228 lines
6.6 KiB
C++
228 lines
6.6 KiB
C++
#pragma once
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#include <bitset>
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#include <string>
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#include <map>
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#include "bits.hh"
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#include <iostream>
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#include <math.h>
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struct GPSCNavAlmanac
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{
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int dataid{-1};
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int sv;
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uint32_t t0a{0};
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uint32_t e{0}, sqrtA{0};
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int32_t M0, Omega0, deltai, omega, omegadot;
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int health;
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int af0, af1;
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double getMu() const
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{
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return 3.986005 * pow(10.0, 14.0);
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} // m^3/s^2
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// same for galileo & gps
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double getOmegaE() const { return 7.2921151467 * pow(10.0, -5.0);} // rad/s
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double getE() const
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{
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return ldexp(e, -21);
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}
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double getT0e() const
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{
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return ldexp(t0a, 12);
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}
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double getI0() const
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{
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return M_PI*0.3 + ldexp(M_PI*deltai, -19);
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}
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double getOmegadot() const
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{
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return ldexp(M_PI * omegadot, -38);
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}
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double getSqrtA() const
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{
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return ldexp(sqrtA, -11);
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}
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double getOmega0() const
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{
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return ldexp(M_PI * Omega0, -23);
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}
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double getOmega() const
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{
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return ldexp(M_PI * omega, -23);
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}
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double getM0() const
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{
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return ldexp(M_PI * M0, -23);
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}
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double getIdot() const { return 0; } // radians/s
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double getCic() const { return 0; } // radians
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double getCis() const { return 0; } // radians
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double getCuc() const { return 0; } // radians
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double getCus() const { return 0; } // radians
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double getCrc() const { return 0; } // meters
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double getCrs() const { return 0; } // meters
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double getDeltan()const { return 0; } //radians/s
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};
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struct GPSCNavState
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{
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uint32_t t0e;
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uint32_t e, sqrtA;
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int32_t m0, omega0, i0, omega, idot, omegadot, deltan;
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int16_t cuc{0}, cus{0}, crc{0}, crs{0}, cic{0}, cis{0};
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// 16 seconds
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uint16_t t0c;
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// 2^-31 2^-43
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int32_t af0 , af1;
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// ???
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int8_t af2;
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uint32_t wn{0}, tow{0};
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double getMu() const
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{
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return 3.986005 * pow(10.0, 14.0);
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} // m^3/s^2
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// same for galileo & gps
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double getOmegaE() const { return 7.2921151467 * pow(10.0, -5.0);} // rad/s
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uint32_t getT0e() const { return t0e; }
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double getSqrtA() const { return ldexp(sqrtA, -19); }
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double getE() const { return ldexp(e, -33); }
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double getCuc() const { return ldexp(cuc, -29); } // radians
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double getCus() const { return ldexp(cus, -29); } // radians
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double getCrc() const { return ldexp(crc, -5); } // meters
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double getCrs() const { return ldexp(crs, -5); } // meters
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double getM0() const { return ldexp(m0 * M_PI, -31); } // radians
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double getDeltan()const { return ldexp(deltan *M_PI, -43); } //radians/s
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double getI0() const { return ldexp(i0 * M_PI, -31); } // radians
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double getCic() const { return ldexp(cic, -29); } // radians
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double getCis() const { return ldexp(cis, -29); } // radians
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double getOmegadot() const { return ldexp(omegadot * M_PI, -43); } // radians/s
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double getOmega0() const { return ldexp(omega0 * M_PI, -31); } // radians
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double getIdot() const { return ldexp(idot * M_PI, -43); } // radians/s
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double getOmega() const { return ldexp(omega * M_PI, -31); } // radians
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uint8_t gpshealth{0};
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uint16_t ai0{0};
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int16_t ai1{0}, ai2{0};
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int BGDE1E5a{0}, BGDE1E5b{0};
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bool disturb1{false}, disturb2{false}, disturb3{false}, disturb4{false}, disturb5{false};
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//
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// 2^-30 2^-50 1 8-bit week
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int32_t a0{0}, a1{0}, t0t{0}, wn0t{0};
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int32_t a0g{0}, a1g{0}, t0g{0}, wn0g{0};
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int8_t dtLS{0}, dtLSF{0};
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uint16_t wnLSF{0};
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uint8_t dn; // leap second day number
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int gpsiod{-1};
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int teop;
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int deltaUT1;
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int deltaUT1dot;
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// milliseconds
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std::pair<double, double> getUT1OffsetMS(int tow)
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{
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int delta = ephAge(tow, 16* teop);
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std::cout<<" tow "<<tow<<" teop "<< 16*teop <<" delta "<<delta<<" " << 1000.0*ldexp(deltaUT1, -24)<<"ms ";
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double cur = ldexp(deltaUT1 + ldexp(delta * deltaUT1dot / 86400.0, -1), -24);
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double trend = ldexp(deltaUT1dot, -25);
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return {1000.0* cur, 1000.0*trend};
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}
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};
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template<typename T>
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std::pair<double, double> getGPSCNavAtomicOffset(int tow, const T& eph)
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{
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int delta = ephAge(tow, getT0c(eph));
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double cur = eph.af0 + ldexp(delta*eph.af1, -12) + ldexp(delta*delta*eph.af2, -24);
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double trend = ldexp(eph.af1, -12) + ldexp(2*delta*eph.af2, -24);
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// now in units of 2^-31 seconds, which are 0.5 nanoseconds each
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double factor = ldexp(1000000000, -31);
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return {factor * cur, factor * trend};
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}
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template<typename T>
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std::pair<double, double> getGPSCNavUTCOffset(int tow, int wn, const T& eph)
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{
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// 2^-30 2^-50 3600
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// a0 a1 t0t
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int dw = (int)(uint8_t)wn - (int)(uint8_t) eph.wn0t;
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int delta = dw*7*86400 + tow - eph.t0t; // this is pre-scaled for GPS..
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double cur = eph.a0 + ldexp(1.0*delta*eph.a1, -20);
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double trend = ldexp(eph.a1, -20);
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// now in units of 2^-30 seconds, which are ~1.1 nanoseconds each
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double factor = ldexp(1000000000, -30);
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return {factor * cur, factor * trend};
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}
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template<typename T>
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int parseGPSCNavMessage(std::basic_string_view<uint8_t> msg, T& out)
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{
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using namespace std;
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int type = getbitu(&msg[0], 14, 6);
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out.tow = 6 * getbitu(&msg[0], 20, 17) - 12;
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if(type == 10) {
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out.wn = getbitu(&msg[0], 38, 13);
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// out.ura = getbitu(&msg[0], 65, 5);
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out.t0e = getbitu(&msg[0], 70, 11); // XXX scale?
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// int32_t deltaSqrtA = getbits(&msg[0], 81, 26);
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// int32_t SqrtADot = getbits(&msg[0], 107, 25);
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out.deltan = getbitu(&msg[0], 132, 17); // XXX scale??
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// int deltandot = getbitu(&msg[0], 149, 23); // XXX scale??
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// int64_t M0n = getbitu(&msg[0], 172, 33); // XXX scale??
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out.e = getbitu(&msg[0], 205, 33); // XXX scale??
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out.omega = getbitu(&msg[0], 238, 33); // XXX scale?
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}
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else if(type == 11) {
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out.t0e = getbitu(&msg[0], 38, 11); // XXX scale?
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out.omega0 = getbitu(&msg[0], 49, 33); // XXX scale?
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out.i0 = getbitu(&msg[0], 82, 33); // XXX scale?
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// int64_t deltaOmegaDot = getbitu(&msg[0], 115, 17); // XXX scale?
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out.idot = getbitu(&msg[0], 132, 15); // XXX scale?
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out.cis = getbits(&msg[0], 147, 16);// XXX scale?
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out.cic = getbits(&msg[0], 163, 16);// XXX scale?
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out.crs = getbits(&msg[0], 179, 24);// XXX scale?
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out.crc = getbits(&msg[0], 203, 24);// XXX scale?
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out.cus = getbits(&msg[0], 227, 21);// XXX scale?
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out.cuc = getbits(&msg[0], 248, 21); // XXX scale?
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}
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else if(type == 32) {
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out.deltaUT1 = getbits(&msg[0], 215, 31);
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out.deltaUT1dot = getbits(&msg[0], 246, 19);
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out.teop = getbitu(&msg[0], 127, 16);
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}
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return type;
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}
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