diff --git a/coverage.cc b/coverage.cc
index 24e85fe..69d39c6 100644
--- a/coverage.cc
+++ b/coverage.cc
@@ -40,40 +40,47 @@ xDOP getDOP(Point& us, vector<Point> sats)
   //  cout<<G<<endl;
   MatrixXd Q = (G.transpose() * G).inverse();
 
+  auto [lambda, phi] = getLongLat(us.x, us.y, us.z);
+  
+  // https://gssc.esa.int/navipedia/index.php/Positioning_Error
+  Eigen::Matrix3d Renu;
+  Renu <<
+    (-sin(lambda))      , (-sin(phi)*cos(lambda)) , (cos(phi)*cos(lambda)),
+    (cos(lambda))       , (-sin(phi)*sin(lambda)) , (cos(phi)*sin(lambda)),
+    (0.0)               , (cos(phi))              , (sin(phi)); 
+
+  Eigen::Matrix3d Qxyz;
+  for(int x=0; x<3; ++x) // feels like there should be a better way for this, but not sure
+    for(int y=0; y<3; ++y)
+      Qxyz(x,y) = Q(x,y);
+
+  Eigen::Matrix3d Qenu = Renu.transpose()*Qxyz*Renu;
+  //  if(Qenu(0,0) < 0 || Qenu(1,1) < 0 || Qenu(2,2) < 0)
+  //    cout << "Original: \n"<<Qxyz<<"\nRotated: \n"<<Qenu<<endl;
+  
   ret.pdop = sqrt(Q(0,0) + Q(1,1) + Q(2,2)); // already squared
+  //  ret.pdop = sqrt(Qenu(0,0) + Qenu(1,1) + Qenu(2,2)); // already squared
+  
   ret.tdop = sqrt(Q(3,3));
   ret.gdop = sqrt(ret.pdop*ret.pdop + ret.tdop*ret.tdop);
+  if(Qenu(0,0) >=0 && Qenu(1,1) >=0)
+    ret.hdop = sqrt(Qenu(0,0) + Qenu(1,1));
+  if(Qenu(2,2)>=0)
+    ret.vdop = sqrt(Qenu(2,2));
   return ret;
 };
 
-covmap_t emitCoverage()
+covmap_t emitCoverage(const vector<Point>& sats)
 {
   covmap_t ret;
   ofstream cmap("covmap.csv");
   cmap<<"latitude longitude count5 count10 count20"<<endl;
-  map<int, Point> sats;
-  auto galileoalma = g_galileoalmakeeper.get();
-  auto svstats = g_statskeeper.get();
-  auto pseudoTow = (time(0) - 820368000) % (7*86400);
-  //  cout<<"pseudoTow "<<pseudoTow<<endl;
-  for(const auto &g : galileoalma) {
-    Point sat;
-    getCoordinates(pseudoTow, g.second, &sat);
-
-    if(g.first < 0)
-      continue;
-    if(svstats[{2,(uint32_t)g.first,1}].completeIOD() && svstats[{2,(uint32_t)g.first,1}].liveIOD().sisa == 255) {
-      //      cout<<g.first<<" NAPA!"<<endl;
-      continue;
-    }
-    sats[g.first]=sat;
-  }
   double R = 6371000;
-  for(double latitude = 90 ; latitude > -90; latitude-=0.5) {  // north-south
+  for(double latitude = 90 ; latitude > -90; latitude-=2) {  // north-south
     double phi = M_PI* latitude / 180;
     double longsteps = 1 + 360.0 * cos(phi);
-    double step = 180.0 / longsteps;
-    vector<tuple<double, int, int, int, double, double, double>> latvect;
+    double step = 4*180.0 / longsteps;
+    vector<tuple<double, int, int, int, double, double, double, double, double, double,double, double, double>> latvect;
     for(double longitude = -180; longitude < 180; longitude += step) { // east - west
       Point p;
       // phi = latitude, lambda = longitude
@@ -93,17 +100,17 @@ covmap_t emitCoverage()
       vector<Point> satposs5, satposs10, satposs20;
       for(const auto& s : sats) {
         //        double getElevationDeg(const Point& sat, const Point& our);
-        double elev = getElevationDeg(s.second, p);
+        double elev = getElevationDeg(s, p);
         if(elev > 5.0) {
-          satposs5.push_back(s.second);
+          satposs5.push_back(s);
           numsats5++;
         }
         if(elev > 10.0) {
-          satposs10.push_back(s.second);
+          satposs10.push_back(s);
           numsats10++;
         }
         if(elev > 20.0) {
-          satposs20.push_back(s.second);
+          satposs20.push_back(s);
           numsats20++;
         }
       }
@@ -111,7 +118,14 @@ covmap_t emitCoverage()
                                    numsats5, numsats10, numsats20,
                                    getDOP(p, satposs5).pdop,
                                    getDOP(p, satposs10).pdop, 
-                                   getDOP(p, satposs20).pdop
+                                   getDOP(p, satposs20).pdop,
+                                   getDOP(p, satposs5).hdop,
+                                   getDOP(p, satposs10).hdop, 
+                                   getDOP(p, satposs20).hdop,
+                                   getDOP(p, satposs5).vdop,
+                                   getDOP(p, satposs10).vdop, 
+                                   getDOP(p, satposs20).vdop
+                                   
                                    ));
       //      cmap << longitude <<" " <<latitude <<" " << numsats5 << " " <<numsats10<<" "<<numsats20<<endl;
     }
diff --git a/navparse.cc b/navparse.cc
index b799e2c..e637635 100644
--- a/navparse.cc
+++ b/navparse.cc
@@ -1016,8 +1016,88 @@ try
     }
     );
 
-  h2s.addHandler("/galcov.json", [](auto handler, auto req) {
-      auto cov = emitCoverage();
+  h2s.addHandler("/cov.json", [](auto handler, auto req) {
+      vector<Point> sats;
+      auto galileoalma = g_galileoalmakeeper.get();
+      auto gpsalma = g_gpsalmakeeper.get();
+      auto beidoualma = g_beidoualmakeeper.get();
+      auto svstats = g_statskeeper.get();
+      //  cout<<"pseudoTow "<<pseudoTow<<endl;
+      string_view path = convert(req->path);
+
+      bool doGalileo{true}, doGPS{false}, doBeidou{false};
+      auto pos = path.find("gps=");
+      if(pos != string::npos) {
+        doGPS = (path[pos+4]=='1');
+      }
+      pos = path.find("galileo=");
+      if(pos != string::npos) {
+        doGalileo = (path[pos+8]=='1');
+      }
+      pos = path.find("beidou=");
+      if(pos != string::npos) {
+        doBeidou = (path[pos+7]=='1');
+      }
+      
+      if(doGalileo)
+      for(const auto &g : galileoalma) {
+        Point sat;
+        getCoordinates(latestTow(2, svstats), g.second, &sat);
+        
+        if(g.first < 0)
+          continue;
+        SatID id{2,(uint32_t)g.first,1};
+        if(svstats[id].completeIOD() && svstats[id].liveIOD().sisa == 255) {
+          continue;
+        }
+        if(svstats[id].e1bhs || svstats[id].e1bdvs)
+          continue;
+        sats.push_back(sat);
+      }
+
+      if(doGPS)
+      for(const auto &g : gpsalma) {
+        Point sat;
+        getCoordinates(latestTow(0, svstats), g.second, &sat);
+        
+        if(g.first < 0)
+          continue;
+        SatID id{0,(uint32_t)g.first,0};
+        if(svstats[id].completeIOD() && svstats[id].ura == 16) {
+          //          cout<<"Skipping G"<<id.sv<<" because of URA"<<endl;
+          continue;
+        }
+        if(svstats[id].gpshealth) {
+          //          cout<<"Skipping G"<<id.sv<<" because of health"<<endl;
+          continue;
+        }
+        sats.push_back(sat);
+      }
+
+      if(doBeidou)
+      for(const auto &g : beidoualma) {
+        Point sat;
+        getCoordinates(latestTow(3, svstats), g.second.alma, &sat);
+        
+        if(g.first < 0)
+          continue;
+        SatID id{3,(uint32_t)g.first,0};
+        /*
+        if(svstats[id].completeIOD() && svstats[id].ura == 16) {
+          cout<<"Skipping G"<<id.sv<<" because of URA"<<endl;
+          continue;
+        }
+        */
+        if(svstats[id].gpshealth) {
+          //          cout<<"Skipping C"<<id.sv<<" because of health"<<endl;
+          continue;
+        }
+        sats.push_back(sat);
+      }
+
+      
+      
+      auto cov = emitCoverage(sats);
       auto ret = nlohmann::json::array();
 
       // ret = 
@@ -1037,6 +1117,16 @@ try
           jsdatum.push_back((int)(10*get<4>(longpair)));
           jsdatum.push_back((int)(10*get<5>(longpair)));
           jsdatum.push_back((int)(10*get<6>(longpair)));
+
+          jsdatum.push_back((int)(10*get<7>(longpair)));
+          jsdatum.push_back((int)(10*get<8>(longpair)));
+          jsdatum.push_back((int)(10*get<9>(longpair)));
+
+          jsdatum.push_back((int)(10*get<10>(longpair)));
+          jsdatum.push_back((int)(10*get<11>(longpair)));
+          jsdatum.push_back((int)(10*get<12>(longpair)));
+
+          
           jslongvect.push_back(jsdatum);
         }
         jslatvect.push_back(latvect.first);
diff --git a/navparse.hh b/navparse.hh
index 5cef2dc..e4e822d 100644
--- a/navparse.hh
+++ b/navparse.hh
@@ -143,17 +143,16 @@ struct SVStat
 typedef std::map<SatID, SVStat> svstats_t;
 
 // a vector of pairs of latidude,vector<longitude,numsats>
-typedef vector<pair<double,vector<tuple<double, int, int, int, double, double, double> > > > covmap_t;
-
-covmap_t emitCoverage();
+typedef vector<pair<double,vector<tuple<double, int, int, int, double, double, double, double, double, double, double, double, double> > > > covmap_t;
 
+covmap_t emitCoverage(const vector<Point>& sats);
 struct xDOP
 {
   double gdop{-1};
   double pdop{-1};
   double tdop{-1};
-  //  double hdop;
-  //  double vdop;
+  double hdop{-1};
+  double vdop{-1};
 };
 
 xDOP getDOP(Point& us, vector<Point> sats);