .attr("dx", d => 5+aProjection([d["eph-longitude"],d["eph-latitude"]])[0])                
             .attr("dy", d => 5+aProjection([d["eph-longitude"],d["eph-latitude"]])[1])
-            .text(d => d.sv);
+            .text(d => d.sv)
+            .attr("fill", function(d) { if(d.observed==true) return "black"; return "#666666"; })
+            .attr("font-weight", function(d) { if(d.observed==true) return "bold"; return null; });
 
         svg.selectAll("rect").data(results[1])             
             .enter()
diff --git a/navdump.cc b/navdump.cc
index bed8234..8a38840 100644
--- a/navdump.cc
+++ b/navdump.cc
@@ -26,6 +26,8 @@
 #include <unistd.h>
 using namespace std;
 
+Point g_ourpos;
+
 string beidouHealth(int in)
 {
   string ret;
@@ -108,7 +110,7 @@ try
     cout<<humanTime(nmm.localutcseconds())<<" "<<nmm.localutcnanoseconds()<<" ";
     cout<<"src "<<nmm.sourceid()<< " ";
     if(nmm.type() == NavMonMessage::ReceptionDataType) {
-      cout<<"receptiondata for "<<nmm.rd().gnssid()<<","<<nmm.rd().gnsssv()<<", db "<<nmm.rd().db()<<" ele "<<nmm.rd().el() <<" azi "<<nmm.rd().azi()<<" prRes "<<nmm.rd().prres() << endl;
+      cout<<"receptiondata for "<<nmm.rd().gnssid()<<","<<nmm.rd().gnsssv()<<","<< (nmm.rd().has_sigid() ? nmm.rd().sigid() : 0) <<" db "<<nmm.rd().db()<<" ele "<<nmm.rd().el() <<" azi "<<nmm.rd().azi()<<" prRes "<<nmm.rd().prres() << endl;
     }
     else if(nmm.type() == NavMonMessage::GalileoInavType) {
       if(skipGalileo)
@@ -123,7 +125,7 @@ try
       
       gm.tow = nmm.gi().gnsstow();
       gmwtypes[{nmm.gi().gnsssv(), wtype}] = gm;
-      cout << "gal inav for "<<nmm.gi().gnssid()<<","<<nmm.gi().gnsssv()<<" tow "<< nmm.gi().gnsstow()<<" wtype "<< wtype<<" ";
+      cout << "gal inav for "<<nmm.gi().gnssid()<<","<<nmm.gi().gnsssv()<<","<<nmm.gi().sigid()<<" tow "<< nmm.gi().gnsstow()<<" wtype "<< wtype<<" ";
       static uint32_t tow;
       if(wtype == 4) {
         //              2^-34       2^-46
@@ -158,13 +160,14 @@ try
         cout<<"  t0a "<<gm.t0almanac<<", alma sv1 "<<gm.alma1.svid<<", t0a age: "<< ephAge(gm.t0almanac *600, tow) << " ";
         if(gm.alma1.svid) {
           Point satpos;
-          getCoordinates(0, gm.tow, gm.alma1, &satpos);
+          getCoordinates(gm.tow, gm.alma1, &satpos);
           cout<< "("<<satpos.x/1000<<", "<<satpos.y/1000<<", "<<satpos.z/1000<<")";
           
           auto match = tles.getBestMatch(nmm.localutcseconds(), satpos.x, satpos.y, satpos.z);
           cout<<" best-tle-match "<<match.name <<" distance "<<match.distance /1000<<" km ";
           cout <<" tle-e "<<match.e <<" eph-e " <<gm.alma1.getE() <<" tle-ran "<<match.ran;
           cout<<" norad " <<match.norad <<" int-desig " << match.internat;
+          cout<<" ele " << getElevationDeg(satpos, g_ourpos) << " azi " << getAzimuthDeg(satpos, g_ourpos);
         }
       }
       else if(wtype == 8 && gm.tow - gmwtypes[{sv,7}].tow < 5 && gmwtypes[{sv,7}].alma1.svid && gm.iodalmanac == gmwtypes[{sv,7}].iodalmanac) {
@@ -197,7 +200,7 @@ try
       uint8_t page;
       static int gpswn;
       int frame=parseGPSMessage(cond, gs, &page);
-      cout<<"GPS "<<sv<<": "<<gs.tow<<" frame "<<frame<<" ";
+      cout<<"GPS "<<sv<<"@"<<nmm.gpsi().sigid()<<": "<<gs.tow<<" frame "<<frame<<" ";
       if(frame == 1) {
         static map<int, GPSState> oldgs1s;
         gpswn = gs.wn;
@@ -218,20 +221,21 @@ try
         cout <<"iod "<<gs.gpsiod;
         if(eph[sv].isComplete(gs.gpsiod)) {
           Point sat;
-          getCoordinates(0, gs.tow, eph[sv].iods[gs.gpsiod], &sat);
+          getCoordinates(gs.tow, eph[sv].iods[gs.gpsiod], &sat);
           TLERepo::Match second;
           auto match = tles.getBestMatch(utcFromGPS(gpswn, gs.tow), sat.x, sat.y, sat.z, &second);
           cout<<" best-tle-match "<<match.name <<" dist "<<match.distance /1000<<" km";
           cout<<" norad " <<match.norad <<" int-desig " << match.internat;
           cout<<" 2nd-match "<<second.name << " dist "<<second.distance/1000<<" km t0e "<<gs.gpsalma.getT0e() << " t " <<nmm.localutcseconds();
+          cout<<" ele " << getElevationDeg(sat, g_ourpos) << " azi " << getAzimuthDeg(sat, g_ourpos);
 
           if(almas.count(sv)) {
             Point almapoint;
-            getCoordinates(0, gs.tow, almas[sv], &almapoint);
+            getCoordinates(gs.tow, almas[sv], &almapoint);
             cout<<" alma-dist " << Vector(sat, almapoint).length();
 
             Vector speed;
-            getSpeed(0, gs.tow, eph[sv].iods[gs.gpsiod], &speed);
+            getSpeed(gs.tow, eph[sv].iods[gs.gpsiod], &speed);
             Point core;
             csv << nmm.localutcseconds() << " 0 "<< sv <<" " << gs.tow << " " << match.distance <<" " << Vector(sat, almapoint).length() << " " << utcFromGPS(gpswn, gs.tow) - nmm.localutcseconds() << " " << sat.x <<" " << sat.y <<" " << sat.z <<" " <<speed.x <<" " <<speed.y<<" " <<speed.z<< " " << Vector(core, sat).length() << " " << eph[sv].iods[gs.gpsiod].getI0()<<" " << eph[sv].iods[gs.gpsiod].getE() << " " <<gs.gpsiod<<endl;
           }
@@ -243,7 +247,7 @@ try
         if((gs.gpsalma.sv >= 25 && gs.gpsalma.sv <= 32) || gs.gpsalma.sv==57 ) { // see table 20-V of the GPS ICD
           cout << " data-id "<<gs.gpsalma.dataid <<" alma-sv "<<gs.gpsalma.sv<<" t0a = "<<gs.gpsalma.getT0e() <<" health " <<gs.gpsalma.health;
           Point sat;
-          getCoordinates(0, gs.tow, gs.gpsalma, &sat);
+          getCoordinates(gs.tow, gs.gpsalma, &sat);
           TLERepo::Match second;
           auto match = tles.getBestMatch(nmm.localutcseconds(), sat.x, sat.y, sat.z, &second);
           cout<<" best-tle-match "<<match.name <<" dist "<<match.distance /1000<<" km";
@@ -256,7 +260,7 @@ try
         if(gs.gpsalma.sv <= 24) {
           cout << " alma-sv "<<gs.gpsalma.sv<<" t0a = "<<gs.gpsalma.getT0e() <<" health " <<gs.gpsalma.health;
           Point sat;
-          getCoordinates(0, gs.tow, gs.gpsalma, &sat);
+          getCoordinates(gs.tow, gs.gpsalma, &sat);
           TLERepo::Match second;
           auto match = tles.getBestMatch(nmm.localutcseconds(), sat.x, sat.y, sat.z, &second);
           cout<<" best-tle-match "<<match.name <<" dist "<<match.distance /1000<<" km";
@@ -291,11 +295,11 @@ try
         msgs[sv]=bm;
         cout<<" wn "<<bm.wn<<" t0c "<<(int)bm.t0c<<" aodc "<< (int)bm.aodc <<" aode "<< (int)bm.aode <<" sath1 "<< (int)bm.sath1 << " urai "<<(int)bm.urai << " af0 "<<bm.a0 <<" af1 " <<bm.a1 <<" af2 "<<bm.a2;
         auto offset = bm.getAtomicOffset();
-        cout<< ", "<<offset.first<<"ns " << (offset.second * 3600) <<" ns/hour "<< ephAge(bm.sow, bm.t0c*8)<<endl;
+        cout<< ", "<<offset.first<<"ns " << (offset.second * 3600) <<" ns/hour "<< ephAge(bm.sow, bm.t0c*8);
       }
       else if(fraid == 3 && bm.sow) {
         Point sat;
-        getCoordinates(0, bm.sow, bm, &sat);
+        getCoordinates(bm.sow, bm, &sat);
         TLERepo::Match second;
         auto match = tles.getBestMatch(nmm.localutcseconds(), sat.x, sat.y, sat.z, &second);
         cout<<" best-tle-match "<<match.name <<" dist "<<match.distance /1000<<" km";
@@ -312,7 +316,7 @@ try
         if(processBeidouAlmanac(bm, bae)) {
           cout<<" alma-sv "<<bae.sv;
           Point sat;
-          getCoordinates(0, bm.sow, bae.alma, &sat);
+          getCoordinates(bm.sow, bae.alma, &sat);
           TLERepo::Match second;
           auto match = tles.getBestMatch(nmm.localutcseconds(), sat.x, sat.y, sat.z, &second);
           cout<<" best-tle-match "<<match.name <<" dist "<<match.distance /1000<<" km";
@@ -394,11 +398,13 @@ try
     }
     else if(nmm.type() == NavMonMessage::ObserverPositionType) {
       auto lonlat = getLongLat(nmm.op().x(), nmm.op().y(), nmm.op().z());
-      cout<<"ECEF "<<nmm.op().x()<<", "<<nmm.op().y()<<", "<<nmm.op().z()<< " lon "<< 180*lonlat.first/M_PI << " lat "<<
-        180*lonlat.second/M_PI<<endl;
+      cout<<std::fixed<<"ECEF "<<nmm.op().x()<<", "<<nmm.op().y()<<", "<<nmm.op().z()<< " lon "<< 180*lonlat.first/M_PI << " lat "<<
+        180*lonlat.second/M_PI<< " acc "<<nmm.op().acc()<<" m "<<endl;
+      g_ourpos = Point(nmm.op().x(), nmm.op().y(), nmm.op().z());
     }
     else if(nmm.type() == NavMonMessage::RFDataType) {
-      cout<<"RFdata for "<<nmm.rfd().gnssid()<<","<<nmm.rfd().gnsssv()<<endl;
+      cout<<"RFdata for "<<nmm.rfd().gnssid()<<","<<nmm.rfd().gnsssv()<<","<<(nmm.rfd().has_sigid() ? nmm.rfd().sigid() : 0) <<endl;
+
     }
     else {
       cout<<"Unknown type "<< (int)nmm.type()<<endl;
diff --git a/navmon.proto b/navmon.proto
index 0b8658b..3a2fbb1 100644
--- a/navmon.proto
+++ b/navmon.proto
@@ -25,6 +25,7 @@ message NavMonMessage {
 	required uint32 gnssID =3;
 	required uint32 gnssSV =4;
 	required bytes contents =5;
+        optional uint32 sigid = 6;        
   }
 
   message GPSInav {
@@ -34,6 +35,7 @@ message NavMonMessage {
 	required uint32 gnssID =3;
 	required uint32 gnssSV =4;
 	required bytes contents =5;
+        optional uint32 sigid = 6;
   }
 
   message BeidouInavD1 {
@@ -43,6 +45,7 @@ message NavMonMessage {
 	required uint32 gnssID =3;
 	required uint32 gnssSV =4;
 	required bytes contents =5;
+                optional uint32 sigid = 6;      
   }
   message BeidouInavD2 {
 	required uint32 gnssWN =1;
@@ -51,6 +54,7 @@ message NavMonMessage {
 	required uint32 gnssID =3;
 	required uint32 gnssSV =4;
 	required bytes contents =5;
+        optional uint32 sigid = 6;        
   }
 
   message GlonassInav {
@@ -58,12 +62,14 @@ message NavMonMessage {
 	required uint32 gnssSV  = 2;
         required uint32 freq    = 3;
 	required bytes contents = 4;
+        optional uint32 sigid = 5;
   }
 
 
   message ReceptionData {
         required uint32 gnssID =1;
 	required uint32 gnssSV =2;
+        optional uint32 sigid = 7;
   	required uint32 db     =3;
         required uint32 el     =4;
         required uint32 azi    =5;
@@ -81,15 +87,15 @@ message NavMonMessage {
         required double locktimeMS = 8;
         required double doStd = 9;
         required double cpStd = 10;
-        required double prStd = 11
-        ;
+        required double prStd = 11;
+        optional uint32 sigid = 12;
   }
 
   message ObserverPosition {
           required double x = 1;
           required double y = 2;
           required double z = 3;
-          required double accCm = 4;
+          required double acc = 4;
   }
 
   optional GalileoInav gi=5;
diff --git a/navparse.cc b/navparse.cc
index a5f28de..b4483f5 100644
--- a/navparse.cc
+++ b/navparse.cc
@@ -29,7 +29,12 @@
 #include <Tle.h>
 using namespace std;
 
-std::map<int, Point> g_srcpos;
+struct ObserverPosition
+{
+  Point pos;
+  time_t lastSeen{0};
+};
+std::map<int, ObserverPosition> g_srcpos;
 
 template<typename T>
 class GetterSetter
@@ -399,16 +404,27 @@ void SVStat::addGalileoWord(std::basic_string_view<uint8_t> page)
   }
 }
 
-typedef std::map<pair<int,int>, SVStat> svstats_t;
+struct SatID
+{
+  uint32_t gnss{255}; // these could all be 'int16_t' but leads to howling numbers of warnings with protobuf
+  uint32_t sv{0};
+  uint32_t sigid{0};
+  bool operator<(const SatID& rhs) const
+  {
+    return tie(gnss, sv, sigid) < tie(rhs.gnss, rhs.sv, rhs.sigid);
+  }
+};
+
+typedef std::map<SatID, SVStat> svstats_t;
 svstats_t g_svstats;
 
-GetterSetter<std::map<pair<int,int>, SVStat>> g_statskeeper;
+GetterSetter<svstats_t> g_statskeeper;
 
 int latestWN(int gnssid, const svstats_t& stats)
 {
-  map<int, pair<int,int>> ages;
+  map<int, SatID> ages;
   for(const auto& s: stats)
-    if(s.first.first == gnssid)
+    if(s.first.gnss == (unsigned int)gnssid)
       ages[7*s.second.wn*86400 + s.second.tow]= s.first;
   if(ages.empty())
     throw runtime_error("Asked for latest WN for "+to_string(gnssid)+": we don't know it yet");
@@ -418,9 +434,9 @@ int latestWN(int gnssid, const svstats_t& stats)
 
 int latestTow(int gnssid, const svstats_t& stats)
 {
-  map<int, pair<int,int>> ages;
+  map<int, SatID> ages;
   for(const auto& s: stats)
-    if(s.first.first == gnssid)
+    if(s.first.gnss == (unsigned int) gnssid)
       ages[7*s.second.wn*86400 + s.second.tow]= s.first;
   if(ages.empty())
     throw runtime_error("Asked for latest TOW for "+to_string(gnssid)+": we don't know it yet");
@@ -428,7 +444,7 @@ int latestTow(int gnssid, const svstats_t& stats)
 }
 
 
-uint64_t nanoTime(int gnssid, int wn, int tow)
+int64_t nanoTime(int gnssid, int wn, double tow)
 {
   int offset;
   if(gnssid == 0) // GPS
@@ -460,33 +476,89 @@ struct InfluxPusher
   }
 
   template<typename T>
-  void addValue( const pair<pair<int,int>,SVStat>& ent, string_view name, const T& value)
+  void addValue( const pair<SatID,SVStat>& ent, string_view name, const T& value)
   {
     if(d_mute)
       return;
-    d_buffer+= string(name)+",gnssid="+to_string(ent.first.first)+ +",sv=" +to_string(ent.first.second)+" value="+to_string(value)+
-      " "+to_string(nanoTime(ent.first.first, ent.second.wn, ent.second.tow))+"\n";
+    if(nanoTime (ent.first.gnss, ent.second.wn, ent.second.tow)/1000000000 > 2000000000) {
+      cerr<<"Unable to store item "<<name<<" for sv "<<ent.first.gnss<<","<<ent.first.sv<<": time out of range "<<ent.second.wn<<" "<<ent.second.tow<<endl;
+      return;
+    }
+    d_buffer+= string(name)+",gnssid="+to_string(ent.first.gnss)+ +",sv=" +to_string(ent.first.sv)+",sigid="+to_string(ent.first.sigid);
+    d_buffer+=" value="+to_string(value)+
+      " "+to_string(nanoTime(ent.first.gnss, ent.second.wn, ent.second.tow))+"\n";
     checkSend();
   }
 
   template<typename T>
-  void addValue(pair<int,int> id, string_view name, const T& value, std::optional<int> src = std::optional<int>())
+  void addValueObserver(int src, string_view name, const T& value, time_t t)
+  {
+    if(d_mute)
+      return;
+    d_buffer+= string(name)+",src="+to_string(src)+ " value="+to_string(value)+
+      " "+to_string(t*1000000000)+"\n";
+    checkSend();
+  }
+
+  
+  template<typename T>
+  void addValue(const SatID& id, string_view name, const T& value, std::optional<int> src = std::optional<int>())
   {
     if(d_mute)
       return;
 
+    if(nanoTime (id.gnss, g_svstats[id].wn, g_svstats[id].tow)/1000000000 > 2000000000) {
+      cerr<<"Unable to store item "<<name<<" for sv "<<id.gnss<<","<<id.sv<<": time out of range "<<g_svstats[id].wn<<" "<< g_svstats[id].tow<<endl;
+      return;
+    }
+
+    
     if(g_svstats[id].wn ==0 && g_svstats[id].tow == 0)
       return;
       //      cout << g_svstats[id].wn <<", "<<g_svstats[id].tow<<" -> " <<nanoTime(id.first, g_svstats[id].wn, g_svstats[id].tow)<<endl;
-    d_buffer+= string(name) +",gnssid="+to_string(id.first)+",sv=" +to_string(id.second);
+    d_buffer+= string(name) +",gnssid="+to_string(id.gnss)+",sv=" +to_string(id.sv)+",sigid="+to_string(id.sigid);
     if(src)
       d_buffer += ",src="+to_string(*src);
+    
     d_buffer+= " value="+to_string(value)+" "+
-      to_string(nanoTime(id.first, g_svstats[id].wn, g_svstats[id].tow))+"\n";
+      to_string(nanoTime(id.gnss, g_svstats[id].wn, g_svstats[id].tow))+"\n";
 
     checkSend();
   }
 
+  void addValue(const SatID& id, uint64_t nanotime, string_view name, const initializer_list<pair<const char*, double>>& values, std::optional<int> src = std::optional<int>())
+  {
+    if(d_mute)
+      return;
+
+    if(nanotime/1000000000 > 2000000000) {
+      cerr<<"Unable to store item "<<name<<" for sv "<<id.gnss<<","<<id.sv<<": time out of range "<<nanotime;
+      return;
+    }
+    for(const auto& p : values) {
+      if(isnan(p.second))
+        return;
+    }
+    
+    d_buffer+= string(name) +",gnssid="+to_string(id.gnss)+",sv=" +to_string(id.sv)+",sigid="+to_string(id.sigid);
+    if(src)
+      d_buffer += ",src="+to_string(*src);
+    
+    d_buffer+= " ";
+    bool lefirst=true;
+    for(const auto& v : values) {
+      if(!lefirst) {
+        d_buffer +=",";
+      }
+      lefirst=false;
+      d_buffer += string(v.first) + "="+to_string(v.second);
+    }
+    d_buffer += " " + to_string(nanotime)+"\n";
+
+    checkSend();
+  }
+
+  
   void checkSend()
   {
     if(d_buffer.size() > 1000000 || (time(0) - d_lastsent) > 10) {
@@ -546,11 +618,11 @@ std::optional<double> getHzCorrection(time_t now, const svstats_t svstats)
     if(now - s.second.deltaHz.first < 60) {
       alltot+=s.second.deltaHz.second;
       allcount++;
-      if(s.first.first == 0) {
+      if(s.first.gnss == 0) {
         gpstot+=s.second.deltaHz.second;
         gpscount++;
       }
-      else if(s.first.first == 2) {
+      else if(s.first.gnss == 2 && s.first.sigid == 1) { // focus on E1
         galtot+=s.second.deltaHz.second;
         galcount++;
       }
@@ -583,20 +655,6 @@ char getGNSSChar(int id)
     return '0'+id;
 }
 
-double getElevationDeg(const Point& p, int sourceid)
-{
-  Point our = g_srcpos[sourceid];
-  Point core{0,0,0};
-  
-  Vector core2us(core, our);
-  Vector dx(our, p); //  = x-ourx, dy = y-oury, dz = z-ourz;
-  
-  // https://ds9a.nl/articles/
-  
-  double elev = acos ( core2us.inner(dx) / (core2us.length() * dx.length()));
-  double deg = 180.0* (elev/M_PI);
-  return 90.0 - deg;
-}
 
 std::string humanBhs(int bhs)
 {
@@ -631,7 +689,7 @@ try
       catch(...)
         {}
       
-      map<int, int> utcstats, gpsgststats, gpsutcstats;
+      map<int, SatID> utcstats, gpsgststats, gpsutcstats;
 
       for(const auto& s: svstats) {
         if(!s.second.wn) // this will suck in 20 years
@@ -640,41 +698,40 @@ try
         //Galileo-UTC offset: 3.22 ns, Galileo-GPS offset: 7.67 ns, 18 leap seconds
 
 
-        if(s.first.first == 0) { // GPS
-          int sv = s.first.second;
-          int dw = (uint8_t)svstats[{0,sv}].wn - svstats[{0,sv}].wn0t;
-          int age = dw * 7 * 86400 + svstats[{0,sv}].tow - svstats[{0,sv}].t0t; // t0t is PRESCALED
+        if(s.first.gnss == 0) { // GPS
+          int dw = (uint8_t)s.second.wn - s.second.wn0t;
+          int age = dw * 7 * 86400 + s.second.tow - s.second.t0t; // t0t is PRESCALED // XXX changed this, 
           
-          gpsutcstats[age]=s.first.second;
+          gpsutcstats[age]=s.first;
           continue;
         }
 
         int dw = (uint8_t)s.second.wn - s.second.wn0t;
         int age = dw * 7 * 86400 + s.second.tow - s.second.t0t; // t0t is pre-scaled
-        utcstats[age]=s.first.second;
+        utcstats[age]=s.first;
 
         uint8_t wn0g = s.second.wn0t;
         int dwg = (((uint8_t)s.second.wn)&(1+2+4+8+16+32)) - wn0g;
         age = dwg*7*86400 + s.second.tow - s.second.t0g * 3600;
-        gpsgststats[age]=s.first.second;
+        gpsgststats[age]=s.first;
 
       }
       if(utcstats.empty()) {
         ret["utc-offset-ns"]=nullptr;
       }
       else {
-        int sv = utcstats.begin()->second; // freshest SV
-        long shift = svstats[{2,sv}].a0 * (1LL<<20) + svstats[{2,sv}].a1 * utcstats.begin()->first; // in 2^-50 seconds units
+        auto satid = utcstats.begin()->second; // freshest SV
+        long shift = svstats[{2,satid.sv,satid.sigid}].a0 * (1LL<<20) + svstats[{2,satid.sv,satid.sigid}].a1 * utcstats.begin()->first; // in 2^-50 seconds units
         ret["utc-offset-ns"] = 1.073741824*ldexp(1.0*shift, -20);
-        ret["leap-second-planned"] = (svstats[{2,sv}].dtLSF != svstats[{2,sv}].dtLS);
+        ret["leap-second-planned"] = (svstats[satid].dtLSF != svstats[satid].dtLS);
       }
 
       if(gpsgststats.empty()) {
         ret["gps-offset-ns"]=nullptr;
       }
       else {
-        int sv = gpsgststats.begin()->second; // freshest SV
-        long shift = svstats[{2,sv}].a0g * (1L<<16) + svstats[{2,sv}].a1g * gpsgststats.begin()->first; // in 2^-51 seconds units
+        auto satid = gpsgststats.begin()->second; // freshest SV
+        long shift = svstats[{2,satid.sv, satid.sigid}].a0g * (1L<<16) + svstats[{2,satid.sv, satid.sigid}].a1g * gpsgststats.begin()->first; // in 2^-51 seconds units
         
         ret["gps-offset-ns"] = 1.073741824*ldexp(shift, -21);
       }
@@ -683,8 +740,8 @@ try
         ret["gps-utc-offset-ns"]=nullptr;
       }
       else {
-        int sv = gpsutcstats.begin()->second; // freshest SV
-        long shift = svstats[{0,sv}].a0 * (1LL<<20) + svstats[{0,sv}].a1 * gpsutcstats.begin()->first; // In 2^-50 seconds units
+        auto satid = gpsutcstats.begin()->second; // freshest SV
+        long shift = svstats[{0,satid.sv,satid.sigid}].a0 * (1LL<<20) + svstats[{0,satid.sv,satid.sigid}].a1 * gpsutcstats.begin()->first; // In 2^-50 seconds units
 
         ret["gps-utc-offset-ns"] = 1.073741824*ldexp(shift, -20);
       }
@@ -705,7 +762,7 @@ try
         if(ae.second.alma.getT0e() > 7*86400)
           continue;
         Point sat;
-        getCoordinates(0, latestTow(3, svstats), ae.second.alma, &sat);
+        getCoordinates(latestTow(3, svstats), ae.second.alma, &sat);
         item["eph-ecefX"]= sat.x/1000;
         item["eph-ecefY"]= sat.y/1000;
         item["eph-ecefZ"]= sat.z/1000;
@@ -716,6 +773,13 @@ try
         item["t0e"] = ae.second.alma.getT0e();
         item["t"]= ephAge(ae.second.alma.getT0e(), latestTow(3, svstats))/86400.0;
         item["inclination"] = 180 * ae.second.alma.getI0() /M_PI;
+
+        item["observed"]=false;
+        if(auto iter = svstats.find({3, (uint32_t)ae.first, 0}); iter != svstats.end()) {
+          if(time(0) - nanoTime(3, iter->second.wn, iter->second.tow)/1000000000 < 300)
+            item["observed"] = true;
+        }
+        
         if(ephAge(ae.second.alma.getT0e(), latestTow(3, svstats)) < 0) {
           auto match = g_tles.getBestMatch(nanoTime(3, latestWN(3, svstats), latestTow(3, svstats))/1000000000.0,
                                          sat.x, sat.y, sat.z);
@@ -756,6 +820,22 @@ try
         item["lambdana"] = ae.second.second.getLambdaNaDeg();
         item["hna"] = ae.second.second.hna;
 
+        item["observed"] = false;
+        for(uint32_t sigid : {0,1,2}) { // XXX SIGIDS
+          if(auto iter = svstats.find({6, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
+            if(time(0) - nanoTime(6, iter->second.wn, iter->second.tow)/1000000000 < 300) {
+              item["observed"] = true;
+              auto longlat = getLongLat(iter->second.glonassMessage.x, iter->second.glonassMessage.y, iter->second.glonassMessage.z);
+              item["eph-longitude"] = 180*longlat.first/M_PI;
+              item["eph-latitude"]= 180*longlat.second/M_PI;
+              break;
+            }
+            
+          }
+        }
+
+
+        
         ret[fmt::sprintf("R%02d", ae.first)] = item;
       }
 
@@ -772,7 +852,7 @@ try
         item["i0"] = 180.0 * ae.second.getI0()/ M_PI;
         item["inclination"] = 180 * ae.second.getI0() /M_PI;
         Point sat;
-        getCoordinates(0, latestTow(2, svstats), ae.second, &sat);
+        getCoordinates(latestTow(2, svstats), ae.second, &sat);
         item["eph-ecefX"]= sat.x/1000;
         item["eph-ecefY"]= sat.y/1000;
         item["eph-ecefZ"]= sat.z/1000;
@@ -781,6 +861,16 @@ try
         item["eph-longitude"] = 180*longlat.first/M_PI;
         item["eph-latitude"]= 180*longlat.second/M_PI;
 
+
+        item["observed"] = false;
+        for(uint32_t sigid : {0,1,5}) {
+          if(auto iter = svstats.find({2, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
+            if(time(0) - nanoTime(2, iter->second.wn, iter->second.tow)/1000000000 < 300)
+              item["observed"] = true;
+          }
+        }
+
+        
         auto match = g_tles.getBestMatch(nanoTime(2, latestWN(2, svstats), latestTow(2, svstats))/1000000000.0,
                                          sat.x, sat.y, sat.z);
         
@@ -817,7 +907,7 @@ try
         item["i0"] = 180.0 * ae.second.getI0()/ M_PI;
         item["inclination"] = 180 * ae.second.getI0() /M_PI;
         Point sat;
-        getCoordinates(0, latestTow(0, svstats), ae.second, &sat);
+        getCoordinates(latestTow(0, svstats), ae.second, &sat);
         item["eph-ecefX"]= sat.x/1000;
         item["eph-ecefY"]= sat.y/1000;
         item["eph-ecefZ"]= sat.z/1000;
@@ -826,6 +916,15 @@ try
         item["eph-longitude"] = 180*longlat.first/M_PI;
         item["eph-latitude"]= 180*longlat.second/M_PI;
 
+        item["observed"] = false;
+        for(uint32_t sigid : {0,1,4}) {
+          if(auto iter = svstats.find({0, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
+            if(time(0) - nanoTime(0, iter->second.wn, iter->second.tow)/1000000000 < 300)
+              item["observed"] = true;
+          }
+        }
+
+        
         auto match = g_tles.getBestMatch(nanoTime(0, latestWN(0, svstats), latestTow(0, svstats))/1000000000.0,
                                          sat.x, sat.y, sat.z);
         
@@ -858,13 +957,14 @@ try
       for(const auto& src : g_srcpos) {
         nlohmann::json obj;
         obj["id"] = src.first;
-        auto longlat = getLongLat(src.second.x, src.second.y, src.second.z);
+        auto longlat = getLongLat(src.second.pos.x, src.second.pos.y, src.second.pos.z);
         longlat.first *= 180.0/M_PI;
         longlat.second *= 180.0/M_PI;
         longlat.first = ((int)(10*longlat.first))/10.0;
         longlat.second = ((int)(10*longlat.second))/10.0;
         obj["longitude"] = longlat.first;
         obj["latitude"] = longlat.second;
+        obj["last-seen"] = src.second.lastSeen;
         ret.push_back(obj);
       }
       return ret;
@@ -881,11 +981,12 @@ try
         if(!s.second.tow) // I know, I know, will suck briefly
           continue;
 
-        item["gnssid"] = s.first.first;
-        item["svid"] = s.first.second;
+        item["gnssid"] = s.first.gnss;
+        item["svid"] = s.first.sv;
+        item["sigid"] = s.first.sigid;
         // perhaps check oldBeidouMessage for sow >=0 as 'completeIOD'?
 
-        if(s.first.first == 3) { // beidou
+        if(s.first.gnss == 3) { // beidou
           item["sisa"]=humanUra(s.second.ura);
           if(s.second.t0eMSB >= 0 && s.second.t0eLSB >=0)
             item["eph-age-m"] = ephAge(s.second.tow, 8.0*((s.second.t0eMSB<<15) + s.second.t0eLSB))/60.0;
@@ -902,15 +1003,15 @@ try
             item["best-tle-int-desig"] = s.second.tleMatch.internat;
           }
           Point p;
-          getCoordinates(0, s.second.tow, s.second.oldBeidouMessage, &p);
+          getCoordinates(s.second.tow, s.second.oldBeidouMessage, &p);
           auto beidoualma = g_beidoualmakeeper.get();
-          if(auto iter = beidoualma.find(s.first.second); iter != beidoualma.end()) {
+          if(auto iter = beidoualma.find(s.first.sv); iter != beidoualma.end()) {
             Point almapos;
-            getCoordinates(0, s.second.tow, iter->second.alma, &almapos);
+            getCoordinates(s.second.tow, iter->second.alma, &almapos);
             item["alma-dist"] = Vector(almapos, p).length()/1000.0;
           }
         }
-        else if(s.first.first == 6) { // glonass
+        else if(s.first.gnss == 6) { // glonass
           if(s.second.glonassMessage.FT < 16)
             item["sisa"] = humanFt(s.second.glonassMessage.FT);
           item["aode"] = s.second.aode;
@@ -933,7 +1034,7 @@ try
         }
         if(s.second.completeIOD()) {
           item["iod"]=s.second.getIOD();
-          if(s.first.first == 0 || s.first.first == 3) {
+          if(s.first.gnss == 0 || s.first.gnss == 3) {
             item["sisa"]=humanUra(s.second.ura);
             //            cout<<"Asked to convert "<<s.second.ura<<" for sv "<<s.first.first<<","<<s.first.second<<endl;
           }
@@ -950,9 +1051,9 @@ try
           Point core;
           
           // this should actually use local time!
-          getCoordinates(0, s.second.tow, s.second.liveIOD(), &p);
+          getCoordinates(s.second.tow, s.second.liveIOD(), &p);
           auto match = g_tles.getBestMatch(
-                                           s.first.first ?
+                                           s.first.gnss ?
                                            utcFromGST((int)s.second.wn, (int)s.second.tow) : utcFromGPS(s.second.wn, s.second.tow),
                                            p.x, p.y, p.z);
 
@@ -971,19 +1072,19 @@ try
             if(hzCorrection)
               item["delta_hz_corr"] = s.second.deltaHz.second - *hzCorrection;
           }
-          if(s.first.first == 0) {
+          if(s.first.gnss == 0) {
             auto gpsalma = g_gpsalmakeeper.get();
-            if(auto iter = gpsalma.find(s.first.second); iter != gpsalma.end()) {
+            if(auto iter = gpsalma.find(s.first.sv); iter != gpsalma.end()) {
               Point almapos;
-              getCoordinates(0, s.second.tow, iter->second, &almapos);
+              getCoordinates(s.second.tow, iter->second, &almapos);
               item["alma-dist"] = Vector(almapos, p).length()/1000.0;
             }
           }
-          if(s.first.first == 2) {
+          if(s.first.gnss == 2) {
             auto galileoalma = g_galileoalmakeeper.get();
-            if(auto iter = galileoalma.find(s.first.second); iter != galileoalma.end()) {
+            if(auto iter = galileoalma.find(s.first.sv); iter != galileoalma.end()) {
               Point almapos;
-              getCoordinates(0, s.second.tow, iter->second, &almapos);
+              getCoordinates(s.second.tow, iter->second, &almapos);
               item["alma-dist"] = Vector(almapos, p).length()/1000.0;
             }
           }
@@ -993,13 +1094,13 @@ try
 
         item["a0"]=s.second.a0;
         item["a1"]=s.second.a1;
-        if(s.first.first == 0) { // GPS
+        if(s.first.gnss == 0) { // GPS
           auto deltaUTC = getGPSUTCOffset(s.second.tow, s.second.wn, s.second);
           item["delta-utc"] = fmt::sprintf("%.1f %+.1f/d", deltaUTC.first, deltaUTC.second * 86400);
           item["t0t"] = s.second.t0t;
           item["wn0t"] = s.second.wn0t;
         }
-        if(s.first.first == 2) {
+        if(s.first.gnss == 2) {
           auto deltaUTC = s.second.galmsg.getUTCOffset(s.second.tow, s.second.wn);
           item["delta-utc"] = fmt::sprintf("%.1f %+.1f/d", deltaUTC.first, deltaUTC.second * 86400);
           auto deltaGPS = s.second.galmsg.getGPSOffset(s.second.tow, s.second.wn);
@@ -1007,7 +1108,7 @@ try
           item["t0t"] = s.second.galmsg.t0t;
           item["wn0t"] = s.second.galmsg.wn0t;
         }
-        if(s.first.first == 3) {
+        if(s.first.gnss == 3) {
           auto deltaUTC = s.second.oldBeidouMessage.getUTCOffset(s.second.oldBeidouMessage.sow);
           item["delta-utc"] = fmt::sprintf("%.1f %+.1f/d", deltaUTC.first, deltaUTC.second * 86400);
 
@@ -1024,7 +1125,7 @@ try
         
         item["dtLS"]=s.second.dtLS;
 
-        if(s.first.first == 3) {  // beidou
+        if(s.first.gnss == 3) {  // beidou
           item["a0g"]=s.second.a0g;
           item["a1g"]=s.second.a1g;
           if(s.second.aode >= 0)
@@ -1035,7 +1136,7 @@ try
         }
 
         
-        if(s.first.first == 2) {  // galileo
+        if(s.first.gnss == 2) {  // galileo
           item["a0g"]=s.second.a0g;
           item["a1g"]=s.second.a1g;
           item["t0g"]=s.second.t0g;
@@ -1059,23 +1160,25 @@ try
             item["healthissue"] = 2;
           
         }
-        else if(s.first.first == 0 || s.first.first == 3 || s.first.first == 6) {// gps or beidou or GLONASS
+        else if(s.first.gnss == 0 || s.first.gnss == 3 || s.first.gnss == 6) {// gps or beidou or GLONASS
           item["health"]= s.second.gpshealth ? ("NOT OK: "+to_string(s.second.gpshealth)) : string("OK");
           item["healthissue"]= 2* !!s.second.gpshealth;
         }
         
         nlohmann::json perrecv  = nlohmann::json::object();
         for(const auto& pr : s.second.perrecv) {
-          if(pr.second.el > 0 && pr.second.el <= 90) {
+          if(pr.second.db > 0) {
             nlohmann::json det  = nlohmann::json::object();
             det["elev"] = pr.second.el;
             Point sat;
                         
-            if((s.first.first == 0 || s.first.first == 2) && s.second.completeIOD())
-              getCoordinates(0, latestTow(s.first.first, svstats), s.second.liveIOD(), & sat);
+            if((s.first.gnss == 0 || s.first.gnss == 2) && s.second.completeIOD())
+              getCoordinates(latestTow(s.first.gnss, svstats), s.second.liveIOD(), & sat);
 
             if(sat.x) {
-              det["elev"] = getElevationDeg(sat, pr.first);
+              Point our = g_srcpos[pr.first].pos;
+              det["elev"] = getElevationDeg(sat, our);
+              det["azi"] = getAzimuthDeg(sat, our);
             }
             else
               det["elev"] = pr.second.el;
@@ -1087,7 +1190,8 @@ try
         }
         item["perrecv"]=perrecv;
 
-        item["last-seen-s"] = time(0) - nanoTime(s.first.first, s.second.wn, s.second.tow)/1000000000;
+        item["last-seen-s"] = time(0) - nanoTime(s.first.gnss, s.second.wn, s.second.tow)/1000000000;
+
         if(s.second.latestDisco >=0) {
           item["latest-disco"]= s.second.latestDisco;
         }
@@ -1098,7 +1202,7 @@ try
         
         item["wn"] = s.second.wn;
         item["tow"] = s.second.tow;
-        ret[fmt::sprintf("%c%02d", getGNSSChar(s.first.first), s.first.second)] = item;
+        ret[fmt::sprintf("%c%02d@%d", getGNSSChar(s.first.gnss), s.first.sv, s.first.sigid)] = item;
       }
       return ret;
     });
@@ -1144,22 +1248,43 @@ try
     if(nmm.type() == NavMonMessage::ReceptionDataType) {
       int gnssid = nmm.rd().gnssid();
       int sv = nmm.rd().gnsssv();
-      pair<int,int> id{gnssid, sv};
+      int sigid = nmm.rd().sigid();
+      if(gnssid==2 && sigid == 0)
+        sigid = 1;
+      
+      SatID id{(uint32_t)gnssid, (uint32_t)sv, (uint32_t)sigid};
       g_svstats[id].perrecv[nmm.sourceid()].db = nmm.rd().db();
       g_svstats[id].perrecv[nmm.sourceid()].el = nmm.rd().el();
       g_svstats[id].perrecv[nmm.sourceid()].azi = nmm.rd().azi();
 
-      // THIS HAS TO SPLIT OUT PER SOURCE
-      idb.addValue(id, "db", nmm.rd().db(), nmm.sourceid());
-      if(nmm.rd().el() <= 90 && nmm.rd().el() > 0)
-        idb.addValue(id, "elev", nmm.rd().el(), nmm.sourceid());
-      idb.addValue(id, "azi", nmm.rd().azi(), nmm.sourceid());
-      idb.addValue(id, "prres", nmm.rd().prres(), nmm.sourceid());            
+      Point sat{0,0,0};
+      //cout<<"Got recdata for "<<id.gnss<<","<<id.sv<<","<<id.sigid<<": count="<<g_svstats.count(id)<<endl;
+      // XXX this needs to be unified somehow
+      if(id.gnss == 3 && g_svstats[id].oldBeidouMessage.sow >= 0 && g_svstats[id].oldBeidouMessage.sqrtA != 0) {
+        getCoordinates(g_svstats[id].tow, g_svstats[id].oldBeidouMessage, &sat);
+      }
+      else if(g_svstats[id].completeIOD()) {
+        getCoordinates(g_svstats[id].tow, g_svstats[id].liveIOD(), &sat);
+      }
+      if(sat.x != 0) {
+        idb.addValue(id, nmm.localutcseconds()*1000000000, "recdata",
+                     {
+                     {"db", nmm.rd().db()},
+                       {"azi", getAzimuthDeg(sat, g_srcpos[nmm.sourceid()].pos)},
+                         {"ele", getElevationDeg(sat, g_srcpos[nmm.sourceid()].pos)},
+                           {"prres", nmm.rd().prres()}}, nmm.sourceid());
+      }
+
     }
     else if(nmm.type() == NavMonMessage::GalileoInavType) {
       basic_string<uint8_t> inav((uint8_t*)nmm.gi().contents().c_str(), nmm.gi().contents().size());
       int sv = nmm.gi().gnsssv();
-      pair<int, int> id={2,sv};
+      int sigid;
+      if(nmm.gi().has_sigid())
+        sigid = nmm.gi().sigid();
+      else
+        sigid = 1;  // default to E1B
+      SatID id={2,(uint32_t)sv,(uint32_t)sigid};
       g_svstats[id].wn = nmm.gi().gnsswn();
       auto& svstat = g_svstats[id];
       auto oldgm = svstat.galmsg;
@@ -1175,7 +1300,7 @@ try
         const auto& old5gm = svstat.galmsgTyped[5];
         if(make_tuple(old5gm.e5bhs, old5gm.e1bhs, old5gm.e5bdvs, old5gm.e1bdvs) !=
            make_tuple(gm.e5bhs, gm.e1bhs, gm.e5bdvs, gm.e1bdvs)) {
-          cout<<humanTime(id.first, svstat.wn, svstat.tow)<<" Galileo "<<id.second <<" change in health: ["<<humanBhs(old5gm.e5bhs)<<", "<<humanBhs(old5gm.e1bhs)<<", "<<(int)old5gm.e5bdvs <<", " << (int)old5gm.e1bdvs<<"] -> ["<< humanBhs(gm.e5bhs)<<", "<< humanBhs(gm.e1bhs)<<", "<< (int)gm.e5bdvs <<", " << (int)gm.e1bdvs<<"], lastseen "<<ephAge(old5gm.tow, gm.tow)/3600.0 <<" hours"<<endl;
+          cout<<humanTime(id.gnss, svstat.wn, svstat.tow)<<" Galileo "<<id.sv <<" sigid "<<id.sigid<<" change in health: ["<<humanBhs(old5gm.e5bhs)<<", "<<humanBhs(old5gm.e1bhs)<<", "<<(int)old5gm.e5bdvs <<", " << (int)old5gm.e1bdvs<<"] -> ["<< humanBhs(gm.e5bhs)<<", "<< humanBhs(gm.e1bhs)<<", "<< (int)gm.e5bdvs <<", " << (int)gm.e1bdvs<<"], lastseen "<<ephAge(old5gm.tow, gm.tow)/3600.0 <<" hours"<<endl;
         }
       }
       
@@ -1294,14 +1419,14 @@ try
             int ephage = ephAge(ent.second.tow, ent.second.prevIOD.second.t0e);
             if(ent.second.liveIOD().sisa != ent.second.prevIOD.second.sisa) {
               
-              cout<<humanTime(id.first, ent.second.wn, ent.second.tow)<<" gnssid "<<ent.first.first<<" sv "<<ent.first.second<<" changed sisa from "<<(unsigned int) ent.second.prevIOD.second.sisa<<" ("<<
+              cout<<humanTime(id.gnss, ent.second.wn, ent.second.tow)<<" gnssid "<<ent.first.gnss<<" sv "<<ent.first.sv<<"@"<<ent.first.sigid<<" changed sisa from "<<(unsigned int) ent.second.prevIOD.second.sisa<<" ("<<
                 humanSisa(ent.second.prevIOD.second.sisa)<<") to " << (unsigned int)ent.second.liveIOD().sisa << " ("<<
                 humanSisa(ent.second.liveIOD().sisa)<<"), lastseen = "<< (ephage/3600.0) <<"h"<<endl;
             }
             
             Point p, oldp;
-            getCoordinates(ent.second.wn, ent.second.tow, ent.second.liveIOD(), &p);
-            getCoordinates(ent.second.wn, ent.second.tow, ent.second.prevIOD.second, &oldp);
+            getCoordinates(ent.second.tow, ent.second.liveIOD(), &p);
+            getCoordinates(ent.second.tow, ent.second.prevIOD.second, &oldp);
 
             if(ent.second.prevIOD.second.t0e < ent.second.liveIOD().t0e) {
               double hours = ((ent.second.liveIOD().t0e - ent.second.prevIOD.second.t0e)/3600.0);
@@ -1320,15 +1445,15 @@ try
             
               
               if(0 && hours < 2) {
-                ofstream orbitcsv("orbit."+to_string(id.first)+"."+to_string(id.second)+"."+to_string(ent.second.prevIOD.first)+"-"+to_string(ent.second.getIOD())+".csv");
+                ofstream orbitcsv("orbit."+to_string(id.gnss)+"."+to_string(id.sv)+"."+to_string(ent.second.prevIOD.first)+"-"+to_string(ent.second.getIOD())+".csv");
                 
                 orbitcsv << "timestamp x y z oldx oldy oldz\n";
                 orbitcsv << fixed;
                 for(int offset = -7200; offset < 7200; offset += 30) {
                   int t = ent.second.liveIOD().t0e + offset;
                   Point p, oldp;
-                  getCoordinates(ent.second.wn, t, ent.second.liveIOD(), &p);
-                  getCoordinates(ent.second.wn, t, ent.second.prevIOD.second, &oldp);
+                  getCoordinates(t, ent.second.liveIOD(), &p);
+                  getCoordinates(t, ent.second.prevIOD.second, &oldp);
                   time_t posix = utcFromGST(ent.second.wn, t);
                   orbitcsv << posix <<" "
                            <<p.x<<" " <<p.y<<" "<<p.z<<" "
@@ -1341,17 +1466,24 @@ try
         }
     }
     else if(nmm.type() == NavMonMessage::ObserverPositionType) {
-      g_srcpos[nmm.sourceid()].x = nmm.op().x();
-      g_srcpos[nmm.sourceid()].y = nmm.op().y();
-      g_srcpos[nmm.sourceid()].z = nmm.op().z();
+      g_srcpos[nmm.sourceid()].lastSeen = nmm.localutcseconds();
+      g_srcpos[nmm.sourceid()].pos.x = nmm.op().x();
+      g_srcpos[nmm.sourceid()].pos.y = nmm.op().y();
+      g_srcpos[nmm.sourceid()].pos.z = nmm.op().z();
+      idb.addValueObserver(nmm.sourceid(), "accfix", nmm.op().acc(), nmm.localutcseconds());
     }
     else if(nmm.type() == NavMonMessage::RFDataType) {
-      pair<int,int> id{nmm.rfd().gnssid(), nmm.rfd().gnsssv()};
-      if(id.first == 3 && g_svstats[id].oldBeidouMessage.sow >= 0 && g_svstats[id].oldBeidouMessage.sqrtA != 0) {
-        auto res = doDoppler(nmm.rfd().rcvwn(), nmm.rfd().rcvtow(), g_srcpos[nmm.sourceid()], g_svstats[id].oldBeidouMessage, 1561.098 * 1000000);
+      SatID id{nmm.rfd().gnssid(), nmm.rfd().gnsssv(), nmm.rfd().sigid()};
+      idb.addValue(id, nanoTime(0, nmm.rfd().rcvwn(), nmm.rfd().rcvtow()), "rfdata",
+                   {{"carrierphase", nmm.rfd().carrierphase()},
+                       {"doppler", nmm.rfd().doppler()},
+                         {"locktime", nmm.rfd().locktimems()},
+                           {"pseudorange", nmm.rfd().pseudorange()}});
+      if(id.gnss == 3 && g_svstats[id].oldBeidouMessage.sow >= 0 && g_svstats[id].oldBeidouMessage.sqrtA != 0) {
+        auto res = doDoppler(nmm.rfd().rcvtow(), g_srcpos[nmm.sourceid()].pos, g_svstats[id].oldBeidouMessage, 1561.098 * 1000000);
 
         if(isnan(res.preddop)) {
-          cerr<<"Problem with doppler calculation for C"<<id.second<<": "<<endl;
+          cerr<<"Problem with doppler calculation for C"<<id.sv<<": "<<endl;
           exit(1);
         }
         
@@ -1367,7 +1499,18 @@ try
         }
       }
       else if(g_svstats[id].completeIOD()) {
-        auto res = doDoppler(nmm.rfd().rcvwn(), nmm.rfd().rcvtow(), g_srcpos[nmm.sourceid()], g_svstats[id].liveIOD(), 1575.42 * 1000000);
+        double freqMHZ =  1575.42;
+        if(id.gnss == 2 && id.sigid == 5)
+          freqMHZ = 1207.140;
+        
+        auto res = doDoppler(nmm.rfd().rcvtow(), g_srcpos[nmm.sourceid()].pos, g_svstats[id].liveIOD(),freqMHZ * 1000000);
+        
+        idb.addValue(id, nanoTime(0, nmm.rfd().rcvwn(), nmm.rfd().rcvtow()), "orbit",
+                   {{"preddop", res.preddop},
+                       {"radvel", res.radvel}});
+
+
+        
         time_t t = utcFromGPS(nmm.rfd().rcvwn(), nmm.rfd().rcvtow());
 
         if(t - g_svstats[id].deltaHz.first > 10) {
@@ -1381,8 +1524,12 @@ try
       }
     }
     else if(nmm.type()== NavMonMessage::GPSInavType) {
+      if(nmm.gpsi().sigid()) {
+        cout<<"ignoring sigid "<<nmm.gpsi().sigid()<<" for GPS "<<nmm.gpsi().gnsssv()<<endl;
+        continue;
+      }
       auto cond = getCondensedGPSMessage(std::basic_string<uint8_t>((uint8_t*)nmm.gpsi().contents().c_str(), nmm.gpsi().contents().size()));
-      pair<int,int> id{nmm.gpsi().gnssid(), nmm.gpsi().gnsssv()};
+      SatID id{nmm.gpsi().gnssid(), nmm.gpsi().gnsssv(), nmm.gpsi().sigid()};
 
       g_svstats[id].perrecv[nmm.sourceid()].t = nmm.localutcseconds();
       
@@ -1399,11 +1546,11 @@ try
         idb.addValue(id, "ura", svstat.ura);
 
         if(oldsvstat.af0 && oldsvstat.ura != svstat.ura && svstat.ura > 1)  { // XX find better way to check
-          cout<<humanTime(id.first, svstat.wn, svstat.tow)<<" wn "<<svstat.wn <<" GPS "<<id.second <<" change in URA ["<< humanUra(oldsvstat.ura) <<"] -> [" << humanUra(svstat.ura)<<"] "<<(int)svstat.ura<<", lastseen "<<ephAge(oldsvstat.tow, svstat.tow)/3600.0 <<" hours"<<endl;
+          cout<<humanTime(id.gnss, svstat.wn, svstat.tow)<<" wn "<<svstat.wn <<" GPS "<<id.sv <<"@"<<id.sigid<<" change in URA ["<< humanUra(oldsvstat.ura) <<"] -> [" << humanUra(svstat.ura)<<"] "<<(int)svstat.ura<<", lastseen "<<ephAge(oldsvstat.tow, svstat.tow)/3600.0 <<" hours"<<endl;
         }
 
         if(oldsvstat.af0 && oldsvstat.gpshealth != svstat.gpshealth)  { // XX find better way to check
-          cout<<humanTime(id.first, svstat.wn, svstat.tow)<<" wn "<<svstat.wn <<" GPS "<<id.second <<" change in health ["<< (int)oldsvstat.gpshealth <<"] -> [" << (int)svstat.gpshealth <<"], lastseen "<<ephAge(oldsvstat.tow, svstat.tow)/3600.0 <<" hours"<<endl;
+          cout<<humanTime(id.gnss, svstat.wn, svstat.tow)<<" wn "<<svstat.wn <<" GPS "<<id.sv <<"@"<<id.sigid<<" change in health ["<< (int)oldsvstat.gpshealth <<"] -> [" << (int)svstat.gpshealth <<"], lastseen "<<ephAge(oldsvstat.tow, svstat.tow)/3600.0 <<" hours"<<endl;
         }
 
 
@@ -1421,7 +1568,7 @@ try
       }
       else if(frame==2) {
         if(oldsvstat.gpshealth != svstat.gpshealth) {
-          cout<<humanTime(id.first, svstat.wn, svstat.tow)<<" GPS "<<id.second <<" change in health: ["<< (int)oldsvstat.gpshealth<<"] -> ["<< (int)svstat.gpshealth<<"] , lastseen "<<ephAge(oldsvstat.tow, svstat.tow)/3600.0 <<" hours"<<endl;
+          cout<<humanTime(id.gnss, svstat.wn, svstat.tow)<<" GPS "<<id.sv <<"@"<<id.sigid<<" change in health: ["<< (int)oldsvstat.gpshealth<<"] -> ["<< (int)svstat.gpshealth<<"] , lastseen "<<ephAge(oldsvstat.tow, svstat.tow)/3600.0 <<" hours"<<endl;
         }
         idb.addValue(id, "gpshealth", g_svstats[id].gpshealth);
       }
@@ -1444,7 +1591,7 @@ try
         g_svstats[id].wn += 2048;
     }
     else if(nmm.type()== NavMonMessage::BeidouInavTypeD1) {
-      pair<int,int> id{nmm.bid1().gnssid(), nmm.bid1().gnsssv()};
+      SatID id{nmm.bid1().gnssid(), nmm.bid1().gnsssv(), nmm.bid1().sigid()};
 
       g_svstats[id].perrecv[nmm.sourceid()].t = nmm.localutcseconds();
       
@@ -1466,7 +1613,7 @@ try
         svstat.aodc = bm.aodc;
 
         if(oldbm.sath1 != bm.sath1) {
-          cout<<humanTime(id.first, svstat.wn, svstat.tow)<<" BeiDou C"<<id.second<<" health changed from  "<<(int)oldbm.sath1 <<" to "<< (int)bm.sath1 <<", lastseen "<<ephAge(oldbm.sow, bm.sow)/3600.0<<endl;
+          cout<<humanTime(id.gnss, svstat.wn, svstat.tow)<<" BeiDou C"<<id.sv<<"@"<<id.sigid<<" health changed from  "<<(int)oldbm.sath1 <<" to "<< (int)bm.sath1 <<", lastseen "<<ephAge(oldbm.sow, bm.sow)/3600.0<<endl;
         }
         
         idb.addValue(id, "atomic_offset_ns", 1000000.0*bm.getAtomicOffset().first);
@@ -1491,7 +1638,7 @@ try
         svstat.t0eLSB = bm.t0eLSB;
         Point oldpoint, newpoint;
         if(bm.sow - svstat.lastBeidouMessage2.sow == 6 && svstat.oldBeidouMessage.sow >= 0) {
-          getCoordinates(svstat.wn, svstat.tow, bm, &newpoint);
+          getCoordinates(svstat.tow, bm, &newpoint);
 
           if(fabs(svstat.lastTLELookupX - newpoint.x) > 300000) {
             //            cout<<"fraid 3 lookup, delta " << fabs(svstat.lastTLELookupX - newpoint.x) << endl;
@@ -1501,7 +1648,7 @@ try
           }
           
           if(svstat.oldBeidouMessage.getT0e() != svstat.beidouMessage.getT0e()) {
-            getCoordinates(svstat.wn, svstat.tow, svstat.oldBeidouMessage, &oldpoint);
+            getCoordinates(svstat.tow, svstat.oldBeidouMessage, &oldpoint);
             Vector jump(oldpoint ,newpoint);
             /*            cout<<fmt::sprintf("Discontinuity C%02d (%f,%f,%f) -> (%f, %f, %f), jump: %f, seconds: %f\n",
                                id.second, oldpoint.x, oldpoint.y, oldpoint.z,
@@ -1559,7 +1706,7 @@ try
       */
     }
     else if(nmm.type()== NavMonMessage::GlonassInavType) {
-      pair<int,int> id{nmm.gloi().gnssid(), nmm.gloi().gnsssv()};
+      SatID id{nmm.gloi().gnssid(), nmm.gloi().gnsssv(), nmm.gloi().sigid()};
       auto& svstat = g_svstats[id];
 
       auto& gm = svstat.glonassMessage;
@@ -1574,7 +1721,7 @@ try
       }
       else if(strno == 2) {
         if(oldgm.Bn != gm.Bn) {
-          cout<<humanTime(id.first, svstat.wn, svstat.tow)<<" GLONASS R"<<id.second<<" health changed from  "<<(int)oldgm.Bn <<" to "<< (int)gm.Bn <<endl;
+          cout<<humanTime(id.gnss, svstat.wn, svstat.tow)<<" GLONASS R"<<id.sv<<"@"<<id.sigid<<" health changed from  "<<(int)oldgm.Bn <<" to "<< (int)gm.Bn <<endl;
 
         }
         svstat.gpshealth = gm.Bn;
diff --git a/ubxtool.cc b/ubxtool.cc
index cf22766..584417e 100644
--- a/ubxtool.cc
+++ b/ubxtool.cc
@@ -368,7 +368,7 @@ int main(int argc, char** argv)
   int fd = initFD(serial[0].c_str(), doRTSCTS);
   
   g_srcid = atoi(serial[1].c_str());
-  
+  bool version9 = false;  
   if(!g_fromFile) {
     bool doInit = true;
     if(doInit) {
@@ -406,8 +406,15 @@ int main(int argc, char** argv)
       UBXMessage um1=waitForUBX(fd, 2, 0x0a, 0x04);
       cerr<<"swVersion: "<<um1.getPayload().c_str()<<endl;
       cerr<<"hwVersion: "<<um1.getPayload().c_str()+30<<endl;
-      for(unsigned int n=0; 40+30*n < um1.getPayload().size(); ++n)
+
+      for(unsigned int n=0; 40+30*n < um1.getPayload().size(); ++n) {
         cerr<<"Extended info: "<<um1.getPayload().c_str() + 40 +30*n<<endl;
+        if(um1.getPayload().find((const uint8_t*)"F9") != string::npos)
+          version9=true;
+      }
+
+      if(version9)
+        cerr<<"Detected version U-Blox 9"<<endl;
       
       cerr<<"Sending GNSS query"<<endl;
       msg = buildUbxMessage(0x06, 0x3e, {});
@@ -416,40 +423,42 @@ int main(int argc, char** argv)
       auto payload = um1.getPayload();
       cerr<<"GNSS status, got " << (int)payload[3]<<" rows:\n";
       for(uint8_t n = 0 ; n < payload[3]; ++n) {
-        cerr<<"GNSSID "<<(int)payload[4+8*n]<<" enabled "<<(int)payload[8+8*n]<<" minTrk "<< (int)payload[5+8*n] <<" maxTrk "<<(int)payload[6+8*n]<<endl;
+        cerr<<"GNSSID "<<(int)payload[4+8*n]<<" enabled "<<(int)payload[8+8*n]<<" minTrk "<< (int)payload[5+8*n] <<" maxTrk "<<(int)payload[6+8*n]<<" " << (int)payload[8+8*n]<<" " << (int)payload[9+8*n] << " " <<" " << (int)payload[10+8*n]<<" " << (int)payload[11+8*n]<<endl;
       }
 
       if(waitForUBXAckNack(fd, 2, 0x06, 0x3e)) {
         cerr<<"Got ACK for our poll of GNSS settings"<<endl;
       }
-      
-      //                                  ver   RO   maxch cfgs
-      msg = buildUbxMessage(0x06, 0x3e, {0x00, 0x00, 0xff, 0x06,
-          //                            GPS   min  max   res   x1         x2    x3,   x4
-                                        0x00, 0x04, 0x08, 0,  doGPS,    0x00, 0x01, 0x00,
-          //                            SBAS  min  max   rex   x1       x2    x3    x4
-                                        0x01, 0x03, 0x04, 0,   doSBAS,  0x00, 0x01, 0x00,
-          //                            BEI   min  max   res   x1       x2    x3,   x4
-                                        0x03, 0x04, 0x08, 0,  doBeidou, 0x00, 0x01, 0x00,
-          //                            ???   min  max   res   x1   x2    x3,   x4
-                                        0x05, 0x04, 0x08, 0,  0, 0x00, 0x01, 0x00,
+      if(!version9) {
+        //                                  ver   RO   maxch cfgs
+        msg = buildUbxMessage(0x06, 0x3e, {0x00, 0x00, 0xff, 0x06,
+              //                            GPS   min  max   res   x1         x2    x3,   x4
+              0x00, 0x04, 0x08, 0,  doGPS,    0x00, 0x01, 0x00,
+              //                            SBAS  min  max   rex   x1       x2    x3    x4
+              0x01, 0x03, 0x04, 0,   doSBAS,  0x00, 0x01, 0x00,
+              //                            BEI   min  max   res   x1       x2    x3,   x4
+              0x03, 0x04, 0x08, 0,  doBeidou, 0x00, 0x01, 0x00,
+              //                            ???   min  max   res   x1   x2    x3,   x4
+              0x05, 0x04, 0x08, 0,  0, 0x00, 0x01, 0x00,
             
-          //                            GAL   min  max   res   x1   x2    x3,   x4
-                                        0x02, 0x04, 0x08, 0,  doGalileo, 0x00, 0x01, 0x00,
-          //                            GLO   min  max   res   x1   x2    x3,   x4
-                                        0x06, 0x06, 0x08, 0,  doGlonass, 0x00, 0x01, 0x00
+              //                            GAL   min  max   res   x1   x2    x3,   x4
+              0x02, 0x04, 0x08, 0,  doGalileo, 0x00, 0x01, 0x00,
+              //                            GLO   min  max   res   x1   x2    x3,   x4
+              0x06, 0x06, 0x08, 0,  doGlonass, 0x00, 0x01, 0x00
 
-            });
+              });
       
-      cerr<<"Sending GNSS setting, GPS: "<<doGPS<<", Galileo: "<<doGalileo<<", BeiDou: "<<doBeidou<<", GLONASS: "<<doGlonass<<", SBAS: "<<doSBAS<<endl;
-      writen2(fd, msg.c_str(), msg.size());
+        cerr<<"Sending GNSS setting, GPS: "<<doGPS<<", Galileo: "<<doGalileo<<", BeiDou: "<<doBeidou<<", GLONASS: "<<doGlonass<<", SBAS: "<<doSBAS<<endl;
+        writen2(fd, msg.c_str(), msg.size());
       
-      if(waitForUBXAckNack(fd, 2, 0x06, 0x3e))
-        cerr<<"Got ack on GNSS setting"<<endl;
-      else {
-        cerr<<"Got nack on GNSS setting"<<endl;
-        exit(-1);
+        if(waitForUBXAckNack(fd, 2, 0x06, 0x3e))
+          cerr<<"Got ack on GNSS setting"<<endl;
+        else {
+          cerr<<"Got nack on GNSS setting"<<endl;
+          exit(-1);
+        }
       }
+
       if(doSBAS) {
         //                                 "on" "*.*"  ign   
         msg = buildUbxMessage(0x06, 0x16, {0x01, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00});
@@ -495,16 +504,22 @@ int main(int argc, char** argv)
       enableUBXMessageUSB(fd, 0x02, 0x59);
       
       cerr<<"Enabling UBX-RXM-RAWX"<<endl; // RF doppler
-      enableUBXMessageUSB(fd, 0x02, 0x15);
+      enableUBXMessageUSB(fd, 0x02, 0x15, 16);
       
       cerr<<"Enabling UBX-RXM-SFRBX"<<endl; // raw navigation frames
       enableUBXMessageUSB(fd, 0x02, 0x13);
       
       cerr<<"Enabling UBX-NAV-POSECEF"<<endl; // position
       enableUBXMessageUSB(fd, 0x01, 0x01, 8);
-      
-      cerr<<"Enabling UBX-NAV-SAT"<<endl;  // satellite reception details
-      enableUBXMessageUSB(fd, 0x01, 0x35, 4);
+
+      if(version9)  {
+        cerr<<"Enabling UBX-NAV-SIG"<<endl;  // satellite reception details
+        enableUBXMessageUSB(fd, 0x01, 0x43, 8);
+      }
+      else {
+        cerr<<"Enabling UBX-NAV-SAT"<<endl;  // satellite reception details
+        enableUBXMessageUSB(fd, 0x01, 0x35, 8);
+      }
       
       cerr<<"Enabling UBX-NAV-PVT"<<endl; // position, velocity, time fix
       enableUBXMessageUSB(fd, 0x01, 0x07, 1);
@@ -586,7 +601,7 @@ int main(int argc, char** argv)
           //          fmt::fprintf(stderr, "Our UTC      : %02d:%02d:%06.4f -> %.4f or %d:%f -> delta = %.4fs\n", tm.tm_hour, tm.tm_min, seconds, ourutc, timestamp.tv_sec, 1.0*timestamp.tv_usec, ourutc - satutc);
         }
       }
-      else if(msg.getClass() == 0x02 && msg.getType() == 0x15) {  // RAWX
+      else if(msg.getClass() == 0x02 && msg.getType() == 0x15) {  // RAWX, the doppler stuff
         //        cerr<<"Got "<<(int)payload[11] <<" measurements "<<endl;
         double rcvTow;
         memcpy(&rcvTow, &payload[0], 8);
@@ -599,9 +614,21 @@ int main(int argc, char** argv)
           memcpy(&prMes, &payload[16+32*n], 8);
           memcpy(&cpMes, &payload[24+32*n], 8);
           memcpy(&doppler, &payload[32+32*n], 4);
-          
           int gnssid = payload[36+32*n];
           int sv = payload[37+32*n];
+          int sigid=0;
+          if(version9) {
+            sigid = payload[38+32*n];
+            if(gnssid == 2 && sigid ==6)  // they separate out I and Q, but the rest of UBX doesn't
+              sigid = 5;                  // so map it back
+            if(gnssid == 2 && sigid ==0)  // they separate out I and Q, but the rest of UBX doesn't
+              sigid = 1;                  // so map it back
+          }
+          else if(gnssid==2) { // version 8 defaults galileo to E1B
+            sigid = 1;
+          }
+
+          
           uint16_t locktimems;
           memcpy(&locktimems, &payload[40+32*n], 2);
           uint8_t prStddev = payload[43+23*n] & 0xf;
@@ -617,6 +644,7 @@ int main(int argc, char** argv)
 
           nmm.mutable_rfd()->set_gnssid(gnssid);
           nmm.mutable_rfd()->set_gnsssv(sv);
+          nmm.mutable_rfd()->set_sigid(sigid);
           nmm.mutable_rfd()->set_rcvtow(rcvTow);
           nmm.mutable_rfd()->set_rcvwn(rcvWn);
           nmm.mutable_rfd()->set_doppler(doppler);
@@ -655,7 +683,7 @@ int main(int argc, char** argv)
         nmm.mutable_op()->set_x(p.ecefX /100.0);
         nmm.mutable_op()->set_y(p.ecefY /100.0);
         nmm.mutable_op()->set_z(p.ecefZ /100.0);
-        nmm.mutable_op()->set_acccm(p.pAcc /100.0);
+        nmm.mutable_op()->set_acc(p.pAcc /100.0);
         emitNMM(1, nmm);
       }
       else if(msg.getClass() == 2 && msg.getType() == 0x13) {  // SFRBX
@@ -666,21 +694,22 @@ int main(int argc, char** argv)
         
         try {
           pair<int,int> id = make_pair(payload[0], payload[1]);
-          static set<pair<int,int>> svseen;
+          int sigid = payload[2];
+          static set<tuple<int,int,int>> svseen;
           static time_t lastStat;
-          svseen.insert(id);
+          svseen.insert({id.first, id.second, payload[2]});
 
           if(time(0)- lastStat > 30) {
             cerr<<"src "<<g_srcid<< " currently receiving: ";
             for(auto& s : svseen) {
-              cerr<<s.first<<","<<s.second<<" ";
+              cerr<<get<0>(s)<<","<<get<1>(s)<<"@"<<get<2>(s)<<" ";
             }
             cerr<<endl;
             lastStat = time(0);
             svseen.clear();
           }
           
-          if(id.first == 0) {
+          if(id.first == 0 && !sigid) { // can only parse the old stuff
             NavMonMessage nmm;
             nmm.set_type(NavMonMessage::GPSInavType);
             nmm.set_localutcseconds(g_gstutc.tv_sec);
@@ -691,13 +720,14 @@ int main(int argc, char** argv)
             auto gpsframe = getGPSFromSFRBXMsg(payload);
             auto cond = getCondensedGPSMessage(gpsframe);
             auto frameno = getbitu(&cond[0], 24+19, 3);
-            if(frameno == 1)
+            if(frameno == 1 && sigid==0)
               wn = 2048 + getbitu(&cond[0], 2*24, 10);
             if(!wn) 
               continue; // can't file this yet
               
             tow = 1.5*(getbitu(&cond[0], 24, 17)*4);
             nmm.mutable_gpsi()->set_gnsswn(wn);   // XXX this sucks
+            nmm.mutable_gpsi()->set_sigid(sigid);
             nmm.mutable_gpsi()->set_gnsstow(tow); // "with 6 second increments" -- needs to be adjusted
             nmm.mutable_gpsi()->set_gnssid(id.first);
             nmm.mutable_gpsi()->set_gnsssv(id.second);
@@ -706,6 +736,8 @@ int main(int argc, char** argv)
             continue;
           }
           else if(id.first ==2) {
+            //            cerr<<"gal nav sv "<<id.second<<" size "<<payload.size();
+            //            cerr<<" res1 "<<(int)payload[2]<<" numwords "<<(int)payload[4] << " channel "<< (int)payload[5] << " version " << (int)payload[6]<<" res2 "<<(int)payload[7]<<endl;
             auto inav = getInavFromSFRBXMsg(payload);
             unsigned int wtype = getbitu(&inav[0], 0, 6);
             tv[id] = timestamp;
@@ -754,9 +786,11 @@ int main(int argc, char** argv)
             nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
             
             nmm.mutable_gi()->set_gnsswn(g_wn);
+            
             nmm.mutable_gi()->set_gnsstow(msgTOW);
             nmm.mutable_gi()->set_gnssid(id.first);
             nmm.mutable_gi()->set_gnsssv(id.second);
+            nmm.mutable_gi()->set_sigid(sigid);
             nmm.mutable_gi()->set_contents((const char*)&inav[0], inav.size());
             
             emitNMM(1, nmm);
@@ -771,7 +805,7 @@ int main(int argc, char** argv)
             bm.parse(cond, &pageno);
             
             if(bm.wn < 0) {
-              cerr<<"BeiDou C"<<id.second<<" WN not yetknown, not yet emitting message"<<endl;
+              cerr<<"BeiDou C"<<id.second<<" WN not yet known, not yet emitting message"<<endl;
               continue;
             }
             NavMonMessage nmm;
@@ -785,6 +819,7 @@ int main(int argc, char** argv)
               nmm.mutable_bid1()->set_gnsstow(bm.sow); 
               nmm.mutable_bid1()->set_gnssid(id.first);
               nmm.mutable_bid1()->set_gnsssv(id.second);
+              nmm.mutable_bid1()->set_sigid(sigid);              
               nmm.mutable_bid1()->set_contents(string((char*)gstr.c_str(), gstr.size()));
             }
             else {
@@ -793,6 +828,7 @@ int main(int argc, char** argv)
               nmm.mutable_bid2()->set_gnsstow(bm.sow); 
               nmm.mutable_bid2()->set_gnssid(id.first);
               nmm.mutable_bid2()->set_gnsssv(id.second);
+              nmm.mutable_bid2()->set_sigid(sigid);              
               nmm.mutable_bid2()->set_contents(string((char*)gstr.c_str(), gstr.size()));
             }
             emitNMM(1, nmm);
@@ -815,12 +851,14 @@ int main(int argc, char** argv)
               nmm.mutable_gloi()->set_freq(payload[3]);
               nmm.mutable_gloi()->set_gnssid(id.first);
               nmm.mutable_gloi()->set_gnsssv(id.second);
+              nmm.mutable_gloi()->set_sigid(sigid);              
               nmm.mutable_gloi()->set_contents(string((char*)gstr.c_str(), gstr.size()));
+              
               emitNMM(1, nmm);
             }
           }
           else
-            cerr<<"SFRBX from unsupported GNSSID "<<id.first<<", sv "<<id.second<<", "<<payload.size()<<" bytes"<<endl;
+            cerr<<"SFRBX from unsupported GNSSID/sigid combination "<<id.first<<", sv "<<id.second<<", sigid "<<sigid<<", "<<payload.size()<<" bytes"<<endl;
         
 #if 0        
           if(0 && lasttv.count(id)) {
@@ -837,6 +875,8 @@ int main(int argc, char** argv)
         }
       }
       else if(msg.getClass() == 1 && msg.getType() == 0x35) { // UBX-NAV-SAT
+        //        if(version9) // we have UBX-NAV-SIG
+        //          continue;
         //        cerr<< "Info for "<<(int) payload[5]<<" svs: \n";
         for(unsigned int n = 0 ; n < payload[5]; ++n) {
           int gnssid = payload[8+12*n];
@@ -861,6 +901,43 @@ int main(int argc, char** argv)
           emitNMM(1, nmm);
         }
       }
+      else if(msg.getClass() == 1 && msg.getType() == 0x43) { // UBX-NAV-SIG
+        for(unsigned int n = 0 ; n < payload[5]; ++n) {
+          int gnssid = payload[8+16*n];
+          int sv = payload[9+16*n];
+          int sigid = 0;
+
+          if(version9) {
+            sigid = payload[10+16*n];
+            if(gnssid == 2 && sigid ==6)  // they separate out I and Q, but the rest of UBX doesn't
+              sigid = 5;                  // so map it back
+            if(gnssid == 2 && sigid ==0)  // they separate out I and Q, but the rest of UBX doesn't
+              sigid = 1;                  // so map it back
+          }
+          else if(gnssid==2) { // version 8 defaults galileo to E1B
+            sigid = 1;
+          }
+
+          auto db = (int)payload[14+16*n];
+          //          cerr <<"gnssid "<<gnssid<<" sv "<<sv<<" el "<<el<<endl;
+          NavMonMessage nmm;
+          nmm.set_sourceid(g_srcid);
+          nmm.set_localutcseconds(g_gstutc.tv_sec);
+          nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
+          
+          nmm.set_type(NavMonMessage::ReceptionDataType);
+          nmm.mutable_rd()->set_gnssid(gnssid);
+          nmm.mutable_rd()->set_gnsssv(sv);
+          nmm.mutable_rd()->set_db(db);
+          nmm.mutable_rd()->set_prres(*((int16_t*)(payload.c_str()+ 12 +16*n)) *0.1); // ENDIANISM
+          nmm.mutable_rd()->set_sigid(sigid);
+          nmm.mutable_rd()->set_el(0);
+          nmm.mutable_rd()->set_azi(0);
+          
+          emitNMM(1, nmm);
+        }
+        
+      }
 
       //      writen2(1, payload.d_raw.c_str(),msg.d_raw.size());
     }