added new link to GPS status

remove scary use of memset
comment unused code and variables
2022-06-07 12:20:21 +02:00 · 2022-03-07 14:03:36 +01:00 · 2022-03-07 14:03:11 +01:00 · 2022-03-07 14:02:24 +01:00 · 2022-03-07 13:56:50 +01:00 · 2022-03-07 13:10:16 +01:00
49 changed files with 4026 additions and 1374 deletions
--- a/.github/workflows/ccpp.yml
+++ b/.github/workflows/ccpp.yml
@ -4,15 +4,15 @@ on: [push]

 jobs:
  build:
-
    runs-on: ubuntu-latest
-    
    steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v2
+      with:
+        submodules: "recursive"
    - name: deps
-      run: sudo apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses5-dev libeigen3-dev libzstd-dev
-    - name: submodules
-      run: git submodule update --init --recursive
+      run: |
+        sudo apt-get update
+        sudo apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libncurses5-dev libeigen3-dev libzstd-dev
    - name: config
      run: echo WSLAY=-lwslay > Makefile.local
    - name: make
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@ -24,7 +24,7 @@ jobs:
      - name: Run buildx
        run: |
          docker buildx build \
-            --tag galmon/galmon \
+            --tag berthubert/galmon \
            --platform linux/386,linux/amd64,linux/arm/v7,linux/arm64/v8 \
            --output "type=registry" \
            --build-arg MAKE_FLAGS=-j1 \
--- a/47
+++ b/47
@ -1,25 +1,38 @@
-FROM ubuntu:eoan
+#
+# First stage - builder
+#
+FROM debian:10-slim AS builder

 ENV DEBIAN_FRONTEND noninteractive
 ENV LC_ALL C.UTF-8

-# This allows you to use a local Ubuntu mirror
-ARG APT_URL=
-ENV APT_URL ${APT_URL:-http://archive.ubuntu.com/ubuntu/}
-RUN sed -i "s%http://archive.ubuntu.com/ubuntu/%${APT_URL}%" /etc/apt/sources.list
+# This allows you to use a local Debian mirror
+ARG APT_URL=http://deb.debian.org/debian/
+ARG MAKE_FLAGS=-j2

-
-# Update packages and install dependencies
-RUN apt-get update && apt-get -y upgrade && apt-get -y clean
-RUN apt-get install -y protobuf-compiler libh2o-dev libcurl4-openssl-dev \
-        libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libeigen3-dev libzstd-dev \
-	make gcc g++ git build-essential curl autoconf automake libfmt-dev libncurses5-dev \
-    && apt-get -y clean
+RUN sed -i "s%http://deb.debian.org/debian/%${APT_URL}%" /etc/apt/sources.list \
+    && apt-get update && apt-get -y upgrade \
+    && apt-get install -y protobuf-compiler libh2o-dev libcurl4-openssl-dev \
+           libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev \
+           libeigen3-dev libzstd-dev libfmt-dev libncurses-dev \
+           make gcc g++ git build-essential curl autoconf automake help2man

 # Build
-ARG MAKE_FLAGS=-j2
-ADD . /galmon/
-WORKDIR /galmon/
-RUN make $MAKE_FLAGS
-ENV PATH=/galmon:${PATH}
+ADD . /galmon-src/
+RUN cd /galmon-src/ \
+    && make $MAKE_FLAGS \
+    && prefix=/galmon make install

+#
+# Second stage - contains just the binaries
+#
+FROM debian:10-slim
+RUN apt-get update && apt-get -y upgrade \
+    && apt-get install -y libcurl4 libssl1.1 libprotobuf17 libh2o-evloop0.13 \
+           libncurses6 \
+    && apt-get -y clean \
+    && rm -rf /var/lib/apt/lists/*
+COPY --from=builder /galmon/ /galmon/
+ENV PATH=/galmon/bin:${PATH}
+ENV LC_ALL C.UTF-8
+WORKDIR /galmon/bin
--- a/18
+++ b/18
@ -1,18 +0,0 @@
-#FROM ubuntu:disco
-FROM arm32v7/debian:unstable
-
-ENV DEBIAN_FRONTEND noninteractive
-ENV LC_ALL C.UTF-8
-
-# Update packages and install dependencies
-RUN apt-get update && apt-get -y upgrade && apt-get -y clean
-RUN apt-get install -y protobuf-compiler libh2o-dev libcurl4-openssl-dev \
-        libssl-dev libprotobuf-dev libh2o-evloop-dev libwslay-dev libeigen3-dev libzstd-dev \
-	make clang-9 git build-essential curl autoconf automake libfmt-dev libncurses5-dev \
-    && apt-get -y clean
-
-# Build
-ADD . /galmon/
-WORKDIR /galmon/
-RUN make 
-ENV PATH=/galmon:${PATH}
--- a/18
+++ b/18
@ -25,7 +25,7 @@ endif
 CHEAT_ARG := $(shell ./update-git-hash-if-necessary)

 PROGRAMS = navparse ubxtool navnexus navcat navrecv navdump testrunner navdisplay tlecatch reporter sp3feed \
-	galmonmon rinreport rinjoin rtcmtool gndate
+	galmonmon rinreport rinjoin rtcmtool gndate septool navmerge

 all: navmon.pb.cc $(PROGRAMS)

@ -76,7 +76,7 @@ download-raspbian-package:
 decrypt: decrypt.o bits.o ext/fmt-6.1.2/src/format.o
 	$(CXX) -std=gnu++17 $^ -o $@ 

-navparse: navparse.o ext/fmt-6.1.2/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o trkmeas.o influxpush.o ${EXTRADEP} githash.o sbas.o rtcm.o
+navparse: navparse.o ext/fmt-6.1.2/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o trkmeas.o influxpush.o ${EXTRADEP} githash.o sbas.o rtcm.o galileo.o
 	$(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -L/usr/local/opt/openssl/lib/  -lh2o-evloop -lssl -lcrypto -lz  -lcurl -lprotobuf  $(WSLAY)

 reporter: reporter.o ext/fmt-6.1.2/src/format.o $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o githash.o influxpush.o
@ -94,14 +94,14 @@ galmonmon: galmonmon.o ext/fmt-6.1.2/src/format.o $(SIMPLESOCKETS) minicurl.o ub
 	$(CXX) -std=gnu++17 $^ -o $@ -pthread -L/usr/local/lib -lprotobuf -lcurl


-navdump: navdump.o ext/fmt-6.1.2/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o osen.o trkmeas.o githash.o rinex.o sbas.o rtcm.o ${EXTRADEP}
+navdump: navdump.o ext/fmt-6.1.2/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o navmon.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o sp3.o osen.o trkmeas.o githash.o rinex.o sbas.o rtcm.o galileo.o ${EXTRADEP}
 	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread  -lprotobuf -lz

 navdisplay: navdisplay.o ext/fmt-6.1.2/src/format.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o ephemeris.o navmon.o osen.o githash.o
 	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread  -lprotobuf -lncurses


-navnexus: navnexus.o ext/fmt-6.1.2/src/format.o  $(SIMPLESOCKETS) ubx.o bits.o navmon.pb.o storage.o githash.o
+navnexus: navnexus.o ext/fmt-6.1.2/src/format.o  $(SIMPLESOCKETS) bits.o navmon.pb.o storage.o githash.o
 	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf

 navcat: navcat.o ext/fmt-6.1.2/src/format.o  $(SIMPLESOCKETS) ubx.o bits.o navmon.pb.o storage.o navmon.o githash.o
@ -111,6 +111,10 @@ navcat: navcat.o ext/fmt-6.1.2/src/format.o  $(SIMPLESOCKETS) ubx.o bits.o navmo
 navrecv: navrecv.o ext/fmt-6.1.2/src/format.o $(SIMPLESOCKETS) navmon.pb.o storage.o githash.o zstdwrap.o navmon.o
 	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf -lzstd 

+navmerge: navmerge.o ext/fmt-6.1.2/src/format.o $(SIMPLESOCKETS) navmon.pb.o storage.o githash.o zstdwrap.o navmon.o nmmsender.o
+	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf -lzstd 
+
+
 tlecatch: tlecatch.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) githash.o
 	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -pthread -lprotobuf  

@ -128,8 +132,12 @@ rtcmtool: rtcmtool.o navmon.pb.o githash.o ext/fmt-6.1.2/src/format.o  bits.o nm
 ubxtool: navmon.pb.o ubxtool.o ubx.o bits.o ext/fmt-6.1.2/src/format.o galileo.o  gps.o beidou.o navmon.o ephemeris.o $(SIMPLESOCKETS) osen.o githash.o nmmsender.o zstdwrap.o 
 	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -pthread -lzstd

+septool: navmon.pb.o septool.o bits.o ext/fmt-6.1.2/src/format.o galileo.o  gps.o beidou.o navmon.o ephemeris.o $(SIMPLESOCKETS) osen.o githash.o nmmsender.o zstdwrap.o 
+	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -pthread -lzstd
+
+
 testrunner: navmon.pb.o testrunner.o ubx.o bits.o ext/fmt-6.1.2/src/format.o galileo.o  gps.o beidou.o ephemeris.o sp3.o osen.o navmon.o rinex.o githash.o
-	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -lz 
+	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib -lprotobuf -lz  -pthread

 gndate: gndate.o githash.o ext/fmt-6.1.2/src/format.o navmon.o
 	$(CXX) -std=gnu++17 $^ -o $@ -L/usr/local/lib
--- a/README.md
+++ b/README.md
@ -4,14 +4,17 @@ galileo/GPS/GLONASS/BeiDou open source monitoring. GPL3 licensed.

 Live website: https://galmon.eu/

-Theoretically multi-vendor, although currently only the U-blox 8 and 9
-chipsets are supported.  Navilock NL-8012U receiver works really well, as
-does the U-blox evaluation kit for the 8MT.  In addition, many stations have
-reported success with this very cheap [AliExpress sourced
-device](https://www.aliexpress.com/item/32816656706.html).  The best and
-most high-end receiver, which does all bands, all the time, is the Ublox
-F9P, several of us use the
-[ArdusimpleRTK2B](https://www.ardusimple.com/simplertk2b/) board.
+Multi-vendor, with support for U-blox 8 and 9 chipsets and many Septentrio
+devices.  Navilock NL-8012U receiver works really well, as does the U-blox
+evaluation kit for the 8MT.  In addition, many stations have reported
+success with this very cheap [AliExpress sourced
+device](https://www.aliexpress.com/item/32816656706.html).  
+
+For ublox, there is good support for the F9P, several of us use the
+[ArdusimpleRTK2B](https://www.ardusimple.com/simplertk2b/) board. It adds
+the Galileo E5b band.
+
+Septentrio devices support even more bands.

 An annotated presentation about our project aimed at GNSS professionals can
 be found [here](https://berthub.eu/galileo/The%20galmon.eu%20project.pdf). 
@ -29,9 +32,10 @@ guidelines](https://github.com/ahupowerdns/galmon/blob/master/Operator.md).
 Highlights
 ----------

+ * Support for Septentrio and U-blox.
 * Processes raw frames/strings/words from GPS, GLONASS, BeiDou and Galileo
- * All-band support (E1, E5b, B1I, B2I, Glonass L1, Glonass L2, GPS L1C/A)
-   so far, GPS L2C and Galileo E5a pending).
+ * All-band support (E1, E5a, E5b, B1I, B2I, Glonass L1, Glonass L2, GPS L1C/A)
+   so far.
 * Calculate ephemeris positions
 * Comparison of ephemerides to independent SP3 data to determine SISE
   * Globally, locally, worst user location
@ -68,8 +72,8 @@ Goals:

 Works on Linux (including Raspbian Buster on Pi Zero W), OSX and OpenBSD.

-Build locally
-------------
+Build locally (Linux, Debian, Ubuntu)
+-------------------------------------

 To get started, make sure you have a C++17 compiler (like g++ 8 or higher),
 git, protobuf-compiler.  Then run 'make ubxtool navdump' to build the
@ -79,7 +83,7 @@ To build everything, including the webserver, try:

 ```
 apt-get install protobuf-compiler libh2o-dev libcurl4-openssl-dev libssl-dev libprotobuf-dev \
-libh2o-evloop-dev libwslay-dev libncurses5-dev libeigen3-dev libzstd-dev
+libh2o-evloop-dev libwslay-dev libncurses5-dev libeigen3-dev libzstd-dev g++
 git clone https://github.com/ahupowerdns/galmon.git --recursive
 cd galmon
 make
@ -92,25 +96,41 @@ library installed. If you get an error about 'wslay', do the following, and run
 echo WSLAY=-lwslay > Makefile.local
 ```

+Building on OSX
+---------------
+With thanks to a contributor from Prague.  First make sure you've installed
+brew, which you can get [here](https://brew.sh/). Then do:
+
+```
+brew install protobuf lzlib zstd h2o eigen
+```
+
+And then:
+```
+git clone https://github.com/ahupowerdns/galmon.git --recursive
+cd galmon
+make
+```
+
 Running in Docker
 -----------------

 We publish official Docker images for galmon on
-[docker hub](https://hub.docker.com/r/faucet/faucet) for multiple architectures.
+[docker hub](https://hub.docker.com/r/berthubert/galmon) for multiple architectures.

 To run a container with a shell in there (this will also expose a port so you
 can view the UI too and assumes a ublox GPS device too -
 you may need to tweak as necessary):

 ```
-docker run -it --rm --device=/dev/ttyACM0 -p 10000:10000 galmon/galmon
+docker run -it --rm --device=/dev/ttyACM0 -p 10000:10000 berthubert/galmon
 ```

 Running a daemonized docker container reporting data to a remote server
 might look like:

 ```
-docker run -d --restart=always --device=/dev/ttyACM0 --name=galmon galmon/galmon /galmon/ubxtool --wait --port /dev/ttyACM0 --gps --galileo --glonass --destination [server] --station [station-id] --owner [owner]
+docker run -d --restart=always --device=/dev/ttyACM0 --name=galmon berthubert/galmon ubxtool --wait --port /dev/ttyACM0 --gps --galileo --glonass --destination [server] --station [station-id] --owner [owner]
 ```

 To make your docker container update automatically you could use a tool such as
@ -118,10 +138,15 @@ To make your docker container update automatically you could use a tool such as

 Running
 -------
-
+On u-blox: 
 Once compiled, run for example `./ubxtool --wait --port /dev/ttyACM0
 --station 1 --stdout --galileo | ./navparse --bind [::1]:10000`

+For Septentrio, try: `nc 192.168.1.1 29000 | ./septool --station x --stdout |
+./navparse --bind [::1]:10000`, assuming your Septentrio can be reached on
+192.168.1.1.1 and you have defined an SBF stream on port 29000. For more
+details, please see below.
+
 Next up, browse to http://[::1]:10000 (or try http://localhost:10000/ and
 you should be in business. ubxtool changes (non-permanently) the
 configuration of your u-blox receiver so it emits the required frames for
@ -159,6 +184,10 @@ Tooling:
 * ubxtool: can configure a u-blox 8 chipset, parses its output & will
   convert it into a protbuf stream of GNSS NAV frames + metadata
   Adds 64-bit timestamps plus origin information to each message
+ * septool: ingests the Septentrio binary format (SBF) and converts it to our
+   protobuf format. Supports same protocol as ubxtool.
+ * rtcmtool: ingest ntripclient output, decodes RTCM messages and converts
+   them to our protobuf format
 * xtool: if you have another chipset, build something that extracts NAV
   frames & metadata. Not done yet.
 * navrecv: receives GNSS NAV frames and stores them on disk, split out per
@ -229,6 +258,47 @@ This also works for `navparse` for the pretty website and influx storage, `nc 12
 if you have an influxdb running on localhost with a galileo database in there.
 The default URL is http://127.0.0.1:29599/ 

+Septentrio specifics
+--------------------
+Unlike `ubxtool`, our `septool` does not (re)configure your Septentrio
+device. Instead, the tool expects Septentrio Binary Format (SBF) on input,
+and that this stream includes at least the following messages:
+
+ * MeasEpoch
+ * PVTCartesian
+
+We currently parse and understand:
+ * GALRawFNAV
+ * GALRawINAV
+
+Support will be added soon for:
+ * GPSRawCA
+ * GPSRawL2C
+ * GPSRawL5
+ * GLORawCA
+ * BDSRaw
+ * BDSRawB1C
+ * BDSRawB2a
+
+A typical invocation of `septool` looks like this:
+
+```
+nc 192.168.1.1 29000 | ./septool --station x --destination galmon-eu-server.example.com
+```
+
+Or to test, try:
+
+```
+nc 192.168.1.1 29000 | ./septool --station x --stdout | ./navdump
+```
+
+This is assuming that you can reach your Septentrio on 192.168.1.1 and that
+you have defined a TCP server stream on port 29000. 
+
+Septool will also accept input from a serial port or basically anything that
+can provide SBF. Please let us know if our tooling can make your life
+easier.
+
 Internals
 ---------
 The transport format consists of repeats of:
@ -275,16 +345,26 @@ The software can interpret SP3 files, good sources:
     to have less of a delay than the ESA ESM series.
   * GBU = ultra rapid, still a few days delay, but much more recent.

-Uncompress and concatenate all downloaded files into 'all.sp3' and run
-'navdump ' on collected protobuf, and it will output 'sp3.csv' with fit data.
-
 To get SP3 GBM from GFZ Potsdam for GPS week number 2111:

 ```
 WN=2111
 lftp -c "mget ftp://ftp.gfz-potsdam.de/GNSS/products/mgnss/${WN}/gbm*sp3.Z"
+gunzip gbm*sp3.Z
 ```

+To feed data, use: 
+
+```
+./sp3feed --sp3src=gbm --influxdb=galileo gbm*sp3
+```
+
+This will populate the sp3 tables in the database. A subsequent run of
+`reporter`, while setting the `--sp3src` parameter, will provide SP3
+deviation statistics, and fill out the `sp3delta` table in there, which
+stores deviations from the SP3 provided position, per sp3src.
+
+Further interesting (ephemeris) data is on http://mgex.igs.org/IGS_MGEX_Products.php

 RTCM
 ----
--- a/beidou.hh
+++ b/beidou.hh
@ -228,7 +228,8 @@ struct BeidouMessage : GPSLikeEphemeris

  //                                            2^-30  2^-50
  int a0gps, a1gps, a0gal, a1gal, a0glo, a1glo, a0utc, a1utc;
-  int8_t deltaTLS;
+  int8_t deltaTLS, deltaTLSF;
+  uint8_t wnLSF, dn;

  // in Beidou the offset is a0utc + SOW * a1utc
  std::pair<double, double> getUTCOffset(int tow) const
@ -268,6 +269,9 @@ struct BeidouMessage : GPSLikeEphemeris
      a0utc = bbits(91, 32);
      a1utc = bbits(131, 24);
      deltaTLS = bbits(31+12+1+7, 8);
+      deltaTLSF = bbits(61+6, 8);
+      wnLSF = bbits(61+6+8, 8);
+      dn = bbits(151+12, 8);
    }
    else {
      alma.sqrtA = bbitu(51, 24);
--- a/ext/doctest.h
+++ b/ext/doctest.h
--- a/galileo.cc
+++ b/galileo.cc
@ -24,3 +24,91 @@ bool getTOWFromInav(std::basic_string_view<uint8_t> inav, uint32_t *satTOW, uint

  return false;
 }
+
+int GalileoMessage::parseFnav(std::basic_string_view<uint8_t> page)
+{
+  const uint8_t* ptr = &page[0];
+  int offset=0;
+  auto gbum=[&ptr, &offset](int bits) {
+    unsigned int ret = getbitu(ptr, offset, bits);
+    offset += bits;
+    return ret;
+  };
+  
+  auto gbsm=[&ptr, &offset](int bits) {
+    int ret = getbits(ptr, offset, bits);
+    offset += bits;
+    return ret;
+  };
+  
+  wtype = gbum(6);
+  if(wtype == 1) {
+    /*int sv = */    (void)gbum(6);
+    iodnav = gbum(10);
+    t0c =    gbum(14);
+    af0 =    gbsm(31);
+    af1 =    gbsm(21);
+    af2 =    gbsm(6);
+    sisa =   gbum(8);
+    ai0 =    gbum(11);
+    ai1 =    gbsm(11);
+    ai2 =    gbsm(14);
+    sf1 =    gbum(1);
+    sf2 =    gbum(1);
+    sf3 =    gbum(1);
+    sf4 =    gbum(1);
+    sf5 =    gbum(1);
+    BGDE1E5a = gbsm(10);
+    e5ahs = gbum(2);
+    wn = gbum(12);
+    tow = gbum(20);
+    e5advs=gbum(1);
+  }
+  else if(wtype==2)  {
+    iodnav = gbum(10);
+    m0 = gbsm(32);
+    omegadot = gbsm(24);
+    e = gbum(32);
+    sqrtA = gbum(32);
+    omega0 = gbsm(32);
+    idot = gbsm(14);
+    wn = gbum(12);
+    tow = gbum(20);
+  }
+  else if(wtype == 3) {
+    iodnav = gbum(10);
+    i0 = gbsm(32);
+    omega = gbsm(32);
+    deltan = gbsm(16);
+    cuc = gbsm(16);
+    cus = gbsm(16);
+    crc =gbsm(16);
+    crs = gbsm(16);
+    t0e = gbum(14);
+    wn = gbum(12);
+    tow = gbum(20);
+  }
+  else if(wtype == 4) {
+    iodnav = gbum(10);
+    cic = gbsm(16);
+    cis = gbsm(16);
+
+    a0 = gbsm(32);
+    a1 = gbsm(24);
+
+    dtLS= gbsm(8);
+    t0t = gbum(8);
+    wn0t = gbum(8);
+    wnLSF = gbum(8);
+    
+    dn = gbum(3);
+    dtLSF = gbsm(8);
+    
+    t0g = gbum(8);
+    a0g = gbsm(16);
+    a1g = gbsm(12);
+    wn0g = gbum(6);
+    tow = gbum(20);
+  }
+  return wtype;
+}
--- a/galileo.hh
+++ b/galileo.hh
@ -40,6 +40,8 @@ struct GalileoMessage : GPSLikeEphemeris
    return wtype;
  }

+  int parseFnav(std::basic_string_view<uint8_t> page);
+  
  uint8_t sparetime{0};
  uint16_t wn{0};  
  uint32_t tow{0}; 
@ -63,13 +65,13 @@ struct GalileoMessage : GPSLikeEphemeris
  {
  }

-  uint8_t e5bhs{0}, e1bhs{0};
+  uint8_t e5ahs{0}, e5bhs{0}, e1bhs{0};
  uint8_t gpshealth{0};
  uint16_t ai0{0};
  int16_t ai1{0}, ai2{0};
  bool sf1{0}, sf2{0}, sf3{0}, sf4{0}, sf5{0};
  int BGDE1E5a{0}, BGDE1E5b{0};
-  bool e5bdvs{false}, e1bdvs{false};
+  bool e5advs{false}, e5bdvs{false}, e1bdvs{false};
  bool disturb1{false}, disturb2{false}, disturb3{false}, disturb4{false}, disturb5{false};
  
  //                     
@ -224,7 +226,7 @@ struct GalileoMessage : GPSLikeEphemeris
  {
    int dw = (int)(wn%64) - (int)(wn0g%64);
    if(dw > 31)
-      dw = 31- dw;
+      dw = dw - 64;
    int delta = dw*7*86400  + tow - getT0g(); // NOT ephemeris age tricks

    // 2^-35  2^-51   3600
--- a/galmonmon.cc
+++ b/galmonmon.cc
@ -1,4 +1,4 @@
-
+#include <optional>
 #include "minicurl.hh"
 #include <iostream>
 #include "navmon.hh"
@ -45,7 +45,6 @@ public:
  std::optional<string> reportState(string_view thing, string_view name, var_t state, const std::string& state_text="");
  std::optional<string> getState(string_view thing, string_view name);

-
  std::optional<string> getPrevState(string_view thing, string_view name);  

  struct State
@ -166,23 +165,7 @@ std::optional<string> StateKeeper::reportState(string_view thing, string_view na


 StateKeeper g_sk;
-#if 0
-static std::string string_replace(const std::string& str, const std::string& match, 
-        const std::string& replacement, unsigned int max_replacements = UINT_MAX)
-{
-    size_t pos = 0;
-    std::string newstr = str;
-    unsigned int replacements = 0;
-    while ((pos = newstr.find(match, pos)) != std::string::npos
-            && replacements < max_replacements)
-    {
-         newstr.replace(pos, match.length(), replacement);
-         pos += replacement.length();
-         replacements++;
-    }
-    return newstr;
-}
-#endif 
+
 void sendTweet(const string& tweet)
 {
  string etweet = tweet;
@ -197,8 +180,8 @@ int main(int argc, char **argv)
 {
  MiniCurl mc;
  MiniCurl::MiniCurlHeaders mch;
-  //  string url="https://galmon.eu/svs.json";
-  string url="http://[::1]:29599/";
+  string url="https://galmon.eu/";
+  //  string url="http://[::1]:29599/";
  bool doVERSION{false};

  CLI::App app(program);
@ -222,6 +205,7 @@ int main(int argc, char **argv)
  g_sk.setBoolNames("health", "healthy", "unhealthy");
  g_sk.setBoolNames("eph-too-old", "ephemeris fresh", "ephemeris aged");
  g_sk.setBoolNames("silent", "observed", "not observed");
+  g_sk.setBoolNames("osnma", "OFF", "ON");

  std::variant<bool, string> tst;

@ -273,7 +257,8 @@ int main(int argc, char **argv)
      
      res = mc.getURL(url+"svs.json");
      j = nlohmann::json::parse(res);
-      bool first=true;       
+      bool first=true;
+      bool globalOsnma=false;
      for(const auto& sv : j) {
        if(!sv.count("gnssid") || !sv.count("fullName") || !sv.count("sigid")) {
          cout<<"Skipping "<< sv.count("gnssid") <<", "<< sv.count("fullName") <<", " <<sv.count("sigid") <<endl;
@ -295,7 +280,8 @@ int main(int argc, char **argv)
          //          cout<<"Skipping "<<fullName<<" in loop: "<<sv.count("healthissue")<<", "<<sv.count("eph-age-m") << ", "<<sv.count("perrecv")<<endl;
          continue;
        }
-        
+
+
        for(const auto& recv : sv["perrecv"]) {
          if(!recv.count("last-seen-s")) {
            cout<<"Missing last-seen-s"<<endl;
@ -305,9 +291,11 @@ int main(int argc, char **argv)
            numfresh++;
          if((int)recv["last-seen-s"] < 3600)
            notseen=false;
-          
        }
+	if(sv.count("osnma") && sv["osnma"]==true)
+	  globalOsnma |= 1;

+	
        auto healthchange = g_sk.reportState(fullName, "health", sv["healthissue"]!=0);
        std::optional<string> tooOldChange;
        if(gnssid == 2)
@ -410,6 +398,17 @@ int main(int argc, char **argv)
          cout<<humanTimeNow() <<" " << tweet << endl;
        }
      }
+
+      auto osnmachange = g_sk.reportState("global", "osnma", globalOsnma);
+      if(osnmachange) {
+	string tweet= "Galileo OSNMA new state: "+*osnmachange;
+	cout<<humanTimeNow()<< " " <<tweet<<endl;
+	if(doTweet) {
+	  sendTweet(tweet);
+	}
+      }
+
+      
      cout<<".";
      cout.flush();
    }
--- a/glonass.cc
+++ b/glonass.cc
@ -110,16 +110,16 @@ static double passedMsec(const Clock::time_point& then, const Clock::time_point&
  return std::chrono::duration_cast<std::chrono::microseconds>(now - then).count()/1000.0;
 }

-
+#if 0
 static double passedMsec(const Clock::time_point& then)
 {
  return passedMsec(then, Clock::now());
 }
-
+#endif

 double getCoordinates(double tow, const GlonassMessage& eph, Point* p)
 {
-  auto start = Clock::now();
+  //  auto start = Clock::now();
  
  double y0[6] = {ldexp(eph.x, -11), ldexp(eph.y, -11), ldexp(eph.z, -11),
    ldexp(eph.dx, -20), ldexp(eph.dy, -20), ldexp(eph.dz, -20)};
@ -137,7 +137,7 @@ double getCoordinates(double tow, const GlonassMessage& eph, Point* p)
    rk4step (A, y0, h);

  *p = Point (1E3*y0[0], 1E3*y0[1], 1E3*y0 [2]);
-  static double total=0;
+  //  static double total=0;
  //  cout<<"Took: "<<(total+=passedMsec(start))<<" ms" <<endl;
  return 0;
 }
--- a/gndate.cc
+++ b/gndate.cc
@ -7,16 +7,21 @@ extern const char* g_gitHash;
 using namespace std;

 int main(int argc, char** argv)
+try
 {
  string program("gndate");
  CLI::App app(program);
  string date;
-  bool doGPSWN{false}, doGALWN{false}, doVERSION{false}, doUTC{false};
+  int galwn{-1};
+  bool doProgOutput{false};
+  bool doGPSWN{false}, doGALWN{false}, doBEIDOUWN{false}, doVERSION{false}, doUTC{false};
  app.add_flag("--version", doVERSION, "show program version and copyright");
-  app.add_option("--date,-d", date, "yyyy-mm-dd hh:mm");
+  app.add_option("--date,-d", date, "yyyy-mm-dd hh:mm[:ss] hh:mm yyyymmdd hhmm");
+  app.add_option("--date-gal-wn", galwn, "Give data for this Galileo week number");
  app.add_flag("--utc,-u", doUTC, "Interpret --date,-d as UTC");
  app.add_flag("--gps-wn", doGPSWN, "Print GPS week number");
  app.add_flag("--gal-wn", doGALWN, "Print GPS week number");
+  app.add_flag("--prog-output", doProgOutput, "Modulate some date formats for use as parameters to programs");
  try {
    app.parse(argc, argv);
  } catch(const CLI::Error &e) {
@ -40,6 +45,15 @@ int main(int argc, char** argv)
  
  int wn, tow;

+  if(galwn >= 0) {
+    time_t week=utcFromGST(galwn, 0);
+    if(doProgOutput)
+      cout<<influxTime(week) << endl;
+    else
+      cout<<humanTime(week)<< " - " << humanTime(week+7*86400) << endl;
+    return 0;
+  }
+  
  if(doGPSWN) {
    getGPSDateFromUTC(now, wn, tow);
    cout<<wn<<endl;
@ -48,10 +62,20 @@ int main(int argc, char** argv)
    getGalDateFromUTC(now, wn, tow);
    cout<<wn<<endl;
  }
+  else if(doBEIDOUWN) {
+    getBeiDouDateFromUTC(now, wn, tow);
+    cout<<wn<<endl;
+  }
  else {
    getGPSDateFromUTC(now, wn, tow);
    cout<<"GPS Week Number (non-wrapped): "<< wn << ", tow " << tow << endl;
    getGalDateFromUTC(now, wn, tow);
    cout<<"Galileo Week Number: "<< wn << ", tow " << tow << endl;
+    getBeiDouDateFromUTC(now, wn, tow);
+    cout<<"BeiDou Week Number: "<< wn << ", sow " << tow << endl;
+    
  }
 }
+catch(exception& e) {
+  cerr<<"Error: "<<e.what()<<endl;
+}
--- a/gps.cc
+++ b/gps.cc
@ -96,8 +96,12 @@ int GPSState::parseGPSMessage(std::basic_string_view<uint8_t> cond, uint8_t* pag

      t0t = getbitu(&cond[0], 7*24 + 8, 8) * 4096; // WE SCALE THIS FOR THE USER!
      wn0t = getbitu(&cond[0], 7*24  + 16, 8);
+      
      dtLS = getbits(&cond[0], 8*24, 8);
+      wnLSF= getbitu(&cond[0], 8*24 + 8, 8);
+      dn = getbitu(&cond[0], 8*24 + 16, 8);
      dtLSF = getbits(&cond[0], 9*24, 8);
+
      
      //      cerr<<": a0: "<<a0<<", a1: "<<a1<<", t0t: "<< t0t * (1<<12) <<", wn0t: "<< wn0t<<", rough offset: "<<ldexp(a0, -30)<<endl;
      //      cerr<<"deltaTLS: "<< (int)dtLS<<", post "<< (int)dtLSF<<endl;
--- a/html/doalles.js
+++ b/html/doalles.js
@ -14,7 +14,7 @@ function maketable(str, arr)
        enter().
        append("tr");
    
-    var columns = ["sv", "best-tle", "iod", "eph-age-m", "latest-disco", "time-disco", "sisa", "health", "alma-dist", "delta-utc", "sources", "db", "rtcm-eph-delta-cm","rtcm-clock-dclock0", "prres", "elev", "last-seen-s"];    
+    var columns = ["sv", "best-tle", "iod", "eph-age-m", "latest-disco", "time-disco", "sisa", "health", "alma-dist", "osnma", "sources", "db", "rtcm-eph-delta-cm","rtcm-clock-dclock0", "prres", "elev", "last-seen-s"];    
    
    // append the header row
    thead.append("tr")
@ -61,7 +61,7 @@ function maketable(str, arr)
                    else if(row["gnssid"] == 6)
                        img='ext/glo.png';
                    
-                    ret.value = '<img width="16" height="16" src="https://ds9a.nl/tmp/'+ img +'"/>';
+                    ret.value = '<img width="16" height="16" src="https://berthub.eu/tmp/'+ img +'"/>';
 //                    ret.value="";
                    ret.value += "&nbsp;<a href='sv.html?gnssid="+row.gnssid+"&sv="+row.svid+"&sigid="+row.sigid+"'>"+row.sv+"</a>";
                }
@ -130,6 +130,13 @@ function maketable(str, arr)
                else if(column == "norad") {
                    ret.value = row["best-tle-norad"];
                }
+                else if(column == "osnma" && row["osnma"] != null) {
+                    if(row["osnma"]==true)
+                        ret.value="ON!";
+                    else
+                        ret.value="off";
+                }
+
                else if(column == "delta-utc" && row["delta-utc"] != null) {
                    ret.value = row["delta-utc"]+'<span class="CellComment">a0: '+row["a0"]+'<br/>a1: '+row["a1"]+'<br/>wn0t: ' + row["wn0t"]+'<br/>t0t: '+row["t0t"]+'</span>';
                    ret.Class = 'CellWithComment';
@ -288,6 +295,8 @@ function updateSats()
            let wantIt = false;
            if(d3.select("#GalE1").property("checked") && arr[n].gnssid==2 && arr[n].sigid == 1)
                wantIt = true;
+            if(d3.select("#GalE5a").property("checked") && arr[n].gnssid==2 && arr[n].sigid == 6)
+                wantIt = true;
            if(d3.select("#GalE5b").property("checked") && arr[n].gnssid==2 && arr[n].sigid == 5)
                wantIt = true;
            if(d3.select("#GPSL1CA").property("checked") && arr[n].gnssid==0 && arr[n].sigid == 0)
--- a/html/index.html
+++ b/html/index.html
@ -10,6 +10,7 @@
  <div class="centered">
    <hr/>
    <input type="checkbox"  id="GalE1" onclick="updateSats();">  <label for="GalE1">Galileo E1</label> &nbsp;&nbsp;
+    <input type="checkbox"  id="GalE5a" onclick="updateSats();">  <label for="GalE5a">Galileo E5a</label> &nbsp;&nbsp;
    <input type="checkbox"  id="GalE5b" onclick="updateSats();">  <label for="GalE5b">Galileo E5b</label> &nbsp;&nbsp;
    <input type="checkbox"  id="BeiDouB1I" onclick="updateSats();">  <label for="BeiDouB1I">BeiDou B1I</label> &nbsp;&nbsp;
    <input type="checkbox"  id="BeiDouB2I" onclick="updateSats();">  <label for="BeiDouB2I">BeiDou B2I</label> &nbsp;&nbsp;
@ -60,10 +61,11 @@
    The official Galileo constellation status can be found on the <a href="https://www.gsc-europa.eu/system-status/Constellation-Information">European GNSS Service Centre page</a>, which also lists "NAGUs", <a href="https://www.gsc-europa.eu/system-status/user-notifications">notifications about outages or changes</a>.
  </p>
  <p>
-    Official GLONASS status can be found on <a href="https://www.glonass-iac.ru/en/GLONASS/">this page</a> from the Russian Information and Analysis Center for Positioning, Navigation and Timing.
+    Official GLONASS status can be found on <a href="https://www.glonass-iac.ru/en/sostavOG/">this page</a> from the Russian Information and Analysis Center for Positioning, Navigation and Timing.
  </p>
  <p>
-    Sadly reduced status updates on GPS can be found on <a href="https://www.navcen.uscg.gov/?Do=constellationStatus">this page</a> from the US Department of Homeland Security.
+    Status updates on GPS can be found on <a
+    href="https://www.navcen.uscg.gov/gps-constellation">this page</a>.
  </p>
  <p>
    Information on the status of BeiDou can be found on <a href="http://www.csno-tarc.cn/system/constellation&amp;ce=english">this page</a> from the Chinese Test and Assessment Research Center of China Satellite Navigation Office.
--- a/html/observer.html
+++ b/html/observer.html
@ -6,7 +6,7 @@
  <link rel="stylesheet" type="text/css" href="style.css">
 </head>
 <body>
-  Last update: <span id="freshness"></span>. More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found <a href="https://github.com/ahupowerdns/galmon/blob/master/README.md#galmon">here</a>. Live map <a href="geo">here!</a>. Contact <a href="https://ds9a.nl/">me</a> if you want access to the Grafana dashboard.<br/>
+  Last update: <span id="freshness"></span>. More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found <a href="https://github.com/ahupowerdns/galmon/blob/master/README.md#galmon">here</a>. Live map <a href="geo">here!</a>. Contact <a href="https://berthub.eu/">me</a> if you want access to the Grafana dashboard.<br/>
  <table>
    <tr style="background: #FFF">
      <td style="vertical-align:top">
@ -27,7 +27,7 @@
    It is very much a work in progress, and will not be available at all times. Extremely rough code is on
    <a href="https://github.com/ahuPowerDNS/galmon">GitHub</a>.

-    Some technical detail behind this setup can be found in <a href="https://ds9a.nl/articles/posts/galileo-notes/">this post</a>.
+    Some technical detail behind this setup can be found in <a href="https://berthub.eu/articles/posts/galileo-notes/">this post</a>.

    For updates, follow <a href="https://twitter.com/GalileoSats">@GalileoSats</a> on Twitter, or join us on our IRC channel (chat) via the
    <a href="https://webchat.oftc.net/?channels=galileo">web gateway</a>.
--- a/html/observer.js
+++ b/html/observer.js
@ -85,7 +85,6 @@ function componentDidMount() {
        .text(function(d) { return d + "°"; });

        sats.select('g.satellites').remove();
-    console.log(gnss_position);
    
        let points = sats
            .insert("g")
@ -259,7 +258,6 @@ function update()
      
 }

-console.log(window.location.href);
 var url = new URL(window.location.href);
 observer = url.searchParams.get("observer");

--- a/html/observers.html
+++ b/html/observers.html
@ -6,14 +6,14 @@
  <link rel="stylesheet" type="text/css" href="style.css">
 </head>
 <body>
-  Last update: <span id="freshness"></span>. More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found <a href="https://github.com/ahupowerdns/galmon/blob/master/README.md#galmon">here</a>. Live map <a href="geo">here!</a>. Contact <a href="https://ds9a.nl/">me</a> if you want access to the Grafana dashboard.<br/>
+  Last update: <span id="freshness"></span>. More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found <a href="https://github.com/ahupowerdns/galmon/blob/master/README.md#galmon">here</a>. Live map <a href="geo">here!</a>. Contact <a href="https://berthub.eu/">me</a> if you want access to the Grafana dashboard.<br/>
  <table id="galileo"></table>
  <p>
    This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States.
    It is very much a work in progress, and will not be available at all times. Extremely rough code is on
    <a href="https://github.com/ahuPowerDNS/galmon">GitHub</a>.

-    Some technical detail behind this setup can be found in <a href="https://ds9a.nl/articles/posts/galileo-notes/">this post</a>.
+    Some technical detail behind this setup can be found in <a href="https://berthub.eu/articles/posts/galileo-notes/">this post</a>.

    For updates, follow <a href="https://twitter.com/GalileoSats">@GalileoSats</a> on Twitter, or join us on our IRC channel (chat) via the
    <a href="https://webchat.oftc.net/?channels=galileo">web gateway</a>.
--- a/html/overview.html
+++ b/html/overview.html
@ -6,14 +6,14 @@
  <link rel="stylesheet" type="text/css" href="style.css">
 </head>
 <body>
-  Last update: <span id="freshness"></span>. More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found <a href="https://github.com/ahupowerdns/galmon/blob/master/README.md#galmon">here</a>. Live map <a href="geo">here!</a>. Contact <a href="https://ds9a.nl/">me</a> if you want access to the Grafana dashboard.<br/>
+  Last update: <span id="freshness"></span>. More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found <a href="https://github.com/ahupowerdns/galmon/blob/master/README.md#galmon">here</a>. Live map <a href="geo">here!</a>. Contact <a href="https://berthub.eu/">me</a> if you want access to the Grafana dashboard.<br/>
  <table id="galileo"></table>
  <p>
    This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States.
    It is very much a work in progress, and will not be available at all times. Extremely rough code is on
    <a href="https://github.com/ahuPowerDNS/galmon">GitHub</a>.

-    Some technical detail behind this setup can be found in <a href="https://ds9a.nl/articles/posts/galileo-notes/">this post</a>.
+    Some technical detail behind this setup can be found in <a href="https://berthub.eu/articles/posts/galileo-notes/">this post</a>.

    For updates, follow <a href="https://twitter.com/GalileoSats">@GalileoSats</a> on Twitter, or join us on our IRC channel (chat) via the
    <a href="https://webchat.oftc.net/?channels=galileo">web gateway</a>.
--- a/html/sbas.html
+++ b/html/sbas.html
@ -18,7 +18,7 @@
  <table id="sbasstale"></table>
  <p>

-    Some technical detail behind this setup can be found in <a href="https://ds9a.nl/articles/posts/galileo-notes/">this post</a>.
+    Some technical detail behind this setup can be found in <a href="https://berthub.eu/articles/posts/galileo-notes/">this post</a>.

    For updates, follow <a href="https://twitter.com/GalileoSats">@GalileoSats</a> on Twitter, or join us on our IRC channel (chat) via the
    <a href="https://webchat.oftc.net/?channels=galileo">web gateway</a>.
--- a/html/sbas.js
+++ b/html/sbas.js
@ -75,7 +75,7 @@ function maketable(str, arr)

                    ret.value = sbas + "&nbsp;";
                    if(img != "")
-                        ret.value += '<img width="16" height="16" src="https://ds9a.nl/tmp/'+ img +'"/>';
+                        ret.value += '<img width="16" height="16" src="https://berthub.eu/tmp/'+ img +'"/>';
                    else
                        ret.value += "";
                    //                    ret.value="";
--- a/html/sbstatus.html
+++ b/html/sbstatus.html
@ -18,7 +18,7 @@
  <table id="sbasstale"></table>
  <p>

-    Some technical detail behind this setup can be found in <a href="https://ds9a.nl/articles/posts/galileo-notes/">this post</a>.
+    Some technical detail behind this setup can be found in <a href="https://berthub.eu/articles/posts/galileo-notes/">this post</a>.

    For updates, follow <a href="https://twitter.com/GalileoSats">@GalileoSats</a> on Twitter, or join us on our IRC channel (chat) via the
    <a href="https://webchat.oftc.net/?channels=galileo">web gateway</a>.
--- a/html/sv.html
+++ b/html/sv.html
@ -6,14 +6,14 @@
  <link rel="stylesheet" type="text/css" href="style.css">
 </head>
 <body>
-  Last update: <span id="freshness"></span>. More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found <a href="https://github.com/ahupowerdns/galmon/blob/master/README.md#galmon">here</a>. Live map <a href="geo">here!</a>. Contact <a href="https://ds9a.nl/">me</a> if you want access to the Grafana dashboard.<br/>
+  Last update: <span id="freshness"></span>. More information about this Galileo/GPS/BeiDou/Glonass open source monitor can be found <a href="https://github.com/ahupowerdns/galmon/blob/master/README.md#galmon">here</a>. Live map <a href="geo">here!</a>. Contact <a href="https://berthub.eu/">me</a> if you want access to the Grafana dashboard.<br/>
  <table id="galileo"></table>
  <p>
    This table shows live output from four Galileo/GPS/BeiDou/GLONASS receivers hosted in Nootdorp, The Netherlands and California, United States.
    It is very much a work in progress, and will not be available at all times. Extremely rough code is on
    <a href="https://github.com/ahuPowerDNS/galmon">GitHub</a>.

-    Some technical detail behind this setup can be found in <a href="https://ds9a.nl/articles/posts/galileo-notes/">this post</a>.
+    Some technical detail behind this setup can be found in <a href="https://berthub.eu/articles/posts/galileo-notes/">this post</a>.

    For updates, follow <a href="https://twitter.com/GalileoSats">@GalileoSats</a> on Twitter, or join us on our IRC channel (chat) via the
    <a href="https://webchat.oftc.net/?channels=galileo">web gateway</a>.
--- a/influxdb.md
+++ b/influxdb.md
@ -131,9 +131,37 @@ Observer and SV measurements:
   * ele: calculated elevation for SV from this receiver
   * prres: pseudorange residual according to receiver
   * qi: 0-7, quality indicator according to receiver
+   * used: did the receiver use this SV?
 * ubx\_jamming
   * noise\_per\_ms: the Ublox noisePerMS field
   * agccnt: the Ublox automatic gain correction "count"
   * jamind: The Ublox jamming indicator
   * flag: The Ublox jamming flag field

+Fed by separate tool:
+
+SP3 design, tagged by GNSSID, SV:
+ * sp3\_data:
+   * x
+   * y
+   * z
+   * clk
+   * provider
+
+ephemeris, tagged by GNSSID, SV, SIGID:
+ * active-ephemeris
+   * all the raw parameters
+
+GDOP/PDOP stats?
+ * covdop
+   * lat
+   * lon
+   * cov5
+   * cov10
+   * cov20
+   * hdop5
+   * hdop10
+   * hdop20
+
+etc
+
--- a/navcat.cc
+++ b/navcat.cc
@ -26,7 +26,7 @@ using namespace std;

 extern const char* g_gitHash;

-
+// get all stations (numerical) from a directory
 vector<uint64_t> getSources(string_view dirname)
 {
  DIR *dir = opendir(&dirname[0]);
@ -54,8 +54,13 @@ vector<uint64_t> getSources(string_view dirname)
  return ret;
 }

+static bool operator==(const timespec& a, const timespec& b)
+{
+  return a.tv_sec == b.tv_sec && a.tv_nsec && b.tv_nsec;
+}

-void sendProtobuf(string_view dir, vector<uint64_t> stations, time_t startTime, time_t stopTime=0)
+// send protobuf data from the named directories and stations, between start and stoptime
+void sendProtobuf(const vector<string>& dirs, vector<uint64_t> stations, time_t startTime, time_t stopTime=0)
 {
  timespec start;
  start.tv_sec = startTime;
@ -66,44 +71,54 @@ void sendProtobuf(string_view dir, vector<uint64_t> stations, time_t startTime,
  vector<pair<timespec,string> > rnmms;

  for(;;) {
-    cerr<<"Gathering data"<<endl;
-    vector<uint64_t> srcs = stations.empty() ? getSources(dir) : stations;
    rnmms.clear();
-    for(const auto& src: srcs) {
-      string fname = getPath(dir, start.tv_sec, src);
-      FILE* fp = fopen(fname.c_str(), "r");
-      if(!fp)
-        continue;
-      uint32_t offset= fpos[fname];
-      if(fseek(fp, offset, SEEK_SET) < 0) {
-        cerr<<"Error seeking: "<<strerror(errno) <<endl;
-        fclose(fp);
-        continue;
-      }
-      //      cerr <<"Seeked to position "<<fpos[fname]<<" of "<<fname<<endl;
-
-      uint32_t looked=0;
-      string msg;
-      struct timespec ts;
-      while(getRawNMM(fp, ts, msg, offset)) {
-        // don't drop data that is only 5 seconds too old
-        if(make_pair(ts.tv_sec + 5, ts.tv_nsec) >= make_pair(start.tv_sec, start.tv_nsec)) {
-          rnmms.push_back({ts, msg});
+    for(const auto& dir : dirs) {
+      cerr<<"Gathering data from "<<humanTime(start.tv_sec)<<" from "<<dir<<".. ";
+          
+      vector<uint64_t> srcs = stations.empty() ? getSources(dir) : stations;
+      int count=0;
+      for(const auto& src: srcs) {
+        string fname = getPath(dir, start.tv_sec, src);
+        FILE* fp = fopen(fname.c_str(), "r");
+        if(!fp)
+          continue;
+        uint32_t offset= fpos[fname];
+        if(fseek(fp, offset, SEEK_SET) < 0) {
+          cerr<<"Error seeking: "<<strerror(errno) <<endl;
+          fclose(fp);
+          continue;
        }
-        ++looked;
-      }
-      //      cerr<<"Harvested "<<rnmms.size()<<" events out of "<<looked<<endl;
-      fpos[fname]=offset;
-      fclose(fp);
-    }
+        //      cerr <<"Seeked to position "<<fpos[fname]<<" of "<<fname<<endl;
+        
+        string msg;
+        struct timespec ts;
+        while(getRawNMM(fp, ts, msg, offset)) {
+          // don't drop data that is only 5 seconds too old
+          if(make_pair(ts.tv_sec + 5, ts.tv_nsec) >= make_pair(start.tv_sec, start.tv_nsec)) {
+            rnmms.push_back({ts, msg});
+            ++count;
+          }
+        }
+        //      cerr<<"Harvested "<<rnmms.size()<<" events out of "<<looked<<endl;

-    cerr<<"Sorting data"<<endl;
+        fpos[fname]=offset;
+        fclose(fp);
+      }
+      cerr<<" added "<<count<<endl;
+    }
+    //    cerr<<"Sorting data"<<endl;
    sort(rnmms.begin(), rnmms.end(), [](const auto& a, const auto& b)
         {
           return std::tie(a.first.tv_sec, a.first.tv_nsec)
                < std::tie(b.first.tv_sec, b.first.tv_nsec);
         });
-    cerr<<"Sending data"<<endl;
+
+    auto newend=unique(rnmms.begin(), rnmms.end());
+    cerr<<"Removed "<<rnmms.end() - newend <<" duplicates, ";
+    
+    rnmms.erase(newend, rnmms.end());
+    cerr<<"sending data"<<endl;
+    unsigned int count=0;
    for(const auto& nmm: rnmms) {
      if(nmm.first.tv_sec > stopTime)
        break;
@ -113,8 +128,9 @@ void sendProtobuf(string_view dir, vector<uint64_t> stations, time_t startTime,
      buf += nmm.second;
      //fwrite(buf.c_str(), 1, buf.size(), stdout);
      writen2(1, buf.c_str(), buf.size());
+      ++count;
    }
-    cerr<<"Done sending"<<endl;
+    cerr<<"Done sending " << count<<" messages"<<endl;
    if(3600 + start.tv_sec - (start.tv_sec%3600) < stopTime)
      start.tv_sec = 3600 + start.tv_sec - (start.tv_sec%3600);
    else {
@ -129,14 +145,16 @@ int main(int argc, char** argv)
  bool doVERSION{false};

  CLI::App app(program);
-  string beginarg, endarg, storage;
-  app.add_option("--storage,-s", storage, "Location of storage files");  
+  string beginarg, endarg;
+  vector<string> storages;
+  int galwn{-1};
+  app.add_option("--storage,-s", storages, "Locations of storage files");  
  vector<uint64_t> stations;
  app.add_flag("--version", doVERSION, "show program version and copyright");
-  app.add_option("--begin,-b", beginarg, "Begin time (2020-01-01 00:00, or 12:30)")->required();
+  app.add_option("--begin,-b", beginarg, "Begin time (2020-01-01 00:00, or 12:30)");
  app.add_option("--end,-e", endarg, "End time. Now if omitted");
  app.add_option("--stations", stations, "only send data from listed stations");
-
+  app.add_option("--gal-wn", galwn, "Galileo week number to report on");
  CLI11_PARSE(app, argc, argv);

  
@ -145,9 +163,19 @@ int main(int argc, char** argv)
    exit(0);
  }

-  time_t startTime = parseTime(beginarg);
-  
-  time_t stopTime = endarg.empty()  ? time(0) :  parseTime(endarg);
+  time_t startTime, stopTime;
+  if(galwn >=0) {
+    startTime=utcFromGST(galwn, 0);
+    stopTime=startTime + 7*86400;
+  }
+  else if(!beginarg.empty()) {
+    startTime = parseTime(beginarg);
+    stopTime = endarg.empty()  ? time(0) :  parseTime(endarg);
+  }
+  else {
+    cerr<<"No time range specified, use -b or --gal-wn"<<endl;
+    return 1;
+  }

  cerr<<"Emitting from "<<humanTime(startTime) << " to " << humanTime(stopTime) << endl;
  if(!stations.empty()) {
@ -155,7 +183,6 @@ int main(int argc, char** argv)
    for(const auto& s : stations)
      cerr<<" "<<s;
    cerr<<endl;
-}
-  sendProtobuf(storage, stations, startTime, stopTime);
-    
+  }
+  sendProtobuf(storages, stations, startTime, stopTime);
 }
--- a/navdump.cc
+++ b/navdump.cc
@ -25,6 +25,7 @@
 #include "tle.hh"
 #include "sp3.hh"
 #include "ubx.hh"
+#include <optional>
 #include <unistd.h>
 #include "sbas.hh"
 #include "version.hh"
@ -257,12 +258,20 @@ try
  bool doReceptionData{false};
  bool doRFData{true};
  bool doObserverPosition{false};
+  bool doObserverDetails{false};
+  bool doTimeOffsets{false};
  bool doVERSION{false};
+  string rinexfname;
+  string osnmafname;
  app.add_option("--svs", svpairs, "Listen to specified svs. '0' = gps, '2' = Galileo, '2,1' is E01");
  app.add_option("--stations", stations, "Listen to specified stations.");
  app.add_option("--positions,-p", doObserverPosition, "Print out observer positions (or not)");
  app.add_option("--rfdata,-r", doRFData, "Print out RF data (or not)");
+  app.add_option("--observerdetails,-o", doObserverDetails, "Print out observer detail data (or not)");
+  app.add_option("--timeoffsets,-t", doTimeOffsets, "Print out timeoffset data (or not)");
  app.add_option("--recdata", doReceptionData, "Print out reception data (or not)");
+  app.add_option("--rinex", rinexfname, "If set, emit ephemerides to this filename");
+  app.add_option("--osnma", osnmafname, "If set, emit OSNMA CSV to this filename");
  app.add_flag("--version", doVERSION, "show program version and copyright");
    
  try {
@ -299,7 +308,18 @@ try

  sp3csv<<"timestamp gnssid sv ephAge sp3X sp3Y sp3Z ephX ephY ephZ  sp3Clock ephClock distance along clockDelta E speed"<<endl;

-  //  RINEXNavWriter rnw("test.rnx");
+  std::optional<RINEXNavWriter> rnw;
+
+  if(!rinexfname.empty())
+    rnw = RINEXNavWriter(rinexfname);
+
+  std::optional<ofstream> osnmacsv;
+  if(!osnmafname.empty()) {
+    osnmacsv = ofstream(osnmafname);
+    (*osnmacsv)<<"wn,tow,wtype,sv,osnma\n";
+
+  }
+  
  for(;;) {
    char bert[4];
    int res = readn2(0, bert, 4);
@ -388,13 +408,26 @@ try
      int wtype = gm.parse(inav);
      
      gm.tow = nmm.gi().gnsstow();
+      bool isnew = gmwtypes[{nmm.gi().gnsssv(), wtype}].tow != gm.tow;
      gmwtypes[{nmm.gi().gnsssv(), wtype}] = gm;
      static map<int,GalileoMessage> oldEph;
      cout << "gal inav wtype "<<wtype<<" for "<<nmm.gi().gnssid()<<","<<nmm.gi().gnsssv()<<","<<nmm.gi().sigid()<<" pbwn "<<nmm.gi().gnsswn()<<" pbtow "<< nmm.gi().gnsstow();
      static uint32_t tow;
+
+      if(osnmacsv && isnew)
+	(*osnmacsv)<<nmm.gi().gnsswn()<<","<<gm.tow<<","<<wtype<<","<<nmm.gi().gnsssv()<<","<<makeHexDump(nmm.gi().reserved1())<<endl;
+
+      
+      if(wtype >=1 && wtype <= 5) {
+        if(nmm.gi().has_reserved1()) {
+          cout<<" res1 "<<makeHexDump(nmm.gi().reserved1());
+	}
+      }
      if(wtype == 4) {
        //              2^-34       2^-46
        cout <<" iodnav "<<gm.iodnav <<" af0 "<<gm.af0 <<" af1 "<<gm.af1 <<", scaled: "<<ldexp(1.0*gm.af0, 19-34)<<", "<<ldexp(1.0*gm.af1, 38-46);
+        cout << " t0g " << gm.t0g <<" a0g " << gm.a0g <<" a1g " << gm.a1g <<" WN0g " << gm.wn0g;
+
        if(tow && oldgm4s.count(nmm.gi().gnsssv()) && oldgm4s[nmm.gi().gnsssv()].iodnav != gm.iodnav) {
          
          auto& oldgm4 = oldgm4s[nmm.gi().gnsssv()];
@ -453,7 +486,9 @@ try
          if(!oldEph[sv].sqrtA)
            oldEph[sv] = gm;
          else if(oldEph[sv].iodnav != gm.iodnav) {
-            //            rnw.emitEphemeris(sid, gm);
+	    if(rnw)
+	      rnw->emitEphemeris(sid, gm);
+	    //	    gm.toJSON();

            cout<<" disco! "<< oldEph[sv].iodnav << " - > "<<gm.iodnav <<", "<< (gm.getT0e() - oldEph[sv].getT0e())/3600.0 <<" hours-jump insta-age "<<ephAge(gm.tow, gm.getT0e())/3600.0<<" hours";
            Point oldPoint, newPoint;
@ -498,7 +533,9 @@ try
      }
      if(wtype == 6) {
        cout<<" a0 " << gm.a0 <<" a1 " << gm.a1 <<" t0t "<<gm.t0t << " dtLS "<<(int)gm.dtLS;
+        cout <<" wnLSF "<< (unsigned int)gm.wnLSF<<" dn " << (unsigned int)gm.dn<< " dtLSF "<<(int)gm.dtLSF<<endl;
      }
+
      
      //      if(wtype < 7)
      //        gm = GalileoMessage{};
@ -535,7 +572,7 @@ try
        if(gm.alma3.e1bhs != 0) {
          cout <<" gm.tow "<<gm.tow<<" gmwtypes.tow "<< gmwtypes[{sv,9}].tow <<" ";
        }
-        cout<<"  "<<gmwtypes[{sv,9}].alma3.svid <<" af0 "<<gm.alma3.af0<<" af1 "<< gm.alma3.af1 <<" e5bhs "<< gm.alma3.e5bhs<<" e1bhs "<< gm.alma3.e1bhs <<" a0g " << gm.a0g <<" a1g "<< gm.a1g <<" t0g "<<gm.t0g <<" wn0g "<<gm.wn0g <<" delta-gps "<< gm.getGPSOffset(gm.tow, gm.wn).first<<"ns";
+        cout<<"  alma3.sv "<<gmwtypes[{sv,9}].alma3.svid <<" af0 "<<gm.alma3.af0<<" af1 "<< gm.alma3.af1 <<" e5bhs "<< gm.alma3.e5bhs<<" e1bhs "<< gm.alma3.e1bhs <<" a0g " << gm.a0g <<" a1g "<< gm.a1g <<" t0g "<<gm.t0g <<" wn0g "<<gm.wn0g <<" delta-gps "<< gm.getGPSOffset(gm.tow, gm.wn).first<<"ns";

        int dw = (int)(gm.wn%64) - (int)(gm.wn0g);
        if(dw > 31)
@ -546,6 +583,55 @@ try
      
      cout<<endl;      
    }
+    else if(nmm.type() == NavMonMessage::GalileoCnavType) {
+      basic_string<uint8_t> cnav((uint8_t*)nmm.gc().contents().c_str(), nmm.gc().contents().size());
+      int sv = nmm.gc().gnsssv();
+      if(!svfilter.check(2, sv, nmm.gc().sigid()))
+        continue;
+      etstamp();
+      cout << "C/NAV for " << nmm.gc().gnssid()<<","<<nmm.gc().gnsssv()<<","<<nmm.gc().sigid() <<": header ";
+      cout<<fmt::sprintf("%02x%02x%02x (status %d, MT %d, MID %d, MS %d, PID %d)  rest ",
+			 getbitu(cnav.c_str(), 14, 8),
+			 getbitu(cnav.c_str(), 22, 8),
+			 getbitu(cnav.c_str(), 30, 8),
+			 getbitu(cnav.c_str(), 14+0, 2),  // status
+			 getbitu(cnav.c_str(), 14+4, 2),  // MT
+			 getbitu(cnav.c_str(), 14+6, 5),  // MID
+			 getbitu(cnav.c_str(), 14+11, 5),  // MIS
+			 getbitu(cnav.c_str(), 14+16, 8)  // PID
+			 
+			 );
+      for(int n=0; n < 51; ++n)
+	cout << fmt::sprintf("%02x ", getbitu(cnav.c_str(), 38 +n *8, 8));
+      cout<<endl;
+
+    }
+    else if(nmm.type() == NavMonMessage::GalileoFnavType) {
+      basic_string<uint8_t> fnav((uint8_t*)nmm.gf().contents().c_str(), nmm.gf().contents().size());
+      int sv = nmm.gf().gnsssv();
+      if(!svfilter.check(2, sv, nmm.gf().sigid()))
+        continue;
+      etstamp();
+      GalileoMessage gm;
+      gm.parseFnav(fnav);
+      cout<<"gal F/NAV wtype "<< (int)gm.wtype << " for "<<nmm.gf().gnssid()<<","<<nmm.gf().gnsssv()<<","<<nmm.gf().sigid();
+      if(gm.wtype ==1 || gm.wtype == 2 || gm.wtype == 3 || gm.wtype == 4)
+        cout<<" iodnav " <<gm.iodnav <<" tow " << gm.tow;
+      if(gm.wtype == 1) {
+        cout <<" af0 "<<gm.af0 << " af1 "<<gm.af1 <<" af2 "<< (int)gm.af2;
+      }
+      if(gm.wtype == 2) {
+        cout <<" sqrtA "<<gm.sqrtA;
+      }
+      if(gm.wtype == 3) {
+        cout <<" t0e "<<gm.t0e;
+      }
+      if(gm.wtype == 4) {
+        cout <<" dtLS "<<(int)gm.dtLS <<" wnLSF "<< (unsigned int)gm.wnLSF<<" dn " << (unsigned int)gm.dn<< " dtLSF "<<(int)gm.dtLSF<<endl;
+      }
+
+      cout<<endl;
+    }
    else if(nmm.type() == NavMonMessage::GPSInavType) {
      int sv = nmm.gpsi().gnsssv();

@ -652,7 +738,7 @@ try
          cout<<" 2nd-match "<<second.name << " dist "<<second.distance/1000<<" km t0e "<<gs.gpsalma.getT0e() << " t " <<nmm.localutcseconds();
        }
        if(page == 18)
-          cout << " dtLS " << (int)gs.dtLS <<" dtLSF "<< (int)gs.dtLSF;
+          cout << " wnLSF "<< (int)gs.wnLSF <<" dn " << (int)gs.dn << " t0t " << (int)gs.t0t <<" wn0t "<<(int)gs.wn0t<<" dtLS " << (int)gs.dtLS <<" dtLSF "<< (int)gs.dtLSF;
      }
      else if(frame == 5) {
        if(gs.gpsalma.sv <= 24) {
@ -700,19 +786,42 @@ try
        }
      }
      else if(rm.type == 1045 || rm.type == 1046) {
-        
+        static ofstream af0inavstr("af0inav.csv"), af0fnavstr("af0fnav.csv"), bgdstr("bgdstr.csv");
+        static bool first{true};
+
+        if(first) {
+          af0inavstr<<"timestamp sv wn t0c af0 af1\n";
+          af0fnavstr<<"timestamp sv wn t0c af0 af1\n";
+          first=false;
+        }
        SatID sid;
        sid.gnss = 2;
        sid.sv = rm.d_sv;
        sid.sigid = (rm.type == 1045) ? 5 : 1;
        
        cout<< makeSatIDName(sid)<<" ";
-        if(rm.type == 1045)
-          cout<<"F/NAV ";
-        else
-          cout <<"I/NAV ";
-        
-        cout <<" iode " << rm.d_gm.iodnav << " sisa " << (unsigned int) rm.d_gm.sisa << " af0 "<<rm.d_gm.af0 <<" af1 " << rm.d_gm.af1 <<" af2 " << (int) rm.d_gm.af2 << endl;
+        if(rm.type == 1045) {
+          af0fnavstr << nmm.localutcseconds()<<" " << rm.d_sv <<" " << rm.d_gm.wn<<" "<< rm.d_gm.t0c << " " << rm.d_gm.af0 << " " << rm.d_gm.af1<<"\n";
+          cout<<"F/NAV";
+        }
+        else {
+          af0inavstr << nmm.localutcseconds() <<" " << rm.d_sv <<" " << rm.d_gm.wn<<" "<<rm.d_gm.t0c<<" "<< rm.d_gm.af0 << " " << rm.d_gm.af1<<"\n";
+          bgdstr << nmm.localutcseconds() <<" " << rm.d_sv<<" " <<rm.d_gm.BGDE1E5a <<" " << rm.d_gm.BGDE1E5b << "\n";
+          cout <<"I/NAV";
+        }
+
+        cout <<" iode " << rm.d_gm.iodnav << " sisa " << (unsigned int) rm.d_gm.sisa << " t0c " << rm.d_gm.t0c << " af0 "<<rm.d_gm.af0 <<" af1 " << rm.d_gm.af1 <<" af2 " << (int) rm.d_gm.af2 << " BGDE1E5a " << rm.d_gm.BGDE1E5a;
+        if(rm.type == 1046) // I/NAV
+          cout <<" BGDE1E5b "<< rm.d_gm.BGDE1E5b;
+        cout<<endl;
+      }
+      else if(rm.type == 1059 || rm.type==1242) {
+        cout<<"\n";
+        for(const auto& dcb : rm.d_dcbs) {
+          cout<<"   "<<makeSatIDName(dcb.first)<<":  "<<dcb.second<<" meters\n";
+        }
+
+        cout<<endl;
      }
      else {
        cout<<" len " << nmm.rm().contents().size() << endl;
@ -781,8 +890,6 @@ try
        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";
-
-
      }
      else if((fraid == 4 && 1<= pageno && pageno <= 24) ||
              (fraid == 5 && 1<= pageno && pageno <= 6) ||
@ -813,7 +920,7 @@ try
        cout<<" WNa "<<getbitu(&cond[0], beidouBitconv(190), 8)<<" t0a "<<getbitu(&cond[0], beidouBitconv(198), 8);
      }
      else if(bm.fraid == 5 && pageno==10) {
-        cout <<" dTLS "<< (int)bm.deltaTLS;
+        cout <<" dTLS "<< (int)bm.deltaTLS << " dTLSF " << (int) bm.deltaTLSF <<" wnLSF " << (unsigned int)bm.wnLSF <<" dn "<<(unsigned int)  bm.dn<<endl;
      }
      else if(bm.fraid == 5 && pageno==24) {
        int AmID= getbitu(&cond[0], beidouBitconv(216), 2);
@ -1014,17 +1121,19 @@ try
      
    }
    else if(nmm.type() == NavMonMessage::ObserverDetailsType) {
-      etstamp();
-      cout<<"vendor "<<nmm.od().vendor()<<" hwversion " <<nmm.od().hwversion()<<" modules "<<nmm.od().modules()<<" swversion "<<nmm.od().swversion();
-      cout<<" serial "<<nmm.od().serialno();
-      if(nmm.od().has_owner())
-        cout<<" owner "<<nmm.od().owner();
-      if(nmm.od().has_clockoffsetdriftns())
-        cout<<" drift "<<nmm.od().clockoffsetdriftns();
-      if(nmm.od().has_clockaccuracyns())
-        cout<<" clock-accuracy "<<nmm.od().clockaccuracyns();
-      
-      cout<<endl;
+      if(doObserverDetails) {
+	etstamp();
+	cout<<"vendor "<<nmm.od().vendor()<<" hwversion " <<nmm.od().hwversion()<<" modules "<<nmm.od().modules()<<" swversion "<<nmm.od().swversion();
+	cout<<" serial "<<nmm.od().serialno();
+	if(nmm.od().has_owner())
+	  cout<<" owner "<<nmm.od().owner();
+	if(nmm.od().has_clockoffsetdriftns())
+	  cout<<" drift "<<nmm.od().clockoffsetdriftns();
+	if(nmm.od().has_clockaccuracyns())
+	  cout<<" clock-accuracy "<<nmm.od().clockaccuracyns();
+	
+	cout<<endl;
+      }
    }
    else if(nmm.type() == NavMonMessage::UbloxJammingStatsType) {
      etstamp();
@ -1195,12 +1304,14 @@ try
      cout<< nmm.sr().gnsssv() << " beacon "<<hexstring <<" code "<<(int)nmm.sr().code()<<" params "<< makeHexDump(nmm.sr().params()) <<endl;
    }
    else if(nmm.type() == NavMonMessage::TimeOffsetType) {
-      etstamp();
-      cout<<" got a time-offset message with "<< nmm.to().offsets().size()<<" offsets: ";
-      for(const auto& o : nmm.to().offsets()) {
-        cout << "gnssid "<<o.gnssid()<<" offset " << o.offsetns() << " +- "<<o.tacc()<<" ("<<o.valid()<<") , ";
+      if(doTimeOffsets) {
+	etstamp();
+	cout<<" got a time-offset message with "<< nmm.to().offsets().size()<<" offsets: ";
+	for(const auto& o : nmm.to().offsets()) {
+	  cout << "gnssid "<<o.gnssid()<<" offset " << o.offsetns() << " +- "<<o.tacc()<<" ("<<o.valid()<<") , ";
+	}
+	cout<<endl;
      }
-      cout<<endl;
            
    }
    else {
--- a/navmerge.cc
+++ b/navmerge.cc
@ -0,0 +1,172 @@
+#include "sclasses.hh"
+#include <map>
+#include "navmon.hh"
+#include "navmon.pb.h"
+#include <thread>
+#include "nmmsender.hh"
+#include "CLI/CLI.hpp"
+#include "version.hh"
+
+using namespace std;
+
+static char program[]="navmerge";
+
+/* ubxtool/rtcmtool/septool deliver data to one of several `navrecv` instances
+   This means we need a 'merge' tool.
+
+   The merge tool should be able to stream data from multiple `navnexus` instances 
+      (that correspond to the `navrecv` instances)
+
+   Currently, `navnexus` is really simple - it will send you a feed from x hours back, where 
+   you don't get to pick x.
+
+   The simplest navmerge implementation does nothing but connect to a few navnexus instances
+   and it mixes them together.
+
+   Every message "should" only appear on one of the upstreams, but you never know. 
+
+   On initial connection, the different navnexuses may start up from a different time, currently.
+   Let us state that This Should Not Happen.
+
+   On initial connect, a navnexus might take dozens of seconds before it starts coughing up data. 
+
+   Initial goal for navmerge is: only make sure realtime works. 
+
+   Every upstream has a thread that loops trying to connect
+   If a new message comes in, it is stored in a shared data structure
+   If a new connect is made, set a "don't send" marker for a whole minute
+
+   There is a sender thread that periodically polls this data structure
+   Any data that is older than the previous high-water mark gets sent out & removed from structure
+   However, transmission stops 10 seconds before realtime
+   If a "don't send" marker is set, we don't do a thing
+
+*/
+
+multimap<pair<uint64_t, uint64_t>, string> g_buffer;
+std::mutex g_mut;
+
+void recvSession(ComboAddress upstream)
+{
+  for(;;) {
+    try {
+      Socket sock(upstream.sin4.sin_family, SOCK_STREAM);
+      cerr<<"Connecting to "<< upstream.toStringWithPort()<<" to source data..";
+      SConnectWithTimeout(sock, upstream, 5);
+      cerr<<" done"<<endl;
+
+      for(int count=0;;++count) {
+        string part=SRead(sock, 4);
+        if(part.empty()) {
+          cerr<<"EOF from "<<upstream.toStringWithPort()<<endl;
+          break;
+        }
+        if(part != "bert") {
+          cerr << "Message "<<count<<", wrong magic from "<<upstream.toStringWithPort()<<": "<<makeHexDump(part)<<endl;
+          break;
+        }
+        if(!count)
+          cerr<<"Receiving messages from "<<upstream.toStringWithPort()<<endl;
+        string out=part;
+        
+        part = SRead(sock, 2);
+        out += part;
+        
+        uint16_t len;
+        memcpy(&len, part.c_str(), 2);
+        len = htons(len);
+        
+        part = SRead(sock, len);  // XXXXX ???
+        if(part.size() != len) {
+          cerr<<"Mismatch, "<<part.size()<<", len "<<len<<endl;
+          // XX AND THEN WHAT??
+        }
+        out += part;
+      
+        NavMonMessage nmm;
+        nmm.ParseFromString(part);
+        // writeToDisk(nmm.localutcseconds(), nmm.sourceid(), out);
+        // do something with the message
+        
+        std::lock_guard<std::mutex> mut(g_mut);
+        g_buffer.insert({{nmm.localutcseconds(), nmm.localutcnanoseconds()}, part});
+      }
+    }
+    catch(std::exception& e) {
+      cerr<<"Error in receiving thread: "<<e.what()<<endl;
+      sleep(1);
+    }
+  }
+  cerr<<"Thread for "<<upstream.toStringWithPort()<< " exiting"<<endl;
+}
+
+int main(int argc, char** argv)
+{
+  GOOGLE_PROTOBUF_VERIFY_VERSION;
+  vector<string> destinations;
+  vector<string> sources;
+
+  bool doVERSION{false}, doSTDOUT{false};
+  CLI::App app(program);
+  app.add_option("--source", sources, "Connect to these IP address:port to source protobuf");
+  app.add_option("--destination,-d", destinations, "Send output to this IPv4/v6 address");
+  app.add_flag("--version", doVERSION, "show program version and copyright");
+  app.add_flag("--stdout", doSTDOUT, "Emit output to stdout");
+
+  CLI11_PARSE(app, argc, argv);
+  
+  if(doVERSION) {
+    showVersion(program, g_gitHash);
+    exit(0);
+  }
+
+
+  signal(SIGPIPE, SIG_IGN);
+  NMMSender ns;
+
+  ns.d_debug = true;
+  for(const auto& s : destinations) {
+    auto res=resolveName(s, true, true);
+    if(res.empty()) {
+      cerr<<"Unable to resolve '"<<s<<"' as destination for data, exiting"<<endl;
+      exit(EXIT_FAILURE);
+    }
+    ns.addDestination(s); // ComboAddress(s, 29603));
+  }
+  if(doSTDOUT)
+    ns.addDestination(1);
+
+  
+  for(const auto& s : sources) {
+    ComboAddress oneaddr(s, 29601);
+    std::thread one(recvSession, oneaddr);
+    one.detach();
+  }
+
+  time_t start=time(0);
+  for(;;) {
+    sleep(1);
+    vector<string> tosend;
+    {
+      std::lock_guard<std::mutex> mut(g_mut);
+
+      time_t now = time(0);
+      if(now - start < 30) {
+        cerr<<"Have "<<g_buffer.size()<<" messages"<<endl;
+        continue;
+      }
+
+      for(auto iter = g_buffer.begin(); iter != g_buffer.end(); ) {
+        if(iter->first.first > (uint64_t)now - 5)
+          break;
+        tosend.push_back(iter->second);
+        iter = g_buffer.erase(iter);
+      }
+    }
+    //    cerr<<"Have "<<tosend.size()<<" messages to send, "<<g_buffer.size()<<" left in queue"<<endl;
+    std::string buf;
+    for(const auto& m : tosend) {
+      ns.emitNMM(m);
+    }
+  }
+}
--- a/navmon.cc
+++ b/navmon.cc
@ -159,6 +159,18 @@ std::string humanTimeShort(time_t t)
  return buffer;
 }

+// influx ascii time format, in UTC
+std::string influxTime(time_t t)
+{
+  struct tm tm={0};
+  gmtime_r(&t, &tm);
+
+  char buffer[80];
+  std::string fmt = "%Y-%m-%d %H:%M:%S";
+  
+  strftime(buffer, sizeof(buffer), fmt.c_str(), &tm);
+  return buffer;
+}

 std::string humanTime(time_t t, uint32_t nanoseconds)
 {
@ -280,22 +292,33 @@ std::string makeSatPartialName(const SatID& satid)
  return fmt::sprintf("%c%02d", getGNSSChar(satid.gnss), satid.sv);
 }

+int g_dtLS{18}, g_dtLSBeidou{4};
+
 void getGPSDateFromUTC(time_t t, int& wn, int& tow)
 {
  t -= 315964800;
-  t += 18;
+  t += 18; // XXXXXX LEAP SECOND
  wn = t/(7*86400);
  tow = t%(7*86400);
 }
 void getGalDateFromUTC(time_t t, int& wn, int& tow)
 {
  t -= 935280000;
-  t += 18;
+  t += 18; // XXXXXXX LEAP SECOND
  wn = t/(7*86400);
  tow = t%(7*86400);
 }

-int g_dtLS{18}, g_dtLSBeidou{4};
+void getBeiDouDateFromUTC(time_t t, int&wn, int& sow)
+{
+  // Week number count started from zero at 00:00:00 on Jan. 1, 2006 of BDT
+  t -= 1136070000;
+  t+= g_dtLSBeidou;
+  wn = t/(7*86400);
+  sow = t%(7*86400);
+}
+
+
 uint64_t utcFromGST(int wn, int tow)
 {
  return (935280000 + wn * 7*86400 + tow - g_dtLS); 
@ -324,6 +347,19 @@ string makeHexDump(const string& str)
  return ret;
 }

+string makeHexDump(const basic_string<uint8_t>& str)
+{
+  char tmp[5];
+  string ret;
+  ret.reserve((int)(str.size()*2.2));
+
+  for(string::size_type n=0;n<str.size();++n) {
+    snprintf(tmp, sizeof(tmp), "%02x ", (unsigned char)str[n]);
+    ret+=tmp;
+  }
+  return ret;
+}
+
 std::string sbasName(int prn)
 {
  string sbas;
@ -375,7 +411,7 @@ time_t parseTime(std::string_view in)
 {
  time_t now=time(0);

-  vector<string> formats({"%Y-%m-%d %H:%M", "%Y%m%d %H%M", "%H:%M", "%H%M"});
+  vector<string> formats({"%Y-%m-%d %H:%M", "%Y-%m-%d %H:%M:%S", "%Y%m%d %H%M", "%H:%M", "%H%M"});
  for(const auto& f : formats) {
    struct tm tm;
    memset(&tm, 0, sizeof(tm));
@ -392,7 +428,24 @@ time_t parseTime(std::string_view in)

  string err="Can only parse on";
  for(const auto& f : formats)
-    err += " "+ f;
+    err += " '"+ f+"'";
  throw runtime_error(err);
 }

+
+std::string string_replace(const std::string& str, const std::string& match, 
+        const std::string& replacement, unsigned int max_replacements)
+{
+    size_t pos = 0;
+    std::string newstr = str;
+    unsigned int replacements = 0;
+    while ((pos = newstr.find(match, pos)) != std::string::npos
+            && replacements < max_replacements)
+    {
+         newstr.replace(pos, match.length(), replacement);
+         pos += replacement.length();
+         replacements++;
+    }
+    return newstr;
+}
+
--- a/navmon.hh
+++ b/navmon.hh
@ -5,7 +5,7 @@
 #include <string>
 #include <tuple>
 #include <mutex>
-
+#include <limits.h>
 extern const char* g_gitHash;


@ -18,6 +18,8 @@ std::string humanTimeNow();
 std::string humanTime(time_t t);
 std::string humanTimeShort(time_t t);
 std::string humanTime(time_t t, uint32_t nanoseconds);
+// influx ascii time format, in UTC
+std::string influxTime(time_t t);
 struct SatID
 {
  uint32_t gnss{255}; // these could all be 'int16_t' but leads to howling numbers of warnings with protobuf
@ -78,9 +80,12 @@ double utcFromGPS(int wn, double tow);

 void getGPSDateFromUTC(time_t t, int& wn, int& tow);
 void getGalDateFromUTC(time_t t, int& wn, int& tow);
-
+void getBeiDouDateFromUTC(time_t t, int&wn, int& sow);

 std::string makeHexDump(const std::string& str);
+std::string makeHexDump(const std::basic_string<uint8_t>& str);
 size_t writen2(int fd, const void *buf, size_t count);
 void unixDie(const std::string& reason);
 time_t parseTime(std::string_view in);
+std::string string_replace(const std::string& str, const std::string& match, 
+                           const std::string& replacement, unsigned int max_replacements = UINT_MAX);
--- a/navmon.proto
+++ b/navmon.proto
@ -18,6 +18,8 @@ message NavMonMessage {
    GPSCnavType = 14;
    RTCMMessageType = 15;
    TimeOffsetType = 16;
+    GalileoFnavType = 17;
+    GalileoCnavType = 18;
  }

  required uint64 sourceID = 1;
@ -33,7 +35,31 @@ message NavMonMessage {
 	required uint32 gnssID =3;
 	required uint32 gnssSV =4;
 	required bytes contents =5;
-        optional uint32 sigid = 6;        
+        optional uint32 sigid = 6;
+        optional bytes reserved1 = 7;
+        optional bytes reserved2 = 8;
+        optional bytes sar = 9;
+        optional bytes spare = 10;
+        optional bytes crc = 11;      
+  }
+
+message GalileoFnav {
+	required uint32 gnssWN =1;
+  	required uint32 gnssTOW =2; // INTEGERS!
+
+	required uint32 gnssID =3;
+	required uint32 gnssSV =4;
+	required bytes contents =5;
+        required uint32 sigid = 6;        
+  }
+  message GalileoCnav {
+	required uint32 gnssWN =1;
+  	required uint32 gnssTOW =2; // INTEGERS!
+
+	required uint32 gnssID =3;
+	required uint32 gnssSV =4;
+	required bytes contents =5;
+        required uint32 sigid = 6;        
  }

  message GPSInav {
@ -217,4 +243,6 @@ message NavMonMessage {
  optional GPSCnav gpsc = 18;
  optional RTCMMessage rm = 19;
  optional TimeOffsetMessage to = 20;
+  optional GalileoFnav gf=21;
+  optional GalileoCnav gc=22;
 }
--- a/navnexus.cc
+++ b/navnexus.cc
@ -88,7 +88,7 @@ try
        close(fd);
        continue;
      }
-      cout <<"Seeked to position "<<fpos[fname]<<" of "<<fname<<endl;
+      //      cout <<"Seeked to position "<<fpos[fname]<<" of "<<fname<<endl;
      NavMonMessage nmm;

      uint32_t looked=0;
@ -106,15 +106,15 @@ try
      fpos[fname]=offset;
      close(fd);
    }
-    cout<<"Sorting.. ";
-    cout.flush();
+    //    cout<<"Sorting.. ";
+    //    cout.flush();
    sort(rnmms.begin(), rnmms.end(), [](const auto& a, const auto& b)
         {
           return std::tie(a.first.tv_sec, a.first.tv_nsec)
             < std::tie(b.first.tv_sec, b.first.tv_nsec);
         });
-    cout<<"Sending.. ";
-    cout.flush();
+    //    cout<<"Sending.. ";
+    //    cout.flush();
    for(const auto& nmm: rnmms) {
      std::string buf="bert";
      uint16_t len = htons(nmm.second.size());
@ -122,7 +122,7 @@ try
      buf += nmm.second;
      SWriten(clientfd, buf);
    }
-    cout<<"Done"<<endl;
+    //    cout<<"Done"<<endl;
    if(3600 + start.tv_sec - (start.tv_sec % 3600) < time(0))
      start.tv_sec = 3600 + start.tv_sec - (start.tv_sec % 3600);
    else {
--- a/navparse.cc
+++ b/navparse.cc
@ -37,7 +37,7 @@
 #include "gpscnav.hh"
 #include "rtcm.hh"
 #include "version.hh"
-
+//#include "nequick.hh"

 static char program[]="navparse";

@ -45,7 +45,7 @@ using namespace std;

 extern const char* g_gitHash;

-struct ObserverPosition
+struct ObserverFacts
 {
  Point pos;
  double groundSpeed{-1};
@ -65,7 +65,7 @@ struct ObserverPosition
  string remark;
  time_t lastSeen{0};
 };
-std::map<int, ObserverPosition> g_srcpos;
+std::map<int, ObserverFacts> g_srcpos;

 struct SBASAndReceiverStatus
 {
@ -263,9 +263,6 @@ void SVStat::reportNewEphemeris(const SatID& id, InfluxPusher& idb)
  if(gnss==0) { // GPS
    const auto& eg = ephgpsmsg;

-    idb.addValue(id, "ephemeris-actual", {
-        {"iod", eg.getIOD()}}, satUTCTime(id));
-    
    
    idb.addValue(id, "ephemeris-actual", {
        {"iod", eg.getIOD()}, 
@ -295,10 +292,6 @@ void SVStat::reportNewEphemeris(const SatID& id, InfluxPusher& idb)
  
  if(gnss==2) {
    const auto& eg = ephgalmsg;
-
-    idb.addValue(id, "ephemeris-actual", {
-        {"iod", eg.getIOD()}}, satUTCTime(id));
-    
    
    idb.addValue(id, "ephemeris-actual", {
        {"iod", eg.getIOD()}, 
@ -568,6 +561,25 @@ try {
    }
    sats.push_back(sat);
  }
+
+  vector<SatID> aux{{2, 14, 1}, {2,18,1}};
+  for(const auto& id : aux) {
+    if(!g_svstats.count(id))
+      continue;
+    
+    const auto& svstat = g_svstats[id];
+
+    if(svstat.completeIOD() && svstat.galmsg.sisa == 255) {
+      continue;
+    }
+    if(svstat.galmsg.e1bhs || svstat.galmsg.e1bdvs) {
+      continue;
+    }
+    Point sat;
+    getCoordinates(tow, svstat.galmsg, &sat);
+    sats.push_back(sat);
+  }
+  
  //  cout<<endl;
  auto cov = emitCoverage(sats);
  int cells=0;
@ -629,10 +641,11 @@ try
  string localAddress("127.0.0.1:29599");
  string htmlDir("./html");
  string influxDBName("null");
-
+  bool doGalileoReportSpeedup{false};
  bool doLogRFData{false};
  app.add_flag("--version", doVERSION, "show program version and copyright");
  app.add_flag("--log-rf-data", doLogRFData, "store per station RF/correlator data");
+  app.add_flag("--gal-report-speedup", doGalileoReportSpeedup, "skip debugging data, glonass, beidou, SBAS");
  app.add_option("--bind,-b", localAddress, "Address to bind to");
  app.add_option("--html", htmlDir, "Where to source the HTML & JavaScript");
  app.add_option("--influxdb", influxDBName, "Name of influxdb database");
@ -651,7 +664,7 @@ try
  //  feenableexcept(FE_DIVBYZERO | FE_INVALID | FE_OVERFLOW ); 

  
-  //  g_tles.parseFile("active.txt");
+  // g_tles.parseFile("active.txt");

  g_tles.parseFile("galileo.txt");
  g_tles.parseFile("glo-ops.txt");
@ -1524,6 +1537,9 @@ try
            }
          }
          if(s.first.gnss == 2) {
+            if(s.second.osnmaTime >= 0 && ephAge(s.second.galmsg.tow, s.second.osnmaTime) < 60)
+              item["osnma"] = s.second.osnma;
+            
            auto galileoalma = g_galileoalmakeeper.get();
            if(auto iter = galileoalma.find(s.first.sv); iter != galileoalma.end()) {
              Point almapos;
@ -1836,7 +1852,7 @@ try
      if(!lastCovSyncPoint)
        holdOffTime = nmm.localutcseconds() + 600;
      
-      if(nmm.localutcseconds() > holdOffTime)
+      if((time_t)nmm.localutcseconds() > holdOffTime)
        storeCoverageStats(idb, nmm.localutcseconds());
      lastCovSyncPoint = nmm.localutcseconds() / lastCovInterval;
    }
@ -1847,6 +1863,63 @@ try
      storeSelfStats(idb, nmm.localutcseconds());
      lastSelfstatSyncPoint = nmm.localutcseconds() / lastSelfstatInterval;
    }
+
+    #if 0
+    constexpr auto lastIonoInterval = 3600;
+    static time_t lastIonoSyncPoint;
+    if(nmm.localutcseconds() / lastIonoInterval > (unsigned int)lastIonoSyncPoint) {
+      // go over all satellites
+      NeQuickInst nqi;
+      //      cerr<<"Looking at all sats"<<endl;
+      for(const auto& s : g_svstats) {
+        if(s.first.gnss!=2 || !s.second.completeIOD())
+          continue;
+        Point sat;
+        s.second.getCoordinates(s.second.tow(), &sat);
+        for(const auto& pr : s.second.perrecv) {
+          //          cerr<<"Looking at "<<s.first.sv<<", "<<pr.second.db<<" "<<nmm.localutcseconds()<<", "<<pr.second.t<<" perrecv "<<pr.first<<" count " << g_srcpos.count(pr.first)<<endl;
+          if(g_srcpos.count(pr.first) && (pr.second.db > 0 || (nmm.localutcseconds() - pr.second.t < 120))) {
+            //            cerr<<"Doing it -> "<< s.second.galmsg.ai0 <<" " <<s.second.galmsg.ai1<<" " << s.second.galmsg.ai2<< endl;
+            const auto& sp = g_srcpos[pr.first];
+            try {
+              //              cerr<<"Obs "<<pr.first<<" pos: "<<sp.pos.x<<", "<<sp.pos.y<<", "<<sp.pos.z<<endl;
+              //              cerr<<"Sat " <<s.first.sv<<" pos: "<<sat.x<<", "<<sat.y<<", "<<sat.z<<endl;
+              //              auto obs = ecefToWGS84Deg(sp.pos.x, sp.pos.y, sp.pos.z);
+              //              cerr<<"Observer height: "<<get<2>(obs)<<" meters, long "<<get<0>(obs)<<", lat "<<get<1>(obs)<<endl;
+
+              //              auto satdegs = ecefToWGS84Deg(sat.x, sat.y, sat.z);
+              //              cerr<<"Satellite height: "<<get<2>(satdegs)<<" meters, long "<<get<0>(satdegs)<<", lat "<<get<1>(satdegs)<< " -> elevation "<<getElevationDeg(sat, sp.pos)<<" deg"<<endl;
+
+              if(getElevationDeg(sat, sp.pos) < 0) // below the horizon
+                continue;
+              
+              if(sp.pos.x==0 || isnan(sat.x)) {
+                //                cerr<<"Fake position, skipping"<<endl;
+                continue;
+              }
+              double meters = (40.3e16/(1575420000.0*1575420000.0)) *
+                nqi.getTecu(nmm.localutcseconds(),
+                            s.second.galmsg.ai0,
+                            s.second.galmsg.ai1,
+                            s.second.galmsg.ai2, sp.pos, sat);
+              
+              idb.addValue(s.first, "nequick",
+                           {
+                           {"meters", meters}
+                           }, nmm.localutcseconds() + nmm.localutcnanoseconds()/1000000000.0, pr.first);
+              //              cerr<<"Meters: "<<meters<<endl;
+            }
+            catch(std::exception& e) {
+              cerr<<"Exception during NeQuick: "<<e.what()<<endl;
+            }
+
+          }
+        }
+      }
+      //      cerr<<"Done"<<endl;
+      lastIonoSyncPoint = nmm.localutcseconds() / lastIonoInterval;
+    }
+#endif
    
    
    if(nmm.type() == NavMonMessage::ReceptionDataType) {
@ -1877,12 +1950,12 @@ try
      
      Point sat{0,0,0};
      //cout<<"Got recdata for "<<id.gnss<<","<<id.sv<<","<<id.sigid<<": count="<<g_svstats.count(id)<<endl;
-      if(g_svstats[id].completeIOD() && (id.gnss != 6 || !(random() % 16))) { // glonass is too slow
+      if(g_svstats[id].completeIOD() && !(random() % 16)) { 
        g_svstats[id].getCoordinates(g_svstats[id].tow(), &sat);
      }
      
      if(sat.x != 0 && g_srcpos[nmm.sourceid()].pos.x != 0) {
-        if(doLogRFData && !(random() % 4))
+        if(doLogRFData && !(random() % 16))
        idb.addValue(id, "recdata",
                     {
                     {"db", nmm.rd().db()},
@ -1904,31 +1977,6 @@ try
      else
        sigid = 1;  // default to E1B
      SatID id={2,(uint32_t)sv,(uint32_t)sigid};
-      /*
-      struct DedupKey
-      {
-        SatID id;
-        int wn;
-        int tow;
-        basic_string<uint8_t> contents;
-        bool operator<(const DedupKey& rhs) const
-        {
-          return tie(id, wn, tow, contents) <
-            tie(rhs.id, rhs.wn, rhs.tow, rhs.contents);
-        }
-      };
-
-      static set<DedupKey> s_dedup;
-      DedupKey dk{id, (int)nmm.gi().gnsswn(), (int)nmm.gi().gnsstow(), inav};
-      if(s_dedup.insert(dk).second == false) {
-        //        cout<<"Dedup"<<endl;
-        continue;
-      }
-      if(s_dedup.size() > 10000)
-        s_dedup.clear();
-      */
-      // XXX conversion, may be vital
-      // g_svstats[id].wn = nmm.gi().gnsswn();
      
      auto& svstat = g_svstats[id];
      svstat.gnss = id.gnss;
@ -1937,7 +1985,6 @@ try
      auto& gm = svstat.galmsg;
      unsigned int wtype = gm.parse(inav);

-      
      if(wtype == 5 && svstat.galmsgTyped.count(5)) {
        const auto& old5gm = svstat.galmsgTyped[5];
        if(make_tuple(old5gm.e5bhs, old5gm.e1bhs, old5gm.e5bdvs, old5gm.e1bdvs) !=
@ -1949,6 +1996,15 @@ try
      svstat.galmsgTyped[wtype] = gm;

      if(wtype == 1 || wtype == 2 || wtype == 3 || wtype == 4) {
+        if(nmm.gi().has_reserved1()) {
+          static string off;
+          if(off.empty())
+            off.append(5, (char)0);
+          svstat.osnma = nmm.gi().reserved1() != off;
+          if(svstat.osnma) // eventually this will become too much but ok for now
+            idb.addValue(id, "osnma", {{"wtype", wtype}, {"field", makeHexDump(nmm.gi().reserved1())}}, satUTCTime(id));
+          svstat.osnmaTime = gm.tow;
+        }
        idb.addValue(id, "ephemeris", {{"iod-live", svstat.galmsg.iodnav},
              {"eph-age", ephAge(gm.tow, gm.getT0e())}}, satUTCTime(id));

@ -1959,34 +2015,27 @@ try
          if(w > 1 && svstat.galmsgTyped[w-1].iodnav != svstat.galmsgTyped[w].iodnav)
            break;
        }
-        if(w==5) {
+        if(w==5) { // have complete new ephemeris
          if(svstat.ephgalmsg.iodnav != svstat.galmsgTyped[1].iodnav) {
            svstat.oldephgalmsg = svstat.ephgalmsg;
            svstat.ephgalmsg = svstat.galmsgTyped[wtype];
            svstat.reportNewEphemeris(id, idb);
          }
        }
-        
      }

-      
-      // XXX conversion possibly vital
-      //      g_svstats[id].tow = nmm.gi().gnsstow();
-
-      //      g_svstats[id].perrecv[nmm.sourceid()].wn = nmm.gi().gnsswn();
-      //      g_svstats[id].perrecv[nmm.sourceid()].tow = nmm.gi().gnsstow();
-      g_svstats[id].perrecv[nmm.sourceid()].t = nmm.localutcseconds();
+      svstat.perrecv[nmm.sourceid()].t = nmm.localutcseconds();

      if(wtype >=1 && wtype <= 4) { // ephemeris 
        if(wtype == 3) {
-          idb.addValue(id, "sisa", {{"value", g_svstats[id].galmsg.sisa}}, satUTCTime(id));
+          idb.addValue(id, "sisa", {{"value", svstat.galmsg.sisa}}, satUTCTime(id));
        }
        else if(wtype == 4) {
          idb.addValue(id, "clock", {{"offset_ns", svstat.galmsg.getAtomicOffset(svstat.tow()).first}, 
-                  {"t0c", g_svstats[id].galmsg.t0c*60}, // getT0c()??
-                {"af0", g_svstats[id].galmsg.af0},
-                  {"af1", g_svstats[id].galmsg.af1},
-                    {"af2", g_svstats[id].galmsg.af2}}, satUTCTime(id)); 
+                  {"t0c", svstat.galmsg.t0c*60}, // getT0c()??
+                {"af0", svstat.galmsg.af0},
+                  {"af1", svstat.galmsg.af1},
+                    {"af2", svstat.galmsg.af2}}, satUTCTime(id)); 


            if(oldgm.af0 && oldgm.t0c != svstat.galmsg.t0c) {
@ -1994,35 +2043,47 @@ try
              auto newOffset = svstat.galmsg.getAtomicOffset(svstat.tow());
              svstat.timeDisco = oldOffset.first - newOffset.first;
              if(fabs(svstat.timeDisco) < 10000)
-                idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id));
+                idb.addValue(id, "clock_jump_ns", {
+                    {"jump", svstat.timeDisco},
+                    {"duration", ephAge(svstat.galmsg.t0c * 60, oldgm.t0c * 60)},
+                    {"old-af0", oldgm.af0},
+                    {"old-af1", oldgm.af1},
+                    {"old-af2", oldgm.af2},
+                    {"old-t0c", oldgm.t0c * 60},
+                    {"new-af0", svstat.galmsg.af0},
+                    {"new-af1", svstat.galmsg.af1},
+                    {"new-af2", svstat.galmsg.af2},
+                    {"new-t0c", svstat.galmsg.t0c * 60}
+
+                  }, satUTCTime(id));
            }
          }
        }
        else if(wtype == 5) {
          idb.addValue(id, "iono", {
-              {"ai0", g_svstats[id].galmsg.ai0},
-                {"ai1", g_svstats[id].galmsg.ai1},
-                  {"ai2", g_svstats[id].galmsg.ai2},
-                    {"sf1", g_svstats[id].galmsg.sf1},
-                      {"sf2", g_svstats[id].galmsg.sf2},
-                        {"sf3", g_svstats[id].galmsg.sf3},
-                          {"sf4", g_svstats[id].galmsg.sf4},
-                            {"sf5", g_svstats[id].galmsg.sf5}}, satUTCTime(id));
+              {"ai0", svstat.galmsg.ai0},
+                {"ai1", svstat.galmsg.ai1},
+                  {"ai2", svstat.galmsg.ai2},
+                    {"sf1", svstat.galmsg.sf1},
+                      {"sf2", svstat.galmsg.sf2},
+                        {"sf3", svstat.galmsg.sf3},
+                          {"sf4", svstat.galmsg.sf4},
+                            {"sf5", svstat.galmsg.sf5}}, satUTCTime(id));

          
          idb.addValue(id, "galbgd", {
-              {"BGDE1E5a", g_svstats[id].galmsg.BGDE1E5a},
-                {"BGDE1E5b", g_svstats[id].galmsg.BGDE1E5b}}, satUTCTime(id));
+              {"BGDE1E5a", svstat.galmsg.BGDE1E5a},
+                {"BGDE1E5b", svstat.galmsg.BGDE1E5b}}, satUTCTime(id));

          
          idb.addValue(id, "galhealth", {
-              {"e1bhs", g_svstats[id].galmsg.e1bhs}, 
-                {"e5bhs", g_svstats[id].galmsg.e5bhs},
-                  {"e5bdvs", g_svstats[id].galmsg.e5bdvs},
-                    {"e1bdvs", g_svstats[id].galmsg.e1bdvs}}, satUTCTime(id));
+              {"e1bhs", svstat.galmsg.e1bhs}, 
+                {"e5bhs", svstat.galmsg.e5bhs},
+                  {"e5bdvs", svstat.galmsg.e5bdvs},
+                    {"e1bdvs", svstat.galmsg.e1bdvs}}, satUTCTime(id));
        }
        else if(wtype == 6) {  // GST-UTC
-          const auto& sv = g_svstats[id];
+          const auto& sv = svstat;
          g_GSTUTCOffset = sv.galmsg.getUTCOffset(sv.tow(), sv.wn()).first;
          idb.addValue(id, "utcoffset", {
              {"a0", sv.galmsg.a0},
@ -2061,26 +2122,146 @@ try
            g_galileoalma[gm.alma3.svid] = gm.alma3;
          }
          g_GSTGPSOffset = gm.getGPSOffset(gm.tow, gm.wn).first;
-          idb.addValue(id, "gpsoffset", {{"a0g", g_svstats[id].galmsg.a0g},
-                {"a1g", g_svstats[id].galmsg.a1g},
-                  {"t0g", g_svstats[id].galmsg.t0g},
-                    {"wn0g", g_svstats[id].galmsg.wn0g},
+          idb.addValue(id, "gpsoffset", {{"a0g", svstat.galmsg.a0g},
+                {"a1g", svstat.galmsg.a1g},
+                  {"t0g", svstat.galmsg.t0g},
+                    {"wn0g", svstat.galmsg.wn0g},
                      {"delta", g_GSTGPSOffset}
            }, satUTCTime(id));
          
        }
+    }
+    else if(nmm.type() == NavMonMessage::GalileoCnavType) {
+      SatID id={2,(uint32_t) nmm.gc().gnsssv(), 8}; // E6
+      idb.addValue(id, "galcnav", {{"msg", makeHexDump(nmm.gc().contents())}},
+                   nmm.localutcseconds());
+      // ... no idea what this contains
+    }
+    else if(nmm.type() == NavMonMessage::GalileoFnavType) {
+      basic_string<uint8_t> fnav((uint8_t*)nmm.gf().contents().c_str(), nmm.gf().contents().size());
+      int sv = nmm.gf().gnsssv();
+      SatID id={2,(uint32_t)sv,6}; // E5a
+      
+      auto& svstat = g_svstats[id];
+      svstat.gnss = id.gnss;
+      auto oldgm = svstat.galmsg;

-        // CONVERSION XXX
-#if 0        
-        for(auto& ent : g_svstats) {
-          //        fmt::printf("%2d\t", ent.first);
-          id=ent.first;
-          if(ent.second.completeIOD() && ent.second.prevIOD.first >= 0) {
+      auto& gm = svstat.galmsg;
+      unsigned int wtype = gm.parseFnav(fnav);

-            ent.second.clearPrev();          
+      
+      if(wtype == 1 && svstat.galmsgTyped.count(1)) {
+        const auto& old5gm = svstat.galmsgTyped[1];
+        if(make_tuple(old5gm.e5ahs, old5gm.e1bhs, old5gm.e5advs, old5gm.e1bdvs) !=
+           make_tuple(gm.e5ahs, gm.e1bhs, gm.e5advs, gm.e1bdvs)) {
+          cout<<humanTime(id.gnss, svstat.wn(), svstat.tow())<<" src "<<nmm.sourceid()<<" Galileo "<<id.sv <<" sigid "<<id.sigid<<" change in health: ["<<humanBhs(old5gm.e5ahs)<<", "<<humanBhs(old5gm.e1bhs)<<", "<<(int)old5gm.e5advs <<", " << (int)old5gm.e1bdvs<<"] -> ["<< humanBhs(gm.e5ahs)<<", "<< humanBhs(gm.e1bhs)<<", "<< (int)gm.e5advs <<", " << (int)gm.e1bdvs<<"], lastseen "<<ephAge(old5gm.tow, gm.tow)/3600.0 <<" hours"<<endl;
+        }
+      }
+      
+      svstat.galmsgTyped[wtype] = gm;
+
+      if(wtype == 1 || wtype == 2 || wtype == 3 || wtype == 4) {
+        idb.addValue(id, "ephemeris", {{"iod-live", svstat.galmsg.iodnav},
+              {"eph-age", ephAge(gm.tow, gm.getT0e())}}, satUTCTime(id));
+
+        int w = 1;
+        for(; w < 5; ++w) {
+          if(!svstat.galmsgTyped.count(w))
+            break;
+          if(w > 1 && svstat.galmsgTyped[w-1].iodnav != svstat.galmsgTyped[w].iodnav)
+            break;
+        }
+        if(w==5) { // have complete new ephemeris
+
+          if(svstat.ephgalmsg.iodnav != svstat.galmsgTyped[2].iodnav) {
+            //            cout<<"New F/NAV ephemeris for "<<makeSatIDName(id)<<" iod " << svstat.galmsgTyped[1].iodnav << " t0e " << svstat.galmsgTyped[3].t0e << " af0 "<< gm.af0 <<" iod1 "<<svstat.galmsgTyped[1].iodnav;
+            /*
+            cout<<" iod2 "<<svstat.galmsgTyped[2].iodnav;
+            cout<<" iod3 "<<svstat.galmsgTyped[3].iodnav;
+            cout<<" iod4 "<<svstat.galmsgTyped[4].iodnav << endl;
+            */
+            svstat.oldephgalmsg = svstat.ephgalmsg;
+            svstat.ephgalmsg = svstat.galmsg;
+            svstat.reportNewEphemeris(id, idb);
          }
        }
-#endif
+      }
+
+      svstat.perrecv[nmm.sourceid()].t = nmm.localutcseconds();
+
+      if(wtype >=1 && wtype <= 4) { // ephemeris 
+        if(wtype == 1) {
+          idb.addValue(id, "sisa", {{"value", svstat.galmsg.sisa}}, satUTCTime(id));
+
+          idb.addValue(id, "galbgd", {
+              {"BGDE1E5a", svstat.galmsg.BGDE1E5a},
+                }, satUTCTime(id));
+          
+          
+          idb.addValue(id, "galhealth", {
+                {"e5ahs", svstat.galmsg.e5bhs},
+                  {"e5advs", svstat.galmsg.e5bdvs}
+                    }, satUTCTime(id));
+
+          
+          idb.addValue(id, "clock", {{"offset_ns", svstat.galmsg.getAtomicOffset(svstat.tow()).first}, 
+                  {"t0c", svstat.galmsg.t0c*60}, // getT0c()??
+                {"af0", svstat.galmsg.af0},
+                  {"af1", svstat.galmsg.af1},
+                    {"af2", svstat.galmsg.af2}}, satUTCTime(id)); 
+       
+          if(oldgm.af0 && oldgm.t0c != svstat.galmsg.t0c) {
+            auto oldOffset = oldgm.getAtomicOffset(svstat.tow());
+            auto newOffset = svstat.galmsg.getAtomicOffset(svstat.tow());
+            svstat.timeDisco = oldOffset.first - newOffset.first;
+            if(fabs(svstat.timeDisco) < 10000)
+              idb.addValue(id, "clock_jump_ns", {
+                  {"jump", svstat.timeDisco},
+                    {"duration", ephAge(svstat.galmsg.t0c * 60, oldgm.t0c * 60)},
+                    {"old-af0", oldgm.af0},
+                    {"old-af1", oldgm.af1},
+                    {"old-af2", oldgm.af2},
+                    {"old-t0c", oldgm.t0c * 60},
+                    {"new-af0", svstat.galmsg.af0},
+                    {"new-af1", svstat.galmsg.af1},
+                    {"new-af2", svstat.galmsg.af2},
+                    {"new-t0c", svstat.galmsg.t0c * 60}
+
+                  }, satUTCTime(id));
+          }
+
+          idb.addValue(id, "iono", {
+              {"ai0", svstat.galmsg.ai0},
+                {"ai1", svstat.galmsg.ai1},
+                  {"ai2", svstat.galmsg.ai2},
+                    {"sf1", svstat.galmsg.sf1},
+                      {"sf2", svstat.galmsg.sf2},
+                        {"sf3", svstat.galmsg.sf3},
+                          {"sf4", svstat.galmsg.sf4},
+                            {"sf5", svstat.galmsg.sf5}}, satUTCTime(id));
+          
+        }
+      }
+      else if(wtype == 4) {
+        const auto& sv = g_svstats[id];
+        g_GSTUTCOffset = sv.galmsg.getUTCOffset(sv.tow(), sv.wn()).first;
+        idb.addValue(id, "utcoffset", {
+            {"a0", sv.galmsg.a0},
+              {"a1", sv.galmsg.a1},
+                {"t0t", sv.galmsg.t0t},
+                  {"delta", g_GSTUTCOffset}
+          },
+          satUTCTime(id));
+          
+        g_dtLS = sv.galmsg.dtLS;
+        g_GSTGPSOffset = gm.getGPSOffset(gm.tow, gm.wn).first;
+        idb.addValue(id, "gpsoffset", {{"a0g", svstat.galmsg.a0g},
+              {"a1g", svstat.galmsg.a1g},
+                {"t0g", svstat.galmsg.t0g},
+                  {"wn0g", svstat.galmsg.wn0g},
+                    {"delta", g_GSTGPSOffset}
+          }, satUTCTime(id));
+      }
    }
    else if(nmm.type() == NavMonMessage::ObserverPositionType) {
      g_srcpos[nmm.sourceid()].lastSeen = nmm.localutcseconds();
@ -2288,7 +2469,8 @@ try
    }

    else if(nmm.type()== NavMonMessage::DebuggingType) {
-      //      continue; // speedup
+      if(doGalileoReportSpeedup)
+        continue; // speedup
      
      auto ret =  parseTrkMeas(basic_string<uint8_t>((const uint8_t*)nmm.dm().payload().c_str(), nmm.dm().payload().size()));
      for(const auto& tss : ret) {
@ -2382,8 +2564,22 @@ try
          auto oldOffset = getGPSAtomicOffset(gm.tow, oldgm);
          auto newOffset = getGPSAtomicOffset(gm.tow, gm);
          svstat.timeDisco = oldOffset.first - newOffset.first;
-          if(fabs(svstat.timeDisco) < 10000)
-            idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id));
+          if(fabs(svstat.timeDisco) < 10000) {
+            idb.addValue(id, "clock_jump_ns", {
+                    {"jump", svstat.timeDisco},
+                    {"duration", ephAge(gm.t0c * 16, oldgm.t0c * 16)},
+                    {"old-af0", oldgm.af0},
+                    {"old-af1", oldgm.af1},
+                    {"old-af2", oldgm.af2},
+                    {"old-t0c", oldgm.t0c * 16},
+                    {"new-af0", gm.af0},
+                    {"new-af1", gm.af1},
+                    {"new-af2", gm.af2},
+                    {"new-t0c", gm.t0c * 16}
+
+                  }, satUTCTime(id));
+
+          }
        }
      }
      else if(frame==2) {
@ -2435,7 +2631,8 @@ try
      if(rm.type == 1057 || rm.type == 1240) {
        for(const auto& ed : rm.d_ephs) {
          auto iter = g_svstats.find(ed.id);
-          if(iter != g_svstats.end() && iter->second.completeIOD()  && iter->second.liveIOD().getIOD() == ed.iod)
+          // XXX NAVCAST ONLY
+          if(iter != g_svstats.end() && iter->second.completeIOD()  && iter->second.liveIOD().getIOD() == ed.iod && nmm.sourceid()==302)
            iter->second.rtcmEphDelta = ed;
          
          idb.addValue(ed.id, "rtcm-eph-correction", {
@ -2461,7 +2658,7 @@ try

        for(const auto& cd : rm.d_clocks) {
          auto iter = g_svstats.find(cd.id);
-          if(iter != g_svstats.end())
+          if(iter != g_svstats.end() && nmm.sourceid()==302) /// XXX wrong
            iter->second.rtcmClockDelta = cd;

          idb.addValue(cd.id, "rtcm-clock-correction", {
@ -2478,10 +2675,18 @@ try
          
        }
      }
+      else if(rm.type == 1059 || rm.type == 1242) {
+        for(const auto& dcb : rm.d_dcbs) {
+          idb.addValue(dcb.first, "rtcm-dcb", {
+              {"value", dcb.second}},
+            nmm.localutcseconds(),
+            nmm.sourceid());
+        }
+      }
      else if(rm.type == 1060 || rm.type == 1243) {
        for(const auto& ed : rm.d_ephs) {
          auto iter = g_svstats.find(ed.id);
-          if(iter != g_svstats.end() && iter->second.completeIOD()  && iter->second.liveIOD().getIOD() == ed.iod)
+          if(iter != g_svstats.end() && iter->second.completeIOD()  && iter->second.liveIOD().getIOD() == ed.iod && nmm.sourceid()==302)
            iter->second.rtcmEphDelta = ed;
          
          idb.addValue(ed.id, "rtcm-eph-correction", {
@ -2515,7 +2720,7 @@ try
          id.sv = rm.d_sv;
          id.sigid = 6; // seems reasonable for E5a

-          static map<pair<int, int>, int> lastT0e;
+          static map<pair<int, int>, unsigned int> lastT0e;

          pair<int, int> key(nmm.sourceid(), rm.d_sv);
          if(!lastT0e.count(key) || lastT0e[key] != eg.t0e) {
@ -2549,7 +2754,7 @@ try

      for(const auto& cd : rm.d_clocks) {
        auto iter = g_svstats.find(cd.id);
-        if(iter != g_svstats.end())
+        if(iter != g_svstats.end() && nmm.sourceid()==302)
          iter->second.rtcmClockDelta = cd;
        
        idb.addValue(cd.id, "rtcm-clock-correction", {
@ -2588,7 +2793,9 @@ try
      
    }
    else if(nmm.type()== NavMonMessage::BeidouInavTypeD1) {
-      //      continue; // XXX speedup
+      if(doGalileoReportSpeedup)
+        continue; // speedup
+            
    try {
      SatID id{nmm.bid1().gnssid(), nmm.bid1().gnsssv(), nmm.bid1().sigid()};

@ -2623,7 +2830,7 @@ try
          auto newOffset = bm.getAtomicOffset(bm.sow);
          svstat.timeDisco = oldOffset.first - newOffset.first;
          if(fabs(svstat.timeDisco) < 10000)
-            idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id));
+            idb.addValue(id, "clock_jump_ns", {{"jump", svstat.timeDisco}}, satUTCTime(id));
        }
        svstat.lastBeidouMessage1 = bm;        
      }
@ -2687,7 +2894,9 @@ try
      */
    }
    else if(nmm.type()== NavMonMessage::GlonassInavType) {
-      //      continue; // XXX speedup
+      if(doGalileoReportSpeedup)
+        continue; // speedup
+
      SatID id{nmm.gloi().gnssid(), nmm.gloi().gnsssv(), nmm.gloi().sigid()};
      auto& svstat = g_svstats[id];
      svstat.gnss = id.gnss;
@ -2719,7 +2928,7 @@ try
          if(oldgm.taun && oldgm.taun != gm.taun) {
            if(gm.getGloTime() - oldgm.getGloTime()  < 300) {
              svstat.timeDisco = gm.getTaunNS() - oldgm.getTaunNS();
-              idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id));
+              idb.addValue(id, "clock_jump_ns", {{"jump", svstat.timeDisco}}, satUTCTime(id));
            }
          }
        }
@ -2754,7 +2963,9 @@ try
      //      cout<<"GLONASS R"<<id.second<<" str "<<strno<<endl;
    }
    else if(nmm.type() == NavMonMessage::SBASMessageType) {
-      //      continue; // XXX speedup
+      if(doGalileoReportSpeedup)
+        continue; // speedup
+
      auto& sb = g_sbas[nmm.sbm().gnsssv()];

      sb.perrecv[nmm.sourceid()].last_seen = nmm.localutcseconds();
@ -2901,3 +3112,33 @@ catch(std::exception& e)
 {
  cerr<<"Exiting because of fatal error "<<e.what()<<endl;
 }
+
+
+// dedup techniques
+#if 0
+      /*
+      struct DedupKey
+      {
+        SatID id;
+        int wn;
+        int tow;
+        basic_string<uint8_t> contents;
+        bool operator<(const DedupKey& rhs) const
+        {
+          return tie(id, wn, tow, contents) <
+            tie(rhs.id, rhs.wn, rhs.tow, rhs.contents);
+        }
+      };
+
+      static set<DedupKey> s_dedup;
+      DedupKey dk{id, (int)nmm.gf().gnsswn(), (int)nmm.gf().gnsstow(), inav};
+      if(s_dedup.insert(dk).second == false) {
+        //        cout<<"Dedup"<<endl;
+        continue;
+      }
+      if(s_dedup.size() > 10000)
+        s_dedup.clear();
+      */
+      // XXX conversion, may be vital
+      // g_svstats[id].wn = nmm.gf().gnsswn();
+#endif
--- a/navparse.hh
+++ b/navparse.hh
@ -49,6 +49,8 @@ struct SVStat
  GalileoMessage ephgalmsg, galmsg, oldephgalmsg;
  // internal
  map<int, GalileoMessage> galmsgTyped;
+  bool osnma{false};
+  time_t osnmaTime{0};
  
  // Glonass
  GlonassMessage ephglomsg, glonassMessage, oldephglomsg;
--- a/navrecv.cc
+++ b/navrecv.cc
@ -16,6 +16,7 @@
 #include "version.hh"
 #include <netinet/tcp.h>
 #include "navmon.hh"
+#include <mutex>

 static char program[]="navrecv";

@ -140,8 +141,94 @@ void writeToDisk(time_t s, uint64_t sourceid, std::string_view message)
  }
 }

+// This is used to report clients, so we can log them
+// The idea is that cleanup runs from the Sentinel which, when destroyed, will remove the entry
+struct ClientKeeper
+{
+  struct ClientStatus
+  {
+    bool oldProtocol;
+    time_t lastMessage;
+    int station;
+    uint64_t messages{0};
+  };
+
+  struct Sentinel
+  {
+    Sentinel(ClientKeeper* parent, const ComboAddress& us) : d_parent(parent), d_us(us)
+    {
+    }
+
+    Sentinel(Sentinel&& s)
+    {
+      //      cerr<<"Moved!"<<endl;
+      d_parent = s.d_parent;
+      d_us = s.d_us;
+      s.d_parent=0;
+    }
+    
+    ~Sentinel()
+    {
+      //      cerr<<"Destructor"<<endl;
+      if(d_parent) {
+	d_parent->remove(d_us);
+      }
+      else
+	; //cerr<<"   but we were moved already!\n";
+
+    }
+    void update(int station, bool oldProtocol)
+    {
+      time_t now = time(0);
+      std::lock_guard<std::mutex> l(d_parent->d_mut);
+      ClientStatus& cs = d_parent->d_clients[d_us];
+      cs.station = station;
+      cs.lastMessage = now;
+      cs.messages++;
+      cs.oldProtocol = oldProtocol;
+    }
+    ClientKeeper* d_parent;
+    ComboAddress d_us;
+  };
+
+  Sentinel reportClient(const ComboAddress& client)
+  {
+    Sentinel s2(this, client);
+    
+    std::lock_guard<std::mutex> l(d_mut);
+    d_clients[client];
+    return s2;
+  }
+
+  void remove(const ComboAddress& client)
+  {
+    std::lock_guard<std::mutex> l(d_mut);
+    d_clients.erase(client);
+  }
+
+  void dump()
+  {
+    std::lock_guard<std::mutex> l(d_mut);
+    string format("{:<50}{:<5}{:<10}{:<10}{:<10}\n");
+    ofstream out("clients.bak");
+    time_t now=time(0);
+    out<< fmt::format(format, "IP Address", "ID", "Protocol", "Messages", "Age");
+    for(const auto& c : d_clients) {
+      out << fmt::format(format, c.first.toStringWithPort(), c.second.station, c.second.oldProtocol ? "Old" : "New", c.second.messages, now-c.second.lastMessage);
+    }
+    out.close();
+    unlink("clients.txt");
+    rename("clients.bak", "clients.txt");
+  }
+  
+  map<ComboAddress, ClientStatus> d_clients;
+  std::mutex d_mut;
+};
+
+ClientKeeper g_ckeeper;
+
 // note that this moves the socket
-void recvSession2(Socket&& uns, ComboAddress client)
+void recvSession2(Socket&& uns, ComboAddress client, ClientKeeper::Sentinel& sentinel)
 {
  string secret = SRead(uns, 8); // ignored for now
  cerr << "Entering compressed session for "<<client.toStringWithPort()<<endl;
@ -177,6 +264,7 @@ void recvSession2(Socket&& uns, ComboAddress client)
    memcpy(&denum, num.c_str(), 4);
    denum = htonl(denum);
    //    cerr<<"Received message "<<denum<< " "<<nmm.localutcseconds()<<" " << nmm.localutcnanoseconds()/1000000000.0<<endl;
+    sentinel.update(nmm.sourceid(), false);
    writeToDisk(nmm.localutcseconds(), nmm.sourceid(), out);

    if(first) {
@ -201,6 +289,9 @@ void recvSession(int s, ComboAddress client)
    SSetsockopt(s, SOL_SOCKET, SO_KEEPALIVE, 1); // saves file descriptors
    cerr<<"Receiving messages from "<<client.toStringWithPort()<<endl;
    bool first=true;
+
+    ClientKeeper::Sentinel sentinel=g_ckeeper.reportClient(client);
+    
    for(int count=0;;++count) {
      string part=SRead(sock, 4);
      if(part.empty()) {
@ -209,7 +300,7 @@ void recvSession(int s, ComboAddress client)
      }
      if(part != "bert") {
        if(part == "RNIE")
-          return recvSession2(std::move(sock), client);  // protocol v2, socket is moved cuz cleanup is special
+          return recvSession2(std::move(sock), client, sentinel);  // protocol v2, socket is moved cuz cleanup is special
        cerr << "Message "<<count<<", wrong magic from "<<client.toStringWithPort()<<": "<<makeHexDump(part)<<endl;
        break;
      }
@ -225,6 +316,7 @@ void recvSession(int s, ComboAddress client)
      part = SRead(s, len);
      if(part.size() != len) {
        cerr<<"Mismatch, "<<part.size()<<", len "<<len<<endl;
+        // XX AND THEN WHAT??
      }
      out += part;
      
@ -234,6 +326,7 @@ void recvSession(int s, ComboAddress client)
        cerr<<"\tstation: "<<nmm.sourceid() << endl;
        first=false;
      }
+      sentinel.update(nmm.sourceid(), true);
      writeToDisk(nmm.localutcseconds(), nmm.sourceid(), out);
    }
  }
@ -285,8 +378,10 @@ int main(int argc, char** argv)

  thread recvThread(recvListener, std::move(receiver), recvaddr);
  recvThread.detach();
- 
+
+  sleep(5);
  for(;;) {
-    sleep(1);
+    g_ckeeper.dump();
+    sleep(10);
  }
 }
--- a/nmmsender.cc
+++ b/nmmsender.cc
@ -175,16 +175,22 @@ void NMMSender::sendTCPThread(Destination* d)


 void NMMSender::emitNMM(const NavMonMessage& nmm)
+{
+  string out;
+  nmm.SerializeToString(& out);
+  emitNMM(out);
+}
+
+void NMMSender::emitNMM(const std::string& out)
 {
  for(auto& d : d_dests) {
-    d->emitNMM(nmm, d_compress);
+    d->emitNMM(out, d_compress);
  }
 }

-void NMMSender::Destination::emitNMM(const NavMonMessage& nmm, bool compressed)
+
+void NMMSender::Destination::emitNMM(const std::string& out, bool compressed)
 {
-  string out;
-  nmm.SerializeToString(& out);
  string msg;
  if(dst.empty() || !compressed)
    msg="bert";
--- a/nmmsender.hh
+++ b/nmmsender.hh
@ -16,7 +16,7 @@ class NMMSender

    std::deque<std::string> queue;
    std::mutex mut;
-    void emitNMM(const NavMonMessage& nmm, bool compress);
+    void emitNMM(const std::string& out, bool compress);
  };
  
 public:
@ -45,6 +45,7 @@ public:
  void sendTCPThread(Destination* d);

  void emitNMM(const NavMonMessage& nmm);
+  void emitNMM(const std::string& out);
  bool d_debug{false};
  bool d_compress{false}; // set BEFORE launch
  bool d_pleaseQuit{false};
--- a/reporter.cc
+++ b/reporter.cc
@ -84,6 +84,8 @@ private:
 struct IntervalStat
 {
  std::optional<int> unhealthy;
+  std::optional<int> dataunhealthy;
+  std::optional<int> osnma;
  std::optional<int> sisa;
  bool ripe{false};
  bool expired{false};
@ -95,6 +97,7 @@ struct IntervalStat
 map<SatID, map<time_t,IntervalStat>> g_stats;

 int main(int argc, char **argv)
+try
 {
  MiniCurl mc;
  MiniCurl::MiniCurlHeaders mch;
@ -111,15 +114,19 @@ int main(int argc, char **argv)
  string sp3src("default");
  int gnssid=2;
  int rtcmsrc=300;
+  int galwn=-1;
+  string influxserver="http://127.0.0.1:8086";
  app.add_flag("--version", doVERSION, "show program version and copyright");
  app.add_option("--period,-p", periodarg, "period over which to report (1h, 1w)");
  app.add_option("--begin,-b", beginarg, "Beginning");
  app.add_option("--end,-e", endarg, "End");
+  app.add_option("--gal-wn", galwn, "Galileo week number to report on");
  app.add_option("--sp3src", sp3src, "Identifier of SP3 source");
  app.add_option("--rtcmsrc", rtcmsrc, "Identifier of RTCM source");
  app.add_option("--sigid,-s", sigid, "Signal identifier. 1 or 5 for Galileo.");
  app.add_option("--gnssid,-g", gnssid, "gnssid, 0 GPS, 2 Galileo");
  app.add_option("--influxdb", influxDBName, "Name of influxdb database");
+  app.add_option("--influxserver", influxserver, "Address of influx server");
  try {
    app.parse(argc, argv);
  } catch(const CLI::Error &e) {
@ -131,7 +138,11 @@ int main(int argc, char **argv)
    exit(0);
  }

-  if(beginarg.empty() && endarg.empty()) 
+  if(galwn>= 0) {
+    time_t w = utcFromGST(galwn, 0);
+    period = "time >= '"+influxTime(w)+"' and time < '"+influxTime(w+7*86400) +"'";
+  }
+  else if(beginarg.empty() && endarg.empty()) 
    period = "time > now() - "+periodarg;
  else {
    period = "time > '"+ beginarg +"' and time <= '" + endarg +"'";
@ -142,13 +153,16 @@ int main(int argc, char **argv)

  // auto res = mc.getURL(url + mc.urlEncode("select distinct(value) from sisa where "+period+" and sigid='"+to_string(sigid)+"' group by gnssid,sv,sigid,time(10m)"));

-
-  
-  string url="http://127.0.0.1:8086/query?db="+influxDBName+"&epoch=s&q=";
+  if(influxserver.find("http"))
+    influxserver="http://"+influxserver;
+  if(influxserver.empty() || influxserver[influxserver.size()-1]!='/')
+    influxserver+="/";
+  string url=influxserver+"query?db="+influxDBName+"&epoch=s&q=";
  string sisaname = (gnssid==2) ? "sisa" : "gpsura";
  string query="select distinct(value) from "+sisaname+" where "+period+" and sigid='"+to_string(sigid)+"' group by gnssid,sv,sigid,time(10m)";

  cout<<"query: "<<query<<endl;
+  cout<<"url: "<<(url + mc.urlEncode(query))<<endl;
  auto res = mc.getURL(url + mc.urlEncode(query));

  auto j = nlohmann::json::parse(res);
@ -174,13 +188,44 @@ int main(int argc, char **argv)
    const auto& tags=sv["tags"];
    SatID id{(unsigned int)std::stoi((string)tags["gnssid"]), (unsigned int)std::stoi((string)tags["sv"]), (unsigned int)std::stoi((string)tags["sigid"])};

-
    for(const auto& v : sv["values"]) {
      auto healthy = (int)v[1];
      g_stats[id][(int)v[0]].unhealthy = healthy; // hngg
    }
  }

+  if(gnssid == 2) {
+    res = mc.getURL(url + mc.urlEncode("select distinct(e1bdvs) from galhealth where "+period+" and sigid='"+to_string(sigid)+"' group by gnssid,sv,sigid,time(10m)"));
+    j = nlohmann::json::parse(res);
+    
+    for(const auto& sv : j["results"][0]["series"]) {
+      const auto& tags=sv["tags"];
+      SatID id{(unsigned int)std::stoi((string)tags["gnssid"]), (unsigned int)std::stoi((string)tags["sv"]), (unsigned int)std::stoi((string)tags["sigid"])};
+      
+      for(const auto& v : sv["values"]) {
+	auto dhealthy = (int)v[1]; // if true, "working without guarantee"
+	g_stats[id][(int)v[0]].dataunhealthy = dhealthy; 
+      }
+    }
+  }  
+  res = mc.getURL(url + mc.urlEncode("select count(\"field\") from osnma where "+period+" and sigid='"+to_string(sigid)+"' group by gnssid,sv,sigid,time(10m)"));
+  j = nlohmann::json::parse(res);
+  
+  for(const auto& sv : j["results"][0]["series"]) {
+    const auto& tags=sv["tags"];
+    SatID id{(unsigned int)std::stoi((string)tags["gnssid"]), (unsigned int)std::stoi((string)tags["sv"]), (unsigned int)std::stoi((string)tags["sigid"])};
+
+
+    for(const auto& v : sv["values"]) {
+      auto osnma = (int)v[1];
+      if(!g_stats[id][(int)v[0]].osnma)
+	g_stats[id][(int)v[0]].osnma = osnma;
+      else
+	(*g_stats[id][(int)v[0]].osnma) += osnma;
+    }
+  }
+
+  
  res = mc.getURL(url + mc.urlEncode("select max(\"eph-age\") from ephemeris where "+period+" and sigid='"+to_string(sigid)+"' group by gnssid,sv,sigid,time(10m)"));
  j = nlohmann::json::parse(res);
  for(const auto& sv : j["results"][0]["series"]) {
@ -503,13 +548,51 @@ int main(int argc, char **argv)
    }
  }

+  ///// 
+  string dishesQuery = "select iod,sv from \"ephemeris-actual\" where "+period+" and sigid='"+to_string(sigid)+"' and gnssid='"+to_string(gnssid)+"' and iod < 128";
+  cout<<"dishesquery: "<<dishesQuery<<endl;
+  res = mc.getURL(url + mc.urlEncode(dishesQuery));
+  cout<<res<<endl;
+  j = nlohmann::json::parse(res);
+  map<time_t, set<int>> dishcount;
+  set<int> totsvs;
+  for(const auto& sv : j["results"][0]["series"]) {
+    for(const auto& v : sv["values"]) {
+      try {
+	int sv = (unsigned int)std::stoi((string)v[2]);
+	int t = (int)v[0];
+	//	t &= (~31);
+	dishcount[t].insert(sv);
+	totsvs.insert(sv);
+      }
+      catch(exception& e) {
+	cerr<<"error: "<<e.what()<<endl;
+	continue;
+      }
+    }
+  }
+  map<time_t, unsigned int> maxcounts;
+  for(const auto& dc : dishcount) {
+    auto& bin = maxcounts[dc.first - (dc.first % 3600)];
+    if(bin < dc.second.size())
+      bin = dc.second.size();
+    cout << dc.first<<" "<<humanTimeShort(dc.first) <<", " << fmt::sprintf("%2d", dc.second.size())<<": ";
+    for(const auto& n : totsvs) {
+      if(dc.second.count(n))
+	cout<<fmt::sprintf("%2d ", n);
+      else
+	cout<<"   ";
+    }
+    cout<<"\n";
+  }
+
+  ofstream hrcounts("hrcounts.csv");
+  hrcounts<<"timestamp,dishcount\n";
+  for(const auto& mc: maxcounts)
+    hrcounts<<mc.first<<","<<mc.second<<"\n";
  
  /////////////////////
  
-  g_stats.erase({2,14,1});
-  g_stats.erase({2,18,1});
-  g_stats.erase({2,14,5});
-  g_stats.erase({2,18,5});
  /*
  g_stats[{2,19,1}];
  */
@ -568,7 +651,10 @@ int main(int argc, char **argv)
        else if(*i.second.unhealthy==3)
          testing++;
        else {
-          if(i.second.sisa) {
+	  if(i.second.dataunhealthy && *i.second.dataunhealthy) {  // this is 'working without guarantee'
+	    unhealthy++;
+	  }
+	  else if(i.second.sisa) {
            if(*i.second.sisa == 255)
              napa++;
            else
@ -637,6 +723,9 @@ int main(int argc, char **argv)
    cout<<endl;
    
  }
+
+ 
+  
  cout<<"------------------------------------------------------------------------------------------"<<endl;
  cout<<fmt::sprintf("Tot: %6.2f%% unobserved, %6.2f%% unhealthy, %6.2f%% healthy, %6.2f%% testing, %6.2f%% napa, %6.2f%% ripe, %6.2f%% expired",
                     100.0*(totunobserved)/maxintervals/g_stats.size(),
@ -647,7 +736,7 @@ int main(int argc, char **argv)
                     100.0*totripe/maxintervals/g_stats.size(),
                     100.0*totexpired/maxintervals/g_stats.size());

-  texstream<<fmt::sprintf("Tot & %6.2f\\%% & %6.2f\\%% & %6.2f\\%% & %6.2f\\%% & %6.2f\\%% & %6.2f\\%% & %6.2f\\%%\\\\",
+  texstream<<fmt::sprintf("\\hline\nTot & %6.2f\\%% & %6.2f\\%% & %6.2f\\%% & %6.2f\\%% & %6.2f\\%% & %6.2f\\%% & %6.2f\\%%\\\\",
                     100.0*(totunobserved)/maxintervals/g_stats.size(),
                     100.0*totunhealthy/maxintervals/g_stats.size(),
                     100.0*tothealthy/maxintervals/g_stats.size(),
@ -664,5 +753,9 @@ int main(int argc, char **argv)
  cout<<endl;

 }
-
+catch(exception& e)
+{
+  cerr<<"Fatal error: "<<e.what()<<endl;
+  return EXIT_FAILURE;
+}

--- a/rinex.cc
+++ b/rinex.cc
@ -156,6 +156,9 @@ G02 2019 12 16 00 00 00-3.670863807201E-04-7.389644451905E-12 0.000000000000E+00
    for(int n=1 ; n < 7; ++n) {
      if(!gzgets(d_fp, line, sizeof(line))) 
        return false;
+      if(n==1) {
+        entry.iodnav = getRINEXValue(line, 4);
+      }
      if(n==3) { 
        double toe = getRINEXValue(line, 4);
        entry.toe = toe;
--- a/rinex.hh
+++ b/rinex.hh
@ -18,6 +18,7 @@ struct RINEXEntry
  int health;
  int toe;
  int tow;
+  int iodnav;
  double af0, af1, af2;
  double clkflags;
  double BGDE1E5a, BGDE1E5b;
--- a/rinjoin.cc
+++ b/rinjoin.cc
@ -9,6 +9,7 @@ struct Value
  optional<int> af0Inav;
  optional<int> af0Fnav;
  int af1;
+  int iod;
  optional<int> BGDE1E5a;
  optional<int> BGDE1E5b;
 };
@ -30,6 +31,7 @@ int main(int argc, char** argv)
        s.af1 = rint(ldexp(e.af1,46));
        s.BGDE1E5a = rint(ldexp(e.BGDE1E5a,32));
        s.BGDE1E5b = rint(ldexp(e.BGDE1E5b,32));
+        s.iod = e.iodnav;
      }
      else {
        s.af0Fnav = rint(ldexp(e.af0,34));
@ -41,10 +43,10 @@ int main(int argc, char** argv)
    }
    
  }
-  cout<<"timestamp sv af0fnav af0inav af1 bgde1e5a bgde1e5b\n";
+  cout<<"timestamp sv iod af0fnav af0inav af1 bgde1e5a bgde1e5b\n";
  for(const auto& s : satmap) {
    if(s.second.af0Fnav.has_value() && s.second.af0Inav.has_value() && s.second.BGDE1E5a.has_value() && s.second.BGDE1E5b.has_value())
-    cout << s.first.first<<" " <<s.first.second<<" " <<
+      cout << s.first.first<<" " <<s.first.second<<" " << s.second.iod<<" "<<
      *s.second.af0Fnav << " " << *s.second.af0Inav <<" " << s.second.af1<<" " <<*s.second.BGDE1E5a <<" " << *s.second.BGDE1E5b << "\n";
  }
 }
--- a/rinreport.cc
+++ b/rinreport.cc
@ -85,8 +85,6 @@ auto worker(HanderOuter<string>* ho)

 int main(int argc, char** argv)
 {
-
-
  ifstream filefile(argv[1]);
  string fname;
  deque<string> files;
--- a/rtcm.cc
+++ b/rtcm.cc
@ -6,7 +6,8 @@ using namespace std;

 void RTCMMessage::parse(const std::string& str)
 {
-  memset(&d_gm, 0, sizeof(d_gm));
+  d_gm={};
+  // memset(&d_gm, 0, sizeof(d_gm));
  auto gbu=[&str](int offset, int bits) {
    return getbitu((const unsigned char*)str.c_str(), offset, bits);
  };
@ -262,7 +263,56 @@ DF 385: Full seconds since the beginning of the GPS week
    setbitu(rtcm->buff,i, 1,osdvs2   ); i+= 1; /* E1 DVS */

 #endif
-      
+  }
+  else if(type == 1059 || type == 1242) { // GPS/Galileo bias
+    int off = 0;
+    int msgnum = gbum(off, 12);

+    int gpstime = gbum(off, 20);
+    int uinterval = gbum(off, 4);
+    int mmi = gbum(off, 1);
+    int iodssr = gbum(off, 4);
+    int ssrprov = gbum(off, 16);
+    int ssrsol = gbum(off, 4);
+    int numsats = gbum(off, 6);
+
+    //    cout <<"msgnum "<<msgnum<<" gpstime " << gpstime<<" numsats "<< numsats<<endl;
+    d_dcbs.clear();
+    for(int n=0; n < numsats; ++n) {
+      int gpsid = gbum(off, 6);
+      int numdcbs = gbum(off, 5);
+      //      cout<<"  "<< (type==1059 ? "G" : "E") <<gpsid<<" has "<<numdcbs <<" DCBs\n";
+      SatID id;
+      id.gnss = (type==1059 ? 0 : 2); // GPS or Galileo
+      id.sv = gpsid;
+      for(int m = 0 ; m < numdcbs; ++m) {
+        int sig = gbum(off, 5);
+        id.sigid = sig;
+        int dcb = gbsm(off, 14); // 0.01 meter
+        d_dcbs[id] = 0.01*dcb;
+        //        cout<<"     sig "<<sig <<" dcb " << dcb*0.01 << "\n";
+
+        /*
+Indicator to specify the GPS signal and tracking mode:
+0 - L1 C/A
+1- L1 P
+2- L1 Z-tracking and similar (AS on)
+3 - Reserved
+4 - Reserved
+5 - L2 C/A
+6 - L2 L1(C/A)+(P2-P1) (semi-codeless)
+7 - L2 L2C (M)
+8 - L2 L2C (L)
+9 - L2 L2C (M+L)
+10 - L2 P
+11 - L2 Z-tracking and similar (AS on)
+12 - Reserved
+13 - Reserved
+14 - L5 I
+15 - L5 Q
+>15 - Reserved.
+        */
+      }
+    }
  }
 }
--- a/rtcm.hh
+++ b/rtcm.hh
@ -4,6 +4,7 @@
 #include "navmon.hh"
 #include <vector>
 #include "galileo.hh"
+#include <map>

 struct RTCMFrame
 {
@ -52,6 +53,7 @@ struct RTCMMessage

  std::vector<EphemerisDelta> d_ephs;
  std::vector<ClockDelta> d_clocks;
+  std::map<SatID, double> d_dcbs;
  GalileoMessage d_gm;
  int d_sv;
 };
--- a/septool.cc
+++ b/septool.cc
@ -0,0 +1,603 @@
+#include <string>
+#include "navmon.hh"
+#include <iostream>
+#include <string.h>
+#include <time.h>
+#include "bits.hh"
+#include <sys/time.h>
+#include <arpa/inet.h>
+#include "galileo.hh"
+#include "nmmsender.hh"
+#include "CLI/CLI.hpp"
+#include "swrappers.hh"
+#include "sclasses.hh"
+#include "version.hh"
+
+using namespace std;
+
+
+static int sepsig2ubx(int sep)
+{
+  if(sep == 1) // GPS L1P
+    return 0;
+  else if(sep == 2) // GPS L2P
+    return 4;
+  else if(sep== 4) // GPS L5
+    return 7; // ??
+  else if(sep == 17)
+    return 1; // Galileo E1
+  else if(sep == 19)
+    return 8; // Galileo E6
+  else if(sep == 20)
+    return 6; // Galileo E5a
+  else if(sep==21)
+    return 5; // Galileo E5b
+  else if(sep==22)
+    return 6; // Galileo "AltBoc"
+  
+  else if(sep==0)
+    return 0; // GPS L1
+  else if(sep==3)
+    return 4; // GPS L2c
+  else throw runtime_error("Asked to convert unknown Septentrio signal id "+to_string(sep));
+  return -1;
+}
+
+struct SEPMessage
+{
+  SEPMessage(const std::basic_string<uint8_t>& str) : d_store(str) {}
+
+  uint16_t getID() // includes revision
+  {
+    return d_store[4] + 256*d_store[5];
+  }
+
+  uint16_t getIDBare() // includes revision
+  {
+    return getID() & 0xFFF;
+  }
+
+  
+  std::basic_string<uint8_t> getPayload()
+  {
+    return d_store.substr(8);
+  }
+  std::basic_string<uint8_t> d_store;
+};
+
+/* format:
+
+   01  23   45   67    
+   $@ CRC blk-id len [len-8 bytes] 
+                  |
+            multiple of four
+
+   bits 0-12 of blk-id are the type
+*/
+
+std::pair<SEPMessage, struct timeval> getSEPMessage(int fd, double* timeout)
+{
+  uint8_t marker[2]={0};
+  bool hadskip=false;
+  for(;;) {
+    marker[0] = marker[1];
+    int res = readn2Timeout(fd, marker+1, 1, timeout);
+
+    if(res < 0) {
+      cerr<<"Readn2Timeout failed: "<<strerror(errno)<<endl;
+      throw EofException();
+    }
+    if(marker[0]=='$' && marker[1]=='@') { // bingo
+      if(hadskip) {
+        cerr<<"\n";
+        hadskip=false;
+      }
+      struct timeval tv;
+      gettimeofday(&tv, 0);
+      basic_string<uint8_t> msg;
+      msg.append(marker, 2);  // 0,1
+      uint8_t b[6];
+      readn2Timeout(fd, b, 6, timeout);
+      msg.append(b, 6); // crc id len
+
+      // 0,1 = crc, 2-3 = marker, 4, 5
+      //      uint16_t blkid = htons(b[2] + 256*b[3]);
+      uint16_t len = b[4] + 256*b[5];
+      //      cerr<<"Got message of type "<<getbitu((uint8_t*)&blkid, 0, 12)<<", revision "<<
+      //        getbitu((uint8_t*)&blkid, 12, 4)<<" ("<<ntohs(blkid)<<"), len= "<<len<<endl;
+      
+      uint8_t buffer[len-8];
+      res=readn2Timeout(fd, buffer, len-8, timeout);
+
+      msg.append(buffer, len - 8); // checksum
+      return make_pair(SEPMessage(msg), tv);
+    }
+    else if(marker[1] != '$') {
+      hadskip=true;
+      cerr<<".";
+    }
+         
+  }                                                                       
+}
+
+static char program[]="septool";
+uint16_t g_srcid{0};
+
+int main(int argc, char** argv)
+try
+{
+  time_t starttime=time(0);
+  GOOGLE_PROTOBUF_VERIFY_VERSION;
+  vector<string> destinations;
+  g_dtLS = 18;
+  bool doVERSION{false}, doSTDOUT{false};
+  CLI::App app(program);
+  string sourceaddr;
+  bool quiet{false};
+  app.add_option("--source", sourceaddr, "Connect to this IP address:port to source SBF (otherwise stdin)");
+  app.add_option("--destination,-d", destinations, "Send output to this IPv4/v6 address");
+  app.add_option("--station", g_srcid, "Station id")->required();
+  app.add_option("--quiet", quiet, "Don't emit noise");
+  app.add_flag("--version", doVERSION, "show program version and copyright");
+  app.add_flag("--stdout", doSTDOUT, "Emit output to stdout");
+  try {
+    app.parse(argc, argv);
+  } catch(const CLI::Error &e) {
+    return app.exit(e);
+  }
+
+  if(doVERSION) {
+    showVersion(program, g_gitHash);
+    exit(0);
+  }
+
+
+  signal(SIGPIPE, SIG_IGN);
+  NMMSender ns;
+  ns.d_debug = true;
+  for(const auto& s : destinations) {
+    auto res=resolveName(s, true, true);
+    if(res.empty()) {
+      cerr<<"Unable to resolve '"<<s<<"' as destination for data, exiting"<<endl;
+      exit(EXIT_FAILURE);
+    }
+    ns.addDestination(s); // ComboAddress(s, 29603));
+  }
+  if(doSTDOUT)
+    ns.addDestination(1);
+
+  int srcfd=0;
+  if(!sourceaddr.empty()) {
+    ComboAddress src(sourceaddr);
+    
+    srcfd = socket(src.sin4.sin_family, SOCK_STREAM, 0);
+    if(srcfd < 0)
+      unixDie("making socket for SBF connection");
+    cerr<<"Connecting to "<< src.toStringWithPort()<<" to source data..";
+    SConnectWithTimeout(srcfd, src, 5);
+    cerr<<" done"<<endl;
+  }
+  ns.d_compress = true;
+  ns.launch();
+  cerr<<"Station "<<g_srcid<<endl;
+  for(;;) {
+    double to=1000;
+    auto res = getSEPMessage(srcfd, &to);
+    if(!quiet)
+      cerr<<res.first.getID()<<" - " <<res.first.getIDBare() << endl;
+    if(res.first.getID() == 4023) { // I/NAV
+      auto str = res.first.getPayload();
+      struct SEPInav
+      {
+        uint32_t towMsec;
+        uint16_t wn;
+        uint8_t sv;
+        uint8_t crcPassed;
+        uint8_t viterbiCount;
+        uint8_t src;
+        uint8_t ign1;
+        uint8_t rxChannel;
+        uint8_t navBits[32];
+      } __attribute__((packed));
+      SEPInav si;
+      memcpy(&si, str.c_str(), sizeof(si));
+      //      cerr<<"tow "<<si.towMsec /1000<<" wn "<<si.wn <<" sv " << (int) si.sv - 70<<" ";
+      
+      if(!si.crcPassed) {
+        cerr<<"I/NAV CRC error, skipping"<<endl;
+        continue;
+      }
+      int sigid = si.src & 31;
+
+      std::string inav((char*)si.navBits, 32);
+      //      cerr<<makeHexDump(inav)<<endl;
+
+
+      // byte order adjustment
+      std::basic_string<uint8_t> payload;
+      
+      for(unsigned int i = 0 ; i < 8; ++i) {
+        payload.append(1, si.navBits[4 * i + 3]);
+        payload.append(1, si.navBits[4 * i + 2]);
+        payload.append(1, si.navBits[4 * i + 1]);
+        payload.append(1, si.navBits[4 * i + 0]);
+      }
+
+      
+      basic_string<uint8_t> inav2;
+      // copy in the even page
+      for(int n = 0 ; n < 14; ++n)
+        inav2.append(1, getbitu(payload.c_str(), 2 + n*8, 8));
+      // odd page
+      for(int n = 0 ; n < 2; ++n)
+        inav2.append(1, getbitu(payload.c_str(), 116 + n*8, 8));
+      //      cerr<<makeHexDump(inav2) << endl;
+
+      
+      basic_string<uint8_t> reserved1;
+      for(int n=0; n < 5 ; ++n)
+	reserved1.append(1, getbitu(payload.c_str(), 116 + 16 + n*8, 8));
+
+      NavMonMessage nmm;
+      double t = utcFromGST(si.wn - 1024, si.towMsec / 1000.0);
+      //      cerr<<t<< " " <<si.wn - 1024 <<" " <<si.towMsec /1000.0 <<" " << g_dtLS<<endl;
+      nmm.set_sourceid(g_srcid);
+      nmm.set_type(NavMonMessage::GalileoInavType);
+
+      nmm.set_localutcseconds(t);
+      nmm.set_localutcnanoseconds(0); // yeah XXX
+            
+      nmm.mutable_gi()->set_gnsswn(si.wn - 1024);
+      
+      nmm.mutable_gi()->set_gnsstow(si.towMsec/1000.0);
+      nmm.mutable_gi()->set_gnssid(2);
+      nmm.mutable_gi()->set_gnsssv(si.sv - 70);
+      nmm.mutable_gi()->set_contents((const char*)&inav2[0], inav2.size());
+      nmm.mutable_gi()->set_sigid(sepsig2ubx(sigid));
+      nmm.mutable_gi()->set_reserved1((const char*)&reserved1[0], reserved1.size());
+      ns.emitNMM( nmm);
+      
+    }
+    else if(res.first.getID() == 5914) {
+      // current time
+    }
+
+    else if(res.first.getID() == 4026) {
+      // GLONASS
+    }
+    else if(res.first.getID() == 4017) { // GPS-CA
+
+    }
+    else if(res.first.getID() == 4018) { // GPS-L2C
+
+    }
+    else if(res.first.getID() == 4019) { // GPS raw L5
+
+    }
+    else if(res.first.getID() == 4093) { // navic raw
+
+    }
+    else if(res.first.getID() == 4022) {  // F/NAV
+      auto str = res.first.getPayload();
+      struct SEPFnav
+      {
+        uint32_t towMsec;
+        uint16_t wn;
+        uint8_t sv;
+        uint8_t crcPassed;
+        uint8_t viterbiCount;
+        uint8_t src;
+        uint8_t ign1;
+        uint8_t rxChannel;
+        uint8_t navBits[32];
+      } __attribute__((packed));
+      SEPFnav sf;
+      memcpy(&sf, str.c_str(), sizeof(sf));
+      int sigid = sf.src & 31;
+      //      cerr<<"tow "<<sf.towMsec /1000<<" wn "<<sf.wn <<" sv " << (int) sf.sv - 70<<" sigid " << sigid <<" ";
+      if(!sf.crcPassed) {
+        cerr<<"F/NAV CRC error, skipping"<<endl;
+        continue;
+      }
+
+      std::string fnav((char*)sf.navBits, 32);
+      // byte order adjustment
+      std::basic_string<uint8_t> payload;
+      
+      for(unsigned int i = 0 ; i < 8; ++i) {
+        payload.append(1, sf.navBits[4 * i + 3]);
+        payload.append(1, sf.navBits[4 * i + 2]);
+        payload.append(1, sf.navBits[4 * i + 1]);
+        payload.append(1, sf.navBits[4 * i + 0]);
+      }
+
+      NavMonMessage nmm;
+      double t = utcFromGST(sf.wn - 1024, sf.towMsec / 1000.0);
+      //      cerr<<t<< " " <<si.wn - 1024 <<" " <<si.towMsec /1000.0 <<" " << g_dtLS<<endl;
+      nmm.set_sourceid(g_srcid);
+      nmm.set_type(NavMonMessage::GalileoFnavType);
+
+      nmm.set_localutcseconds(t);
+      nmm.set_localutcnanoseconds(0); // yeah XXX
+            
+      nmm.mutable_gf()->set_gnsswn(sf.wn - 1024);
+      
+      nmm.mutable_gf()->set_gnsstow(sf.towMsec/1000.0);
+      nmm.mutable_gf()->set_gnssid(2);
+      nmm.mutable_gf()->set_gnsssv(sf.sv - 70);
+      nmm.mutable_gf()->set_contents((const char*)&payload[0], payload.size());
+      nmm.mutable_gf()->set_sigid(sepsig2ubx(sigid));
+      ns.emitNMM( nmm);
+    }
+    else if(res.first.getIDBare() == 4047) {
+      // BDSRaw
+    }
+    else if(res.first.getIDBare() == 4006) {
+      auto str = res.first.getPayload();
+      struct PVTCartesian
+      {
+        uint32_t towMsec;
+        uint16_t wn;
+        uint8_t mode, error;
+        double x, y, z;
+        float undulation;
+        float vx, vy, vz;
+      } __attribute__((packed));
+      PVTCartesian pc;
+      memcpy(&pc, str.c_str(), sizeof(pc));
+
+      NavMonMessage nmm;
+      nmm.set_type(NavMonMessage::ObserverPositionType);
+      nmm.set_localutcseconds(utcFromGST(pc.wn - 1024, pc.towMsec / 1000.0));
+      nmm.set_localutcnanoseconds(0);
+      nmm.set_sourceid(g_srcid);
+      
+      nmm.mutable_op()->set_x(pc.x);
+      nmm.mutable_op()->set_y(pc.y);
+      nmm.mutable_op()->set_z(pc.z);
+      nmm.mutable_op()->set_acc(3.14);
+      
+      ns.emitNMM( nmm);
+
+      {
+        NavMonMessage nmm;
+        nmm.set_sourceid(g_srcid);
+        nmm.set_localutcseconds(utcFromGST(pc.wn - 1024, pc.towMsec / 1000.0));
+        nmm.set_localutcnanoseconds(0);
+        
+        nmm.set_type(NavMonMessage::ObserverDetailsType);
+        nmm.mutable_od()->set_vendor("Septentrio");
+        nmm.mutable_od()->set_hwversion("Mosaic");
+        nmm.mutable_od()->set_swversion("");
+        nmm.mutable_od()->set_serialno("3060601");
+        nmm.mutable_od()->set_modules("");
+        nmm.mutable_od()->set_clockoffsetns(0);
+        nmm.mutable_od()->set_clockoffsetdriftns(0);
+        nmm.mutable_od()->set_clockaccuracyns(0);
+        nmm.mutable_od()->set_freqaccuracyps(0);
+
+        nmm.mutable_od()->set_owner("Septentrio");
+        nmm.mutable_od()->set_remark("");
+        nmm.mutable_od()->set_recvgithash(g_gitHash);
+        nmm.mutable_od()->set_uptime(time(0) - starttime);
+        ns.emitNMM( nmm);
+      }
+      
+    }
+    else if(res.first.getIDBare() == 4024) { // GALRawCNAV
+      struct SEPCnav
+      {
+        uint32_t towMsec;
+        uint16_t wn;
+        uint8_t sv;
+        uint8_t crcPassed;
+        uint8_t viterbiCount;
+        uint8_t src;
+        uint8_t ign1;
+        uint8_t rxChannel;
+        uint8_t navBits[64];
+      } __attribute__((packed));
+
+      SEPCnav sc;
+      
+      auto str = res.first.getPayload();
+      memcpy(&sc, str.c_str(), sizeof(sc));
+      int sigid = sc.src & 31;
+      //      cerr<<"C/NAV tow "<<sc.towMsec /1000<<" wn "<<sc.wn <<" sv " << (int) sc.sv - 70<<" sigid " << sigid <<" ";
+      if(!sc.crcPassed) {
+        cerr<<"C/NAV CRC error, skipping"<<endl;
+        continue;
+      }
+
+      std::string cnav((char*)sc.navBits, 64);
+      // byte order adjustment
+      std::basic_string<uint8_t> payload;    
+      
+      for(unsigned int i = 0 ; i < 16; ++i) {
+        payload.append(1, sc.navBits[4 * i + 3]);
+        payload.append(1, sc.navBits[4 * i + 2]);
+        payload.append(1, sc.navBits[4 * i + 1]);
+        payload.append(1, sc.navBits[4 * i + 0]);
+      }
+
+      unsigned char crc_buff[58]={0};
+      unsigned int i;
+      for (i=0; i< 462;i++)
+	setbitu(crc_buff, 2+i, 1,getbitu(payload.c_str(),i, 1));
+
+      int calccrc=rtk_crc24q(crc_buff,58);
+      int realcrc= getbitu(payload.c_str(), 14+448, 24);
+      if (calccrc !=  realcrc) {
+	cerr << "CRC mismatch, " << calccrc << " != " << realcrc <<endl;
+      }
+      //      else
+      //	cerr<<"Checksum Correct: "<<calccrc << " = " << realcrc<<endl;
+
+      
+      
+      NavMonMessage nmm;
+      double t = utcFromGST(sc.wn - 1024, sc.towMsec / 1000.0);
+      //      cerr<<t<< " " <<si.wn - 1024 <<" " <<si.towMsec /1000.0 <<" " << g_dtLS<<endl;
+      nmm.set_sourceid(g_srcid);
+      nmm.set_type(NavMonMessage::GalileoCnavType);
+
+      nmm.set_localutcseconds(t);
+      nmm.set_localutcnanoseconds(0); // yeah XXX
+            
+      nmm.mutable_gc()->set_gnsswn(sc.wn - 1024);
+      
+      nmm.mutable_gc()->set_gnsstow(sc.towMsec/1000.0);
+      nmm.mutable_gc()->set_gnssid(2);
+      nmm.mutable_gc()->set_gnsssv(sc.sv - 70);
+      nmm.mutable_gc()->set_contents((const char*)&payload[0], payload.size());
+      nmm.mutable_gc()->set_sigid(sepsig2ubx(sigid));
+      ns.emitNMM( nmm);
+    }
+    else if(res.first.getIDBare() == 4027) {
+      auto str = res.first.getPayload();
+      struct MeasEpoch
+      {
+        uint32_t towMsec;
+        uint16_t wn;
+        uint8_t n1;
+        uint8_t sb1len;
+        uint8_t sb2len;
+        uint8_t commonFlags;
+        uint8_t clkJumps;
+        uint8_t res1;
+      } __attribute__((packed));
+      MeasEpoch me;
+      memcpy(&me, str.c_str(), sizeof(me));
+      //      cerr<<"Got "<<(int)me.n1<<" signal statuses, block1 "<<(int)me.sb1len<<", block2 "<<(int)me.sb2len<<endl;
+
+      struct Block1
+      {
+        uint8_t rxchannel, type, sv, misc; // misc contains 4 bits of codeMSB
+        uint32_t codeLSB;
+        int32_t doppler;
+        uint16_t carrierLSB;
+        int8_t carrierMSB;
+        uint8_t cn0;
+        uint16_t lockTime;
+        uint8_t obsinfo;
+        uint8_t n2;
+      } __attribute__((packed));
+      struct Block2
+      {
+        uint8_t type, locktime, cn0, offsetMSB;
+        int8_t carrierMSB;
+        uint8_t obsinfo;
+        uint16_t codeoffsetLSB;
+        uint16_t carrierLSB;
+        uint16_t dopplerOffsetLSB;
+      } __attribute__((packed));
+
+      int pos = sizeof(me);
+      for(int n = 0 ; n < me.n1; ++n) {
+        Block1 b1;
+        memcpy(&b1, str.c_str() + pos, sizeof(b1));
+        uint8_t sigid = b1.type & 31;
+        //        cerr<<"sv "<<(int)b1.sv<<" sigid "<< (int)sigid <<" cn0 ";
+        double db;
+        if(sigid==1 || sigid ==2)
+          db = b1.cn0 *0.25;
+        else db = b1.cn0 * 0.25 + 10;
+        //        cerr<<" "<<db;
+        //        cerr<<" n2 "<< (int)b1.n2;
+        //        cerr<<endl;
+        pos += me.sb1len;
+
+        if(b1.sv <= 36 || (b1.sv > 70 && b1.sv <= 106)) {
+          NavMonMessage nmm;
+          nmm.set_sourceid(g_srcid);
+          nmm.set_localutcseconds(utcFromGST(me.wn - 1024, me.towMsec / 1000.0));
+          nmm.set_localutcnanoseconds(0);
+          
+          nmm.set_type(NavMonMessage::ReceptionDataType);
+          nmm.mutable_rd()->set_gnssid(b1.sv > 70 ? 2 : 0 );
+          nmm.mutable_rd()->set_gnsssv(b1.sv <= 37 ? b1.sv : b1.sv - 70);
+          nmm.mutable_rd()->set_db(db);
+          nmm.mutable_rd()->set_el(0);
+          nmm.mutable_rd()->set_azi(0);
+          nmm.mutable_rd()->set_prres(-1);
+          nmm.mutable_rd()->set_qi(7);
+                      
+          try {
+            nmm.mutable_rd()->set_sigid(sepsig2ubx(sigid));
+            ns.emitNMM(nmm);
+          }
+          catch(...){}
+
+          /*
+          LSB of the pseudorange. The pseudorange expressed in meters
+            is computed as follows:
+            PR type1 [m] = ( CodeMSB *4294967296+ CodeLSB )*0.001
+
+            codeMSB hides in bits 0-3 of misc. 
+          */
+          
+        }
+        
+        for(int m = 0 ; m < b1.n2; ++m) {
+          Block2 b2;
+          memcpy(&b2, str.c_str() + pos, sizeof(b2));
+          pos += me.sb2len;
+          sigid = b2.type & 31;
+          //          cerr<<"\t sigid  "<<(int)sigid<<" cn0 ";
+          if(sigid==1 || sigid ==2)
+            db= b2.cn0 *0.25;
+          else db = b2.cn0 * 0.25 + 10;
+          //          cerr<<db;
+          //          cerr<<endl;
+
+          if(b1.sv <= 36 || (b1.sv > 70 && b1.sv <= 106)) {
+            NavMonMessage nmm;
+            nmm.set_sourceid(g_srcid);
+            nmm.set_localutcseconds(utcFromGST(me.wn - 1024, me.towMsec / 1000.0));
+            nmm.set_localutcnanoseconds(0);
+            
+            nmm.set_type(NavMonMessage::ReceptionDataType);
+            nmm.mutable_rd()->set_gnssid(b1.sv > 70 ? 2 : 0 );
+            nmm.mutable_rd()->set_gnsssv(b1.sv <= 37 ? b1.sv : b1.sv - 70);
+            nmm.mutable_rd()->set_db(db);
+            nmm.mutable_rd()->set_el(0);
+            nmm.mutable_rd()->set_azi(0);
+            nmm.mutable_rd()->set_prres(0);
+            nmm.mutable_rd()->set_qi(7);
+            try {
+              nmm.mutable_rd()->set_sigid(sepsig2ubx(sigid));            
+              ns.emitNMM(nmm);
+            }catch(...){} // might be unknown signal type
+          }
+        }
+      }
+      
+    }
+    else {
+    if(!quiet)
+      cerr<<"Unknown message "<<res.first.getID() << " / " <<res.first.getIDBare()<<"  ("<<res.first.d_store.size()<<" bytes)"<<endl;
+    }
+  }
+}
+catch(std::exception& e)
+{
+  cerr<<"Fatal: "<<e.what()<<endl;
+}
+catch(EofException& e)
+{
+  
+}
+
+      /*
+        NAVBits contains the 234 bits of an I/NAV navigation page (in nominal
+or alert mode). Note that the I/NAV page is transmitted as two sub-pages
+(the so-called even and odd pages) of duration 1 second each (120 bits
+each). 
+
+In this block, the even and odd pages are concatenated, even page
+first and odd page last. The 6 tails bits at the end of the even page are
+removed (hence a total of 234 bits). If the even and odd pages have been
+received from two different carriers (E5b and L1), bit 5 of the Source
+field is set.
+      */
+         
--- a/ubx.cc
+++ b/ubx.cc
@ -3,6 +3,7 @@
 #include "fmt/format.h"
 #include "fmt/printf.h"
 #include "bits.hh"
+#include "navmon.hh"

 using namespace std;
 uint16_t calcUbxChecksum(uint8_t ubxClass, uint8_t ubxType, std::basic_string_view<uint8_t> str)
@ -60,7 +61,12 @@ std::basic_string<uint8_t> buildUbxMessage(uint8_t ubxClass, uint8_t ubxType, st
  return msg;
 }

-basic_string<uint8_t> getInavFromSFRBXMsg(std::basic_string_view<uint8_t> msg)
+basic_string<uint8_t> getInavFromSFRBXMsg(std::basic_string_view<uint8_t> msg,
+                                          basic_string<uint8_t>& reserved1,
+                                          basic_string<uint8_t>& reserved2,
+                                          basic_string<uint8_t>& sar,
+                                          basic_string<uint8_t>& spare,
+                                          basic_string<uint8_t>& crc)
 {
  // byte order adjustment
  std::basic_string<uint8_t> payload;
@ -74,10 +80,14 @@ basic_string<uint8_t> getInavFromSFRBXMsg(std::basic_string_view<uint8_t> msg)
  for (i=0,j=  4;i<15;i++,j+=8) setbitu(crc_buff,j,8,getbitu(payload.c_str()   ,i*8,8));
  for (i=0,j=118;i<11;i++,j+=8) setbitu(crc_buff,j,8,getbitu(payload.c_str()+16,i*8,8));
  if (rtk_crc24q(crc_buff,25) != getbitu(payload.c_str()+16,82,24)) {
-    cout << "CRC mismatch, " << rtk_crc24q(crc_buff, 25) << " != " << getbitu(payload.c_str()+16,82,24) <<endl;
+    cerr << "CRC mismatch, " << rtk_crc24q(crc_buff, 25) << " != " << getbitu(payload.c_str()+16,82,24) <<endl;
    throw CRCMismatch();
  }

+  crc.clear();
+  for(i=0; i < 3; ++i)
+    crc.append(1, getbitu(payload.c_str()+16,82+i*8,8));
+  
  std::basic_string<uint8_t> inav;
  
  for (i=0,j=2; i<14; i++, j+=8)
@ -85,6 +95,21 @@ basic_string<uint8_t> getInavFromSFRBXMsg(std::basic_string_view<uint8_t> msg)
  for (i=0,j=2; i< 2; i++, j+=8)
    inav.append(1, (unsigned char)getbitu(payload.c_str()+16,j,8));

+  reserved1.clear();
+  for(i=0, j=18; i < 5 ; i++, j+=8)
+    reserved1.append(1, (unsigned char)getbitu(payload.c_str()+16, j, 8));
+  //  cerr<<"reserved1: "<<makeHexDump(reserved1)<<endl;
+
+  sar.clear();
+  for(i=0, j=58; i < 3 ; i++, j+=8) // you get 24 bits
+    sar.append(1, (unsigned char)getbitu(payload.c_str()+16, j, 8));
+
+  spare.clear();
+  spare.append(1, (unsigned char)getbitu(payload.c_str()+16, 80, 2));
+
+  reserved2.clear();
+  reserved2.append(1, (unsigned char)getbitu(payload.c_str()+16, 106, 8));
+  
  return inav;
 }

--- a/ubx.hh
+++ b/ubx.hh
@ -6,7 +6,13 @@ std::basic_string<uint8_t> buildUbxMessage(uint8_t ubxClass, uint8_t ubxType, st

 std::basic_string<uint8_t> buildUbxMessage(uint8_t ubxClass, uint8_t ubxType, const std::initializer_list<uint8_t>& str);

-std::basic_string<uint8_t> getInavFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
+std::basic_string<uint8_t> getInavFromSFRBXMsg(std::basic_string_view<uint8_t> msg,
+                                               std::basic_string<uint8_t>& reserved1,
+                                               std::basic_string<uint8_t>& reserved2,
+                                               std::basic_string<uint8_t>& sar,
+                                               std::basic_string<uint8_t>& spare,
+                                               std::basic_string<uint8_t>& crc);
+
 std::basic_string<uint8_t> getGPSFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
 std::basic_string<uint8_t> getGlonassFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
 std::basic_string<uint8_t> getBeidouFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
--- a/ubxtool.cc
+++ b/ubxtool.cc
@ -496,7 +496,7 @@ struct TIMEGPS
 // ubxtool device srcid
 int main(int argc, char** argv)
 {
-  time_t starttime=time(0);
+  auto starttime = std::chrono::steady_clock::now();
  GOOGLE_PROTOBUF_VERIFY_VERSION;

  CLI::App app(program);
@ -927,7 +927,7 @@ int main(int argc, char** argv)
        enableUBXMessageOnPort(fd, 0x02, 0x59, ubxport); // UBX-RXM-RLM
      }

-      if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-MON-HW"<<endl; } // SAR
+      if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-MON-HW"<<endl; } 
      enableUBXMessageOnPort(fd, 0x0A, 0x09, ubxport, 16); // UBX-MON-HW

      
@ -1385,7 +1385,8 @@ int main(int argc, char** argv)
            ns.emitNMM( nmm);            
          }
          else if(id.first ==2) { // GALILEO
-            auto inav = getInavFromSFRBXMsg(payload);
+            basic_string<uint8_t> reserved1, reserved2, sar, spare, crc;
+            auto inav = getInavFromSFRBXMsg(payload, reserved1, reserved2, sar, spare, crc);  
            unsigned int wtype = getbitu(&inav[0], 0, 6);

            uint32_t satTOW;
@ -1466,6 +1467,11 @@ int main(int argc, char** argv)
            nmm.mutable_gi()->set_gnsssv(id.second);
            nmm.mutable_gi()->set_sigid(sigid);
            nmm.mutable_gi()->set_contents((const char*)&inav[0], inav.size());
+            nmm.mutable_gi()->set_reserved1((const char*)&reserved1[0], reserved1.size());
+            nmm.mutable_gi()->set_reserved2((const char*)&reserved2[0], reserved2.size());
+            nmm.mutable_gi()->set_sar((const char*)    &sar[0],   sar.size());
+            nmm.mutable_gi()->set_crc((const char*)    &crc[0],   crc.size());
+            nmm.mutable_gi()->set_spare((const char*)&spare[0], spare.size());
            
            ns.emitNMM( nmm);
          }
@ -1697,7 +1703,7 @@ int main(int argc, char** argv)
        nmm.mutable_od()->set_owner(owner);
        nmm.mutable_od()->set_remark(remark);
        nmm.mutable_od()->set_recvgithash(g_gitHash);
-        nmm.mutable_od()->set_uptime(time(0) - starttime);
+        nmm.mutable_od()->set_uptime(std::chrono::duration_cast<std::chrono::seconds>(std::chrono::steady_clock::now()-starttime).count());
        
        
        ns.emitNMM( nmm);
--- a/zstdwrap.cc
+++ b/zstdwrap.cc
@ -149,17 +149,21 @@ void ZStdReader::worker()

  for(;;) {
    input.pos=0;
-    input.size=read(d_sourcefd, (char*)input.src, inputcapacity);
-    if(input.size <= 0) {
+    int ret = read(d_sourcefd, (char*)input.src, inputcapacity);
+    if(ret <= 0) {
      cerr<<"Got EOF on input fd "<<d_sourcefd<<", terminating thread"<<endl;
      break;
    }
+    input.size = ret; // this is unsigned, so we need 'ret' to see the error
    while(input.pos != input.size) {
      output.pos=0;
      output.size=outputcapacity;
-      ZSTD_decompressStream(z, &output, &input);
+      int res = ZSTD_decompressStream(z, &output, &input);
+      if(ZSTD_isError(res)) {
+        cerr<<"Error decompressing ZSTD data"<<endl;
+        break;
+      }

-      int res;
      res = writen(d_writepipe, output.dst, output.pos);
      if(!res) // we are history
        break;
Author	SHA1	Message	Date
bert hubert	c27b3466e6	added new link to GPS status	2022-06-07 12:20:21 +02:00
bert hubert	21443e89cf	remove scary use of memset	2022-03-07 14:03:36 +01:00
bert hubert	0427adb27b	comment unused code and variables	2022-03-07 14:03:11 +01:00
bert hubert	290721f1c0	add missing include	2022-03-07 14:02:24 +01:00
bert hubert	eed416e30b	new doctest to fix compilation	2022-03-07 13:56:50 +01:00
bert hubert	7c9127ab73	html updates for new URLs	2022-03-07 13:10:16 +01:00
bert hubert	c10bce3a2c	quiet down navdump a lot	2022-03-07 13:10:16 +01:00
bert hubert	f4256dac8b	Merge branch 'master' of github.com:berthubert/galmon	2021-11-13 13:00:07 +01:00
bert hubert	13325316de	fix compilation on fedora 35	2021-11-13 12:59:53 +01:00
bert hubert	1837fd0bea	-pthread should unfuck the testsuite	2021-09-22 20:09:07 +02:00
bert hubert	f5d29a3087	Merge branch 'master' of github.com:berthubert/galmon	2021-09-21 17:31:46 +02:00
bert hubert	8686561404	enhance GGTO logging somewhat	2021-09-21 17:31:40 +02:00
bert hubert	95a41e9612	ok	2021-09-21 17:30:57 +02:00
bert hubert	155f4c6e72	fix galileo/gps time offset calculations for week number rollovers	2021-09-21 17:26:32 +02:00
bert hubert	e1b8225ddb	get navdump to print beidou leap second data	2021-08-03 00:00:47 +02:00
bert hubert	025427c21d	parse BeiDou leap second data	2021-08-03 00:00:29 +02:00
bert hubert	616e71270d	make gndate do BeiDou week numbers etc	2021-08-03 00:00:10 +02:00
bert hubert	07c07dd2f1	add getBeiDouDate and note some more leap second errors	2021-08-02 23:59:49 +02:00
bert hubert	aa8c3b20e3	add galileo leap second stuff	2021-08-02 20:45:59 +02:00
bert hubert	3a28c48ce2	parse & show some more GPS leap second bits	2021-07-24 20:57:01 +02:00
bert hubert	21df895835	pretty print C/NAV a bit better	2021-05-25 13:55:41 +02:00
bert hubert	8ddeff2a6b	fix CNAV parsing for HAS	2021-05-25 13:55:17 +02:00
bert hubert	4860006fdc	improve OSX instructions	2021-03-27 17:44:12 +01:00
bert hubert	7134316efe	add OSX instructions	2021-03-27 17:12:25 +01:00
bert hubert	30be749712	move osnma dump so it dumps on all word types	2021-03-27 14:33:28 +01:00
bert hubert	bedcc4dc33	remover buffering	2021-02-16 22:12:07 +01:00
bert hubert	88d6773a29	add --osnma fname.csv	2021-02-16 21:53:15 +01:00
bert hubert	a88f6034f1	add --rinex to navdump, will emit ephemerides as RINEX 3.0.3	2021-02-16 17:49:23 +01:00
bert hubert	f1746adabb	add OSNMA parsing to septentrio tooling	2021-02-11 22:09:44 +01:00
bert hubert	6a515aaef0	stop filtering out E14/E18, add support for DVS, add support for remote influxdb	2020-12-06 14:30:33 +01:00
bert hubert	a291a0ff03	silence some warning, add special E14/E18 support	2020-12-06 14:29:32 +01:00
bert hubert	233b201a76	add osnma tweets	2020-11-18 12:52:41 +01:00
bert hubert	085a3e93c9	docs	2020-11-15 12:48:04 +01:00
bert hubert	1feaa97638	silence debugging	2020-11-15 12:47:41 +01:00
bert hubert	83afbe125d	make sure we display Galileo E6 C/NAV sv id correctly	2020-11-15 12:44:34 +01:00
bert hubert	f971a8b3b0	silence navnexus debugging output	2020-11-12 12:29:57 +01:00
bert hubert	8179fca981	add client logging for navrecv	2020-11-12 12:20:48 +01:00
bert hubert	27ee8daae2	tighten Makefile a bit	2020-11-12 12:04:10 +01:00
bert hubert	cfefdc6814	add osnma output	2020-11-11 16:49:16 +01:00
bert hubert	4b537c593c	OSNMA handling	2020-11-11 16:47:19 +01:00
bert hubert	ffe82326e7	add commented out nequick handling	2020-11-11 16:45:25 +01:00
bert hubert	ce9aed389d	small cleanup, plus add storage of phase bias to influxdb	2020-11-11 16:44:32 +01:00
bert hubert	7da22078a4	phase bias parsing	2020-11-11 16:43:01 +01:00
bert hubert	ed8ff0e823	add output of phase information	2020-11-11 16:41:53 +01:00
bert hubert	ef62317f8c	change defaul url	2020-11-11 16:41:28 +01:00
bert hubert	04efe69238	Merge branch 'master' of github.com:berthubert/galmon	2020-11-11 16:40:47 +01:00
bert hubert	34b7acbcbc	update the hardcoded septentrio serial number, plus add compression	2020-11-11 16:40:24 +01:00
berthubert	4b8fd97dca	Merge pull request #109 from philcrump/phil-fix-uptime ubxtool.cc: Use monotonic clock for uptime calculation.	2020-10-13 21:47:56 +02:00
bert hubert	37077b8296	various speedups, C/NAV support for Galileo	2020-09-27 16:49:59 +02:00
bert hubert	5d1cc3d75f	teach navcat to combine different directories	2020-09-27 16:43:53 +02:00
bert hubert	386ad8dd7d	add more time formats	2020-09-27 16:12:39 +02:00
bert hubert	bccc3eb63a	remove some dead code	2020-09-27 16:11:34 +02:00
bert hubert	749d8bf687	teach reporter about galileo week numbers, improve LaTeX output	2020-09-27 16:07:29 +02:00
bert hubert	71086169f5	silence a warning	2020-09-27 16:06:55 +02:00
bert hubert	6a963b181c	add option to output bare numbers for use in scripts	2020-09-27 16:04:57 +02:00
bert hubert	42c46f532f	add OSNMA output as 'res1'	2020-08-23 17:02:38 +02:00
berthubert	94009f150f	Merge pull request #139 from gizmoguy/actions-fix Fix apt errors in ccpp github action.	2020-08-23 00:12:32 +02:00
Brad Cowie	c1ba585937	Fix apt errors in ccpp github action.	2020-08-23 10:04:30 +12:00
bert hubert	cab1ec9594	add OSNMA and other fields to Galileo storage	2020-08-22 22:31:31 +02:00
berthubert	8eff5956b2	Merge pull request #137 from gizmoguy/multi-stage-docker Use multiple stages to build docker image	2020-08-05 23:01:12 +02:00
Brad Cowie	42810562f8	Update docker documentation in README.md.	2020-08-05 20:51:38 +12:00
Brad Cowie	06abf58801	Use multi-stage docker build to reduce image size.	2020-08-05 20:51:35 +12:00
bert hubert	b1f0ad01d1	add navmerge for HA operations	2020-08-04 10:00:49 +02:00
bert hubert	5b03310e62	Merge pull request #127 from gizmoguy/docker-image-name Update official docker image name in README.md.	2020-08-04 09:51:46 +02:00
bert hubert	9955463c93	teach nmmsender to also transmit already serialized messages	2020-08-03 23:20:17 +02:00
bert hubert	aed36e1bf8	note a potential bug	2020-08-03 23:19:43 +02:00
bert hubert	b032867261	implement sourcing from an IP address, plus fix C/NAV bug	2020-08-03 23:16:33 +02:00
bert hubert	e5820ec0f7	error in sp3feed example	2020-08-03 23:16:01 +02:00
bert hubert	ab436b0fb3	add Galileo E5a to HTML and Javascript	2020-08-01 21:59:49 +02:00
bert hubert	58cb1a6335	silence some more javascript debugging	2020-08-01 21:59:21 +02:00
bert hubert	fbf213da70	silence some javascript debugging	2020-08-01 21:56:26 +02:00
bert hubert	761a896938	add C/NAV to septool, plus additional signal types	2020-08-01 21:50:08 +02:00
bert hubert	ac3494541c	make navparse stay quiet over Galileo C/NAV types	2020-08-01 21:19:16 +02:00
bert hubert	74db87012c	add Galileo C/NAV type, and support for it to navdump	2020-08-01 21:19:01 +02:00
bert hubert	85fc93bb03	document septool more	2020-07-29 20:49:10 +02:00
bert hubert	d4d97181f9	document septool	2020-07-29 20:41:15 +02:00
bert hubert	a555418542	include galileo.o for F/NAV to navparse	2020-07-29 19:53:59 +02:00
bert hubert	000e15e761	implement F/NAV messages in navparse.cc	2020-07-29 19:46:51 +02:00
bert hubert	b1427472cd	make navdump print F/NAV messages	2020-07-29 11:39:23 +02:00
bert hubert	f96df29038	septool!	2020-07-29 11:38:32 +02:00
bert hubert	b500182649	Septentrio SBF tool	2020-07-29 11:37:51 +02:00
bert hubert	84cc20f019	F/NAV message type	2020-07-29 11:36:28 +02:00
bert hubert	9950905ba8	add unsigned char hexdump function	2020-07-29 11:31:55 +02:00
bert hubert	ee1dd794aa	missing commit for IOD	2020-07-29 11:18:33 +02:00
bert hubert	dc531ca4a6	make rinjoin use the IOD field	2020-07-29 11:12:04 +02:00
bert hubert	72f789198a	teach rinex ephemeris parser about IOD	2020-07-29 11:11:46 +02:00
bert hubert	edce2900bb	Galileo F/NAV parser	2020-07-29 11:11:25 +02:00
bert hubert	a15ff4da7d	add sp3feed description	2020-07-24 13:35:08 +02:00
Brad Cowie	bf66486f63	Update official docker image name in README.md.	2020-07-10 20:56:28 +12:00
Phil Crump	4095e911d8	ubxtool.cc: Use monotonic clock for uptime calculation.	2020-02-22 23:28:14 +00:00