gpsd/include/gps.h

/* gps.h -- interface of the libgps library */
/*
 * This file is Copyright 2010 by the GPSD project
 * SPDX-License-Identifier: BSD-2-clause
 */
#ifndef _GPSD_GPS_H_
#define _GPSD_GPS_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <inttypes.h>   /* stdint.h would be smaller but not all have it */
#include <limits.h>
#include <pthread.h>    /* pacifies OpenBSD's compiler */
#include <signal.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <sys/time.h>   // for struct timespec
#include <sys/types.h>
#include <time.h>

/*
 * 4.1 - Base version for initial JSON protocol (Dec 2009, release 2.90)
 * 4.2 - AIS application IDs split into DAC and FID (July 2010, release 2.95)
 * 5.0 - MAXCHANNELS bumped from 20 to 32 for GLONASS (Mar 2011, release 2.96)
 *       gps_open() becomes reentrant, what gps_open_r() used to be.
 *       gps_poll() removed in favor of gps_read().  The raw hook is gone.
 *       (Aug 2011, release 3.0)
 * 5.1 - GPS_PATH_MAX uses system PATH_MAX; split24 flag added. New
 *       model and serial members in part B of AIS type 24, conforming
 *       with ITU-R 1371-4. New timedrift structure (Nov 2013, release 3.10).
 * 6.0 - AIS type 6 and 8 get 'structured' flag; GPS_PATH_MAX
 *       shortened because devices has moved out of the tail union. Sentence
 *       tag fields dropped from emitted JSON. The shape of the skyview
 *       structure has changed to make working with the satellites-used
 *       bits less confusing. (January 2015, release 3.12).
 * 6.1 - Add navdata_t for more (nmea2000) info.
 * 7.0 - add gps_fix_t.ecef (February 2018)
 *       changed prototype of gps_read() to add buffer parameters
 *       increased length of devconfig_t.subtype
 *       add gnssid:svid:sigid to satellite_t
 *       add mtime to attitude_t
 *       changed MAXCHANNELS
 * 8.0 - Change shape of rawdata_t.
 *       Added values for gps_data_t->status
 *       Remove epe from gps_data_t, it duplicates gps_fix_t eph
 *       Added sep (estimated spherical error, 3D)
 *       Note: Some GPS call eph as epe, others call sep as epe
 *       Add gps_fix_t datum string, and qErr
 *       enlarge subtype to hold ZED-F9 string
 *       MAXCHANNELS bumped from 120 to 140
 *       Try to make PRN be NMEA 2.x-4.0 compliant, not 4.10 or u-blox
 * 9.0   add NED and geoid_sep variables to gps_fix_t
 *       add health variable to satellite_t
 *       change satellite_t elevation and azimuth to double
 *       satellite_t elevation, azimuth, and ss use NAN for unknown value.
 *       add altMSL, and depth, to gps_fix_t
 *       add altHAE to gps_fix_t
 *       mark altitude in gps_fix_t as deprecated and undefined
 *       Move mag_var from gps_device_t to magnetic_var gps_data_t.
 *       add dgps_age and dgps_station, to gps_fix_t
 *       Change gps_fix_t.time from timestamp_t to timespec_t
 *       Change gps_data_t.skyview_time from timestamp_t to timespec_t
 *       Change gps_data_t.online from timestamp_t to timespec_t
 *       Change gpst_t.utctime from double to timespec_t
 *       Change devices.time from timestamp_t to timespec_t
 *       Change sub4_18.d_tot from timestamp_t to time_t t_tot
 *       Change devconfig_t.activated, cycle & mincycle to timespec_t
 *       Remove unused timestamp() and unix_to_iso8601().
 *       Remove unused iso8601_to_unix().
 *       Remove unused struct timestamp_t entirely
 *       Add DEG_NORM()
 *       Move toff and pps out of gps_data_t.union.
 *       Move gps_fix_t.qErr to gps_data_t.
 *       Split devconfig_t.subtype into subtype and subtype1
 * 9.1   Add leap_seconds to gps_data_t
 *       Fix rtcm3_1029_t.text length
 *       Add/change many rtcm2 structs
 *       Add/change many rtcm3 structs
 * 10    Move gps_data_t->status to gps_fix_t.status for better fix merging
 *       Add wspeedt, wspeedr, wanglem, wanglet, wangler to  gps_fix_t
 *       Remove unused gps_data_t.navadata_t.
 *       Add relPosL and relPosH to gps_fix_t.NED
 * 10.1  long l_toa becomes unsigned long l_toa
 *       fix sub4_18 types.
 *
 */
#define GPSD_API_MAJOR_VERSION  11      /* bump on incompatible changes */
#define GPSD_API_MINOR_VERSION  0       /* bump on compatible changes */

#define MAXCHANNELS     140     /* u-blox 9 tracks 140 signals */
#define MAXUSERDEVS     4       /* max devices per user */
#define GPS_PATH_MAX    128     /* for names like /dev/serial/by-id/... */

// normalize degrees to 0 to 359
#define DEG_NORM(deg) \
    if (0 > (deg)) {(deg) += 360;} else if (360 <= (deg)) {(deg) -= 360;};

/*
 * The structure describing an uncertainty volume in kinematic space.
 * This is what GPSes are meant to produce; all the other info is
 * technical impedimenta.
 *
 * All double values use NAN to indicate data not available.
 *
 * All the information in this structure was considered valid
 * by the GPS at the time of update.
 *
 * Error estimates are at 95% confidence.
 */
/* WARNING!  loss of precision telling time as a double.
 * A double is 53 significant bits.
 * UNIX time to nanoSec precision is 62 significant bits
 * UNIX time to nanoSec precision after 2038 is 63 bits
 * UNIX time as a double is only microSec precision
 * UNIX time as a double and PPS do not play well together
 */

/* we want cm accuracy and 0.0000001 degrees is 1.11 cm at the equator
 * the equator is best case for longitude. At 45lat cut that in half.
 * at 85lat make it 0.00000001
 *
 * this easily fits in a C double which has 15.95 digits of precision
 * printf() format %f defaults to %.6f, which will truncate the result.
 * so print with %.7f if you have a survey grade GPS.
 *
 * ref: https://en.wikipedia.org/wiki/Decimal_degrees
 */

/* WARNING: Check all floats and doubles with isfinite() before using them!
 * isnan() is not sufficient.
 */

typedef struct timespec timespec_t;     /* Unix time as sec, nsec */

/* GPS error estimates are all over the map, and often unspecified.
 * try for 1-sigma if we can... */
struct gps_fix_t {
    timespec_t time;    /* Time of update */
    int    mode;        /* Mode of fix */
#define MODE_NOT_SEEN   0       /* mode update not seen yet */
#define MODE_NO_FIX     1       /* none */
#define MODE_2D         2       /* good for latitude/longitude */
#define MODE_3D         3       /* good for altitude/climb too */

    /* GPS status, aka fix type, almost, but not quite the
     * same as the NMEA xxGGA GPS Quality Indicator Values */
    int    status;              /* Do we have a fix? */
#define STATUS_NO_FIX   0       // no, or unknown
/* yes, plain GPS (SPS Mode), without DGPS, PPS, RTK, DR, etc. */
#define STATUS_FIX      1
#define STATUS_DGPS_FIX 2       /* yes, with DGPS */
#define STATUS_RTK_FIX  3       /* yes, with RTK Fixed */
#define STATUS_RTK_FLT  4       /* yes, with RTK Float */
#define STATUS_DR       5       /* yes, with dead reckoning */
#define STATUS_GNSSDR   6       /* yes, with GNSS + dead reckoning */
#define STATUS_TIME     7       /* yes, time only (surveyed in, manual) */
// Note that STATUS_SIM and MODE_NO_FIX can go together.
#define STATUS_SIM      8       /* yes, simulated */
/* yes, Precise Positioning Service (PPS)
 * Not to be confused with Pulse per Second (PPS)
 * PPS is the encrypted military P(Y)-code */
#define STATUS_PPS_FIX  9

    double ept;         /* Expected time uncertainty, seconds */
    double latitude;    /* Latitude in degrees (valid if mode >= 2) */
    double epy;         /* Latitude position uncertainty, meters */
    double longitude;   /* Longitude in degrees (valid if mode >= 2) */
    double epx;         /* Longitude position uncertainty, meters */
    double altitude;    // DEPRECATED, undefined.
    double altHAE;      /* Altitude, height above ellipsoid.
                         * in meters and probably WGS84
                         * (valid if mode == 3)
                         * MSL = altHAE - geoid_sep */
    double altMSL;      /* Altitude MSL (maybe EGM2008) */
    double epv;         /* Vertical position uncertainty, meters */
    double track;       /* Course made good (relative to true north) */
    double epd;         /* Track uncertainty, degrees */
    double speed;       /* Speed over ground, meters/sec */
    double eps;         /* Speed uncertainty, meters/sec */
    double climb;       /* Vertical speed, meters/sec */
    double epc;         /* Vertical speed uncertainty */
    /* estimated position error horizontal (2D). Meters, maybe 50%, maybe 95% */
    /* aka estimated position error (epe) */
    double eph;         /* estimated position error horizontal (2D) */
    /* spherical error probability, 3D. Meters, maybe 50%, maybe 95% */
    /* Garmin, not gpsd, calls this estimated position error (epe) */
    double sep;
    /* Geoid separation (ellipsoid separation)
     * Height of MSL ellipsoid (geoid) above WGS84 ellipsoid.
     * Positive is MSL above WGS84. In meters */
    double geoid_sep;

    double magnetic_track;  /* Course (relative to Magnetic North) */
    double magnetic_var;    /* magnetic variation in degrees */
    double depth;           /* depth in meters, probably depth of water
                             * under the keel */

    /* ECEF data, all data in meters, and meters/second, or NaN */
    struct {
        double x, y, z;         /* ECEF x, y, z */
        double pAcc;            /* 3D Position Accuracy Estimate, likely SEP */
        double vx, vy, vz;      /* ECEF x, y, z velocity */
        double vAcc;            /* Velocity Accuracy Estimate, probably SEP */
    } ecef;
    /* NED data, all data in meters, and meters/second, or NaN */
    struct {
        double relPosN, relPosE, relPosD;   // NED relative positions
        double relPosL, relPosH;            // relative length and heading
        double velN, velE, velD;            // NED velocities
    } NED;
    char datum[40];             /* map datum */
    /* DGPS stuff, often from xxGGA, or xxGNS */
    double dgps_age;            /* age of DGPS data in tenths of seconds,
                                 * -1 invalid */
    /* DGPS Station used, max size is a guess
     * NMEA 2 says 0000-1023
     * RTCM 3, station ID is 0 to 4095.
     * u-blox UBX-NAV-DGPS is 16 bit integer */
    int dgps_station;           // DGPS station ID, -1 invalid
    double wanglem;             // Wind angle, magnetic, m/s
    double wangler;             // Wind angle, relative, m/s
    double wanglet;             // Wind angle, true, m/s
    double wspeedr;             // Wind speed, relative, m/s
    double wspeedt;             // Wind speed, true, m/s
};

/* Some GNSS receivers, like u-blox 8, can log fixes for later use.
 * That data goes in gps_log_t
 * Check all doubles with isfinite() before using
 */
struct gps_log_t  {
    double lon;           // degrees
    double lat;           // degrees
    double altHAE;        // Height above Ellipsoid, meters
    double altMSL;        // Mean Sea Level, meters
    double gSpeed;        // Ground Speed,  meters per second
    double heading;       // true heading, degrees

    /* The accuracy estimates are near useless as they are not defined
     * statistically as CEP(50), one sigma, two sigma, etc.
     */
    double tAcc;          // Time accuracy estimate, nano seconds
    double hAcc;          // Horizontal accuracy estimate, meters
    double vAcc;          // Vertical accuracy estimate, meters
    double sAcc;          // Speed accuracy estimate, meters per second
    double headAcc;       // Heading accuracy estimate, degrees

    double velN;          // NED north velocity, meters per second
    double velE;          // NED east velocity, meters per second
    double velD;          // NED down velocity, meters per second
    double pDOP;          // Position DOP

    // Odometer data
    double distance;      // Ground distance since last reset, meters
    double totalDistance; // Total cumulative distance, meters
    double distanceStd;   // Ground distance accuracy (1-sigma)

    timespec_t then;      // time of log entry, zero if invalid
    // GPS status -- always valid, same values as gps_fix_t.status
    int    status;              /* Do we have a fix? */

    uint32_t index_cnt;   // message counter

    char fixType;         // -1 = unset, 0 = None, 2 == 2D, 3 = 3D

    // Number of satellites used in Nav Solution, zero if invalid
    unsigned char numSV;
    char string[257];     // 256 max plus NUL
};

/*
 * Other GNSS birds reuse GPS PRNs.
 * It is an NMEA0183 convention to map them to pseudo-PRNs 65..437.
 * Very dependent on NMEA version.
 * (some other GPS receivers push them to 33 and above).
 */
#define GLONASS_PRN_OFFSET      64

/*
 * The structure describing the pseudorange errors (GPGST)
 */
struct gst_t {
    timespec_t utctime;
    double rms_deviation;
    double smajor_deviation;
    double sminor_deviation;
    double smajor_orientation;
    double lat_err_deviation;
    double lon_err_deviation;
    double alt_err_deviation;
};

/*
 * From the RCTM104 2.x standard:
 *
 * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz
 * transmission rate provides a convenient timing capability where the
 * times of word boundaries are a rational multiple of 0.6 seconds."
 *
 * "Each frame is N+2 words long, where N is the number of message data
 * words. For example, a filler message (type 6 or 34) with no message
 * data will have N=0, and will consist only of two header words. The
 * maximum number of data words allowed by the format is 31, so that
 * the longest possible message will have a total of 33 words."
 */
#define RTCM2_WORDS_MAX 33
#define MAXCORRECTIONS  18      /* max correction count in type 1 or 9 */
#define MAXSTATIONS     10      /* maximum stations in almanac, type 5 */
/* RTCM104 doesn't specify this, so give it the largest reasonable value */
#define MAXHEALTH       (RTCM2_WORDS_MAX-2)

/*
 * A nominally 30-bit word (24 bits of data, 6 bits of parity)
 * used both in the GPS downlink protocol described in IS-GPS-200
 * and in the format for DGPS corrections used in RTCM-104v2.
 */
typedef uint32_t isgps30bits_t;

/*
 * Values for "system" fields.  Note, the encoding logic is sensitive to the
 * actual values of these; it's not sufficient that they're distinct.
 */
#define NAVSYSTEM_GPS           0
#define NAVSYSTEM_GLONASS       1
#define NAVSYSTEM_GALILEO       2
#define NAVSYSTEM_UNKNOWN       3

struct rtcm2_t {
    /* header contents */
    unsigned type;      /* RTCM message type */
    unsigned length;    // payload length (words) not including 2 word header
    double   zcount;    /* time within hour: GPS time, no leap secs */
    unsigned refstaid;  /* reference station ID */
    unsigned seqnum;    /* message sequence number (modulo 8) */
    unsigned stathlth;  /* station health */

    /* message data in decoded form */

    // Reference Station data for type 3/4/22/23/24/32 messages
    struct {
        bool valid;            // is message well-formed?
        double x, y, z;        // reference station position ECEF, meters
        double dx, dy, dz;     // delta reference station position ECEF, meters
        double ah;             // antenna height (above RP) meters
        double dx2, dy2, dz2;  // L2 delta ref station position ECEF, meters
        unsigned char gs;      // 0 == GPS, 1 == GLONASS
        char ant_desc[33];     // antenna descriptor
        char ant_serial[33];   // antenna serial number
        char ar;               // 1 == ARP (Type 24) will follow
        unsigned char setup_id;  // 0 == use standard IGS model
    } ref_sta;

    // RTK corrections, type 18/19/20/21
    struct {
        unsigned tom;          // GNSS Time of Measurement, 0-5999999 micro sec
        unsigned char f;       // 00 = L1, 10 = L2, 01 and 11 reserved
        unsigned char sm;      // smoothing interval
        unsigned int nentries;
        struct rtk_sat_t {
            unsigned char m;       // multiple message indicator
            unsigned char pc;      // 0 == C/A code, 1 == P-Code
            unsigned char g;       // 0 == GPS, 1 == GLONASS
            // satellite id (1 - 32), GPS PRN, or GLONASS clot number
            unsigned char ident;
            unsigned char dq;      // data qaulity
            unsigned char clc;     // cumulative loss of continuity
            unsigned char iod;     // Issue of Data (GPS)/Time of Day (GLO)
            unsigned char me;      // multipath error
            int carrier_phase;     // signed 32 bits, 1/256 cycle
            int pseudorange;       // signed 32 bits, 0.02 m
            unsigned char rrc;     // range rate correction
        } sat[15];
    } rtk;

    union {
        struct {
            unsigned int nentries;
            struct gps_rangesat_t {     /* data from messages 1 & 9 */
                unsigned ident;         /* satellite ID */
                unsigned udre;          /* user differential range error */
                unsigned iod;           /* issue of data */
                double prc;             /* range error */
                double rrc;             /* range error rate */
            } sat[MAXCORRECTIONS];
        } gps_ranges;
        struct {                /* data from type 4 messages */
            bool valid;         /* is message well-formed? */
            int system;
            int sense;
#define SENSE_INVALID   0
#define SENSE_GLOBAL    1
#define SENSE_LOCAL     2
            char datum[6];
            double dx, dy, dz;
        } reference;
        struct {                /* data from type 5 messages */
            unsigned int nentries;
            struct consat_t {
                unsigned ident;         /* satellite ID */
                bool iodl;              /* issue of data */
                unsigned int health;    /* is satellite healthy? */
#define HEALTH_NORMAL           (0)     /* Radiobeacon operation normal */
#define HEALTH_UNMONITORED      (1)     /* No integrity monitor operating */
#define HEALTH_NOINFO           (2)     /* No information available */
#define HEALTH_DONOTUSE         (3)     /* Do not use this radiobeacon */
               int snr;                 /* signal-to-noise ratio, dB */
#define SNR_BAD -1                      /* not reported */
                bool health_en;         /* health enabled */
                bool new_data;          /* new data? */
                bool los_warning;       /* line-of-sight warning */
                unsigned int tou;       /* time to unhealth, seconds */
            } sat[MAXHEALTH];
        } conhealth;
        struct {                /* data from type 7 messages */
            unsigned int nentries;
            struct station_t {
                double latitude, longitude;     /* location */
                unsigned int range;             /* range in km */
                double frequency;               /* broadcast freq */
                unsigned int health;            /* station health */
                unsigned int station_id;        /* of the transmitter */
                unsigned int bitrate;           /* of station transmissions */
            } station[MAXSTATIONS];
        } almanac;
        struct {                /* data for type 13 messages */
            bool status;                /* expect a text message */
            bool rangeflag;             /* station range altered? */
            double lat, lon;            /* station longitude/latitude */
            unsigned int range;         /* transmission range in km */
        } xmitter;
        struct {                /* data from type 14 messages */
            unsigned int week;                  /* GPS week (0-1023) */
            unsigned int hour;                  /* Hour in week (0-167) */
            unsigned int leapsecs;              /* Leap seconds (0-63) */
        } gpstime;
        struct {                        // RTCM2 type 18
            int tom;                    // time of measurement
            // FIXME: add in sat words
        } rtcm2_18;
        struct {                        // RTCM2 type 19
            int tom;                    // time of measurement
            // FIXME: add in sat words
        } rtcm2_19;
        struct {                        // RTCM2 type 20
            int tom;                    // time of measurement
            // FIXME: add in sat words
        } rtcm2_20;
        struct {                        // RTCM2 type 21
            int tom;                    // time of measurement
            // FIXME: add in sat words
        } rtcm2_21;
        struct {                        // RTCM2 type 22
            unsigned char ecef_dx;      // L1 ECEF delta-x
            unsigned char ecef_dy;      // L1 ECEF delta-y
            unsigned char ecef_dz;      // L1 ECEF delta-z
            unsigned char gs;           // 0 is GPS, 1 is GLONASS
            unsigned char ah_flag;      // 1 if ah is valid
            int ah;                     // Ant Height meters
            unsigned char l2ecef_dx;    // L2 ECEF delta-x
            unsigned char l2ecef_dy;    // L2 ECEF delta-y
            unsigned char l2ecef_dz;    // L2 ECEF delta-z
        } rtcm2_22;
        struct {                        // RTCM2 type 24
            int64_t ecef_x;             // ECEF X (m * 10e-4)
            int64_t ecef_y;             // ECEF Y (m * 10e-4)
            int64_t ecef_z;             // ECEF Z (m * 10e-4)
            unsigned char gs;           // 0 is GPS, 1 is GLONASS
            unsigned char ah_flag;      // 1 if ah is valid
            int ah;                     // Ant Height meters
        } rtcm2_24;
        struct {
            unsigned int nentries;
            struct glonass_rangesat_t {         /* data from message type 31 */
                unsigned ident;         /* satellite ID */
                unsigned udre;          /* user differential range error */
                unsigned tod;           /* issue of data */
                bool change;            /* ephemeris change bit */
                double prc;             /* range error */
                double rrc;             /* range error rate */
            } sat[MAXCORRECTIONS];
        } glonass_ranges;
        /* data from type 16 messages */
        char message[(RTCM2_WORDS_MAX - 2) * sizeof(isgps30bits_t)];
        /* data from messages of unknown type, not including header */
        isgps30bits_t   words[RTCM2_WORDS_MAX - 2];
    };
};

/* RTCM3 report structures begin here */

#define RTCM3_MAX_SATELLITES    64
#define RTCM3_MAX_DESCRIPTOR    31
#define RTCM3_MAX_ANNOUNCEMENTS 32

struct rtcm3_rtk_hdr {          /* header data from 1001, 1002, 1003, 1004 */
    /* Used for both GPS and GLONASS, but their timebases differ */
    unsigned int station_id;    /* Reference Station ID */
    time_t tow;                 /* GPS Epoch Time (TOW) in ms,
                                   or GLONASS Epoch Time in ms */
    bool sync;                  /* Synchronous GNSS Message Flag */
    unsigned short satcount;    /* # Satellite Signals Processed */
    bool smoothing;             /* Divergence-free Smoothing Indicator */
    unsigned int interval;      /* Smoothing Interval */
};

struct rtcm3_basic_rtk {
    unsigned char indicator;    /* Indicator */
    unsigned int channel;       /* Satellite Frequency Channel Number
                                   (GLONASS only) */
    double pseudorange;         /* Pseudorange */
    double rangediff;           /* PhaseRange - Pseudorange in meters */
    unsigned char locktime;     /* Lock time Indicator */
};

struct rtcm3_extended_rtk {
    unsigned char indicator;    /* Indicator */
    unsigned int channel;       /* Satellite Frequency Channel Number
                                   (GLONASS only) */
    double pseudorange;         /* Pseudorange */
    double rangediff;           /* PhaseRange - L1 Pseudorange */
    unsigned char locktime;     /* Lock time Indicator */
    unsigned char ambiguity;    /* Integer Pseudorange
                                           Modulus Ambiguity */
    double CNR;                 /* Carrier-to-Noise Ratio */
};

struct rtcm3_network_rtk_header {
    unsigned int network_id;    /* Network ID */
    unsigned int subnetwork_id; /* Subnetwork ID */
    time_t time;                /* GPS Epoch Time (TOW) in ms */
    bool multimesg;             /* GPS Multiple Message Indicator */
    unsigned master_id;         /* Master Reference Station ID */
    unsigned aux_id;            /* Auxiliary Reference Station ID */
    unsigned char satcount;     /* count of GPS satellites */
};

struct rtcm3_correction_diff {
    unsigned char ident;        /* satellite ID */
    enum {reserved, correct, widelane, uncertain} ambiguity;
    unsigned char nonsync;
    double geometric_diff;      /* Geometric Carrier Phase
                                   Correction Difference (1016, 1017) */
    unsigned char iode;         /* GPS IODE (1016, 1017) */
    double ionospheric_diff;    /* Ionospheric Carrier Phase
                                   Correction Difference (1015, 1017) */
};

struct rtcm3_t {
    /* header contents */
    unsigned type;      /* RTCM 3.x message type */
    unsigned length;    /* payload length, inclusive of checksum */

    union {
        /* 1001-1013 were present in the 3.0 version */
        struct {
            struct rtcm3_rtk_hdr        header;
            struct rtcm3_1001_t {
                unsigned ident;                 /* Satellite ID */
                struct rtcm3_basic_rtk L1;
            } rtk_data[RTCM3_MAX_SATELLITES];
        } rtcm3_1001;
        struct {
            struct rtcm3_rtk_hdr        header;
            struct rtcm3_1002_t {
                unsigned ident;                 /* Satellite ID */
                struct rtcm3_extended_rtk L1;
            } rtk_data[RTCM3_MAX_SATELLITES];
        } rtcm3_1002;
        struct rtcm3_1003_t {
            struct rtcm3_rtk_hdr        header;
            struct {
                unsigned ident;                 /* Satellite ID */
                struct rtcm3_basic_rtk L1;
                struct rtcm3_basic_rtk L2;
            } rtk_data[RTCM3_MAX_SATELLITES];
        } rtcm3_1003;
        struct rtcm3_1004_t {
            struct rtcm3_rtk_hdr        header;
            struct {
                unsigned ident;                 /* Satellite ID */
                struct rtcm3_extended_rtk L1;
                struct rtcm3_extended_rtk L2;
            } rtk_data[RTCM3_MAX_SATELLITES];
        } rtcm3_1004;
        struct rtcm3_1005_t {
            unsigned int station_id;            /* Reference Station ID */
            int system;                         /* Which system is it? */
            bool reference_station;             /* Reference-station indicator */
            bool single_receiver;               /* Single Receiver Oscillator */
            double ecef_x, ecef_y, ecef_z;      /* ECEF antenna location */
        } rtcm3_1005;
        struct rtcm3_1006_t {
            unsigned int station_id;            /* Reference Station ID */
            int system;                         /* Which system is it? */
            bool reference_station;             /* Reference-station indicator */
            bool single_receiver;               /* Single Receiver Oscillator */
            double ecef_x, ecef_y, ecef_z;      /* ECEF antenna location */
            double height;                      /* Antenna height */
        } rtcm3_1006;
        struct {
            unsigned int station_id;                    // Reference Station ID
            char descriptor[RTCM3_MAX_DESCRIPTOR+1];    /* Description string */
            unsigned int setup_id;
        } rtcm3_1007;
        struct {
            unsigned int station_id;                    // Reference Station ID
            char descriptor[RTCM3_MAX_DESCRIPTOR+1];    /* Description string */
            unsigned int setup_id;
            char serial[RTCM3_MAX_DESCRIPTOR+1];        /* Serial # string */
        } rtcm3_1008;
        struct {
            struct rtcm3_rtk_hdr        header;
            struct rtcm3_1009_t {
                unsigned ident;         /* Satellite ID */
                struct rtcm3_basic_rtk L1;
            } rtk_data[RTCM3_MAX_SATELLITES];
        } rtcm3_1009;
        struct {
            struct rtcm3_rtk_hdr        header;
            struct rtcm3_1010_t {
                unsigned ident;         /* Satellite ID */
                struct rtcm3_extended_rtk L1;
            } rtk_data[RTCM3_MAX_SATELLITES];
        } rtcm3_1010;
        struct {
            struct rtcm3_rtk_hdr        header;
            struct rtcm3_1011_t {
                unsigned ident;                 /* Satellite ID */
                struct rtcm3_extended_rtk L1;
                struct rtcm3_extended_rtk L2;
            } rtk_data[RTCM3_MAX_SATELLITES];
        } rtcm3_1011;
        struct {
            struct rtcm3_rtk_hdr        header;
            struct rtcm3_1012_t {
                unsigned ident;                 /* Satellite ID */
                struct rtcm3_extended_rtk L1;
                struct rtcm3_extended_rtk L2;
            } rtk_data[RTCM3_MAX_SATELLITES];
        } rtcm3_1012;
        struct {
            unsigned int station_id;    /* Reference Station ID */
            unsigned short mjd;         /* Modified Julian Day (MJD) Number */
            unsigned int sod;           /* Seconds of Day (UTC) */
            unsigned char leapsecs;     /* Leap Seconds, GPS-UTC */
            unsigned char ncount;       /* Count of announcements to follow */
            struct rtcm3_1013_t {
                unsigned short id;              /* message type ID */
                bool sync;
                unsigned short interval;        /* interval in 0.1sec units */
            } announcements[RTCM3_MAX_ANNOUNCEMENTS];
        } rtcm3_1013;
        /* 1014-1017 were added in the 3.1 version */
        struct rtcm3_1014_t {
            unsigned int network_id;    /* Network ID */
            unsigned int subnetwork_id; /* Subnetwork ID */
            unsigned int stationcount;  /* # auxiliary stations transmitted */
            unsigned int master_id;     /* Master Reference Station ID */
            unsigned int aux_id;        /* Auxiliary Reference Station ID */
            double d_lat, d_lon, d_alt; /* Aux-master location delta */
        } rtcm3_1014;
        struct rtcm3_1015_t {
            struct rtcm3_network_rtk_header     header;
            struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
        } rtcm3_1015;
        struct rtcm3_1016_t {
            struct rtcm3_network_rtk_header     header;
            struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
        } rtcm3_1016;
        struct rtcm3_1017_t {
            struct rtcm3_network_rtk_header     header;
            struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
        } rtcm3_1017;
        /* 1018-1029 were in the 3.0 version */
        struct rtcm3_1019_t {
            unsigned int ident;         /* Satellite ID */
            unsigned int week;          /* GPS Week Number */
            unsigned char sv_accuracy;  /* GPS SV ACCURACY */
            enum {reserved_code, p, ca, l2c} code;
            double idot;
            unsigned char iode;
            /* ephemeris fields, not scaled */
            unsigned int t_sub_oc;
            signed int a_sub_f2;
            signed int a_sub_f1;
            signed int a_sub_f0;
            unsigned int iodc;
            signed int C_sub_rs;
            signed int delta_sub_n;
            signed int M_sub_0;
            signed int C_sub_uc;
            unsigned int e;
            signed int C_sub_us;
            unsigned int sqrt_sub_A;
            unsigned int t_sub_oe;
            signed int C_sub_ic;
            signed int OMEGA_sub_0;
            signed int C_sub_is;
            signed int i_sub_0;
            signed int C_sub_rc;
            signed int argument_of_perigee;
            signed int omegadot;
            signed int t_sub_GD;
            unsigned char sv_health;
            bool p_data;
            bool fit_interval;
        } rtcm3_1019;
        struct rtcm3_1020_t {
            unsigned int ident;         /* Satellite ID */
            unsigned short channel;     /* Satellite Frequency Channel Number */
            /* ephemeris fields, not scaled */
            bool C_sub_n;
            bool health_avAilability_indicator;
            unsigned char P1;
            unsigned short t_sub_k;
            bool msb_of_B_sub_n;
            bool P2;
            bool t_sub_b;
            signed int x_sub_n_t_of_t_sub_b_prime;
            signed int x_sub_n_t_of_t_sub_b;
            signed int x_sub_n_t_of_t_sub_b_prime_prime;
            signed int y_sub_n_t_of_t_sub_b_prime;
            signed int y_sub_n_t_of_t_sub_b;
            signed int y_sub_n_t_of_t_sub_b_prime_prime;
            signed int z_sub_n_t_of_t_sub_b_prime;
            signed int z_sub_n_t_of_t_sub_b;
            signed int z_sub_n_t_of_t_sub_b_prime_prime;
            bool P3;
            signed int gamma_sub_n_of_t_sub_b;
            unsigned char MP;
            bool Ml_n;
            signed int tau_n_of_t_sub_b;
            signed int M_delta_tau_sub_n;
            unsigned int E_sub_n;
            bool MP4;
            unsigned char MF_sub_T;
            unsigned char MN_sub_T;
            unsigned char MM;
            bool additioinal_data_availability;
            unsigned int N_sup_A;
            unsigned int tau_sub_c;
            unsigned int M_N_sub_4;
            signed int M_tau_sub_GPS;
            bool M_l_sub_n;
        } rtcm3_1020;
        struct rtcm3_1029_t {
            unsigned int station_id;    /* Reference Station ID */
            unsigned short mjd;         /* Modified Julian Day (MJD) Number */
            unsigned int sod;           /* Seconds of Day (UTC) */
            size_t len;                 /* # chars to follow */
            size_t unicode_units;       /* # Unicode units (bytes) in text */
            unsigned char text[255];
        } rtcm3_1029;
        struct rtcm3_1033_t {
            unsigned int station_id;                    // Reference Station ID
            char descriptor[RTCM3_MAX_DESCRIPTOR+1];    /* Description string */
            unsigned int setup_id;
            char serial[RTCM3_MAX_DESCRIPTOR+1];        /* Serial # string */
            char receiver[RTCM3_MAX_DESCRIPTOR+1];      /* Receiver string */
            char firmware[RTCM3_MAX_DESCRIPTOR+1];      /* Firmware string */
        } rtcm3_1033;
        struct {
            unsigned int station_id;                    // Reference Station ID
            unsigned char bias_indicator;
            unsigned char signals_mask;
            int l1_ca_bias;         // GLONASS L1 C/A Code-Phase Bias
            int l1_p_bias;          // GLONASS L1 P Code-Phase Bias
            int l2_ca_bias;         // GLONASS L2 C/A Code-Phase Bias
            int l2_p_bias;          // GLONASS L2 P Code-Phase Bias
        } rtcm3_1230;
        unsigned char data[1024];       /* Max RTCM3 msg length is 1023 bytes */
    } rtcmtypes;
};

/* RTCM3 scaling constants */
#define GPS_AMBIGUITY_MODULUS           299792.458      /* 1004, DF014*/
#define GLONASS_AMBIGUITY_MODULUS       599584.916      /* 1012, DF044 */
#define MESSAGE_INTERVAL_UNITS          0.1             /* 1013, DF047 */

/*
 * Raw IS_GPS subframe data
 */

/* The almanac is a subset of the clock and ephemeris data, with reduced
 * precision. See IS-GPS-200, Table 20-VI  */
struct almanac_t
{
    uint8_t sv;  /* The satellite this refers to */
    /* toa, almanac reference time, 8 bits unsigned, seconds */
    uint8_t toa;
    unsigned long l_toa;
    /* SV health data, 8 bit unsigned bit map */
    uint8_t svh;
    /* deltai, correction to inclination, 16 bits signed, semi-circles */
    int16_t deltai;
    double d_deltai;
    /* M0, Mean Anomaly at Reference Time, 24 bits signed, semi-circles */
    int32_t M0;
    double d_M0;
    /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly Epoch,
     * 24 bits signed, semi-circles */
    int32_t Omega0;
    double d_Omega0;
    /* omega, Argument of Perigee, 24 bits signed, semi-circles */
    int32_t omega;
    double d_omega;
    /* af0, SV clock correction constant term
     * 11 bits signed, seconds */
    int16_t af0;
    double d_af0;
    /* af1, SV clock correction first order term
     * 11 bits signed, seconds/second */
    int16_t af1;
    double d_af1;
    /* eccentricity, 16 bits, unsigned, dimensionless */
    uint16_t e;
    double d_eccentricity;
    /* sqrt A, Square Root of the Semi-Major Axis
     * 24 bits unsigned, square_root(meters) */
    uint32_t sqrtA;
    double d_sqrtA;
    /* Omega dot, Rate of Right Ascension, 16 bits signed, semi-circles/sec */
    int16_t Omegad;
    double d_Omegad;
};

struct subframe_t {
    /* subframe number, 3 bits, unsigned, 1 to 5 */
    uint8_t subframe_num;
    /* data_id, denotes the NAV data structure of D(t), 2 bits, in
     * IS-GPS-200 always == 0x1 */
    uint8_t data_id;
    /* SV/page id used for subframes 4 & 5, 6 bits */
    uint8_t pageid;
    /* tSVID, SV ID of the sat that transmitted this frame, 6 bits unsigned */
    uint8_t tSVID;
    /* TOW17, Time of Week of next Subframe.
     * 17 bits unsigned, 0 to 100,799, scale 6, seconds */
    uint32_t TOW17;            // 0 to 100,799
    unsigned long l_TOW17;     // 0 to 604,794
    /* integrity, URA bounds flag, 1 bit */
    bool integrity;
    /* alert, alert flag, SV URA and/or the SV User Differential Range
     * Accuracy (UDRA) may be worse than indicated, 1 bit */
    bool alert;
    /* antispoof, A-S mode is ON in that SV, 1 bit */
    bool antispoof;
    int is_almanac;
    union {
        /* subframe 1, part of ephemeris, see IS-GPS-200, Table 20-II
         * and Table 20-I */
        struct {
            /* WN, Week Number, 10 bits unsigned, scale 1, weeks */
            uint16_t WN;
            /* IODC, Issue of Data, Clock, 10 bits, unsigned,
             * issued in 8 data ranges at the same time */
            uint16_t IODC;
            /* toc, clock data reference time, 16 bits, unsigned, seconds
             * scale 2**4, issued in 8 data ranges at the same time */
            uint16_t toc;
            long l_toc;
            /* l2, code on L2, 2 bits, bit map */
            uint8_t l2;
            /* l2p, L2 P data flag, 1 bit */
            uint8_t l2p;
            /* ura, SV accuracy, 4 bits unsigned index */
            unsigned int ura;
            /* hlth, SV health, 6 bits unsigned bitmap */
            unsigned int hlth;
            /* af0, SV clock correction constant term
             * 22 bits signed, scale 2**-31, seconds */
            int32_t af0;
            double d_af0;
            /* af1, SV clock correction first order term
             * 22 bits signed, scale 2**-43, seconds/second */
            int16_t af1;
            double d_af1;
            /* af2, SV clock correction second order term
             * 8 bits signed, scale 2**-55, seconds/second**2 */
            int8_t af2;
            double d_af2;
            /* Tgd,  L1-L2 correction term, 8 bits signed,  scale 2**-31,
             * seconds */
            int8_t Tgd;
            double d_Tgd;
        } sub1;
        /* subframe 2, part of ephemeris, see IS-GPS-200, Table 20-II
         * and Table 20-III */
        struct {
            /* Issue of Data (Ephemeris),
             * equal to the 8 LSBs of the 10 bit IODC of the same data set */
            uint8_t IODE;
            /* Age of Data Offset for the NMCT, 6 bits, scale 900,
             * ignore if all ones, seconds */
            uint8_t AODO;
            uint16_t u_AODO;
            /* fit, FIT interval flag, indicates a fit interval greater than
             * 4 hour, 1 bit */
            uint8_t fit;
            /* toe, Reference Time Ephemeris, 16 bits unsigned, scale 2**4,
             * seconds */
            uint16_t toe;
            unsigned long l_toe;
            /* Crs, Amplitude of the Sine Harmonic Correction Term to the
             * Orbit Radius, 16 bits, scale 2**-5, signed, meters */
            int16_t Crs;
            double d_Crs;
            /* Cus, Amplitude of the Sine Harmonic Correction Term to the
             * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */
            int16_t Cus;
            double d_Cus;
            /* Cuc, Amplitude of the Cosine Harmonic Correction Term to the
             * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */
            int16_t Cuc;
            double d_Cuc;
            /* deltan, Mean Motion Difference From Computed Value
             * Mean Motion Difference From Computed Value
             * 16 bits, signed, scale 2**-43, semi-circles/sec */
            int16_t deltan;
            double d_deltan;
            /* M0, Mean Anomaly at Reference Time, 32 bits signed,
             * scale 2**-31, semi-circles */
            int32_t M0;
            double d_M0;
            /* eccentricity, 32 bits, unsigned, scale 2**-33, dimensionless */
            uint32_t e;
            double d_eccentricity;
            /* sqrt A, Square Root of the Semi-Major Axis
             * 32 bits unsigned, scale 2**-19, square_root(meters) */
            uint32_t sqrtA;
            double d_sqrtA;
        } sub2;
        /* subframe 3, part of ephemeris, see IS-GPS-200, Table 20-II,
         * Table 20-III */
        struct {
            /* Issue of Data (Ephemeris), 8 bits, unsigned
             * equal to the 8 LSBs of the 10 bit IODC of the same data set */
            uint8_t IODE;
            /* Rate of Inclination Angle, 14 bits signed, scale2**-43,
             * semi-circles/sec */
            int16_t IDOT;
            double d_IDOT;
            /* Cic, Amplitude of the Cosine Harmonic Correction Term to the
             * Angle of Inclination, 16 bits signed, scale 2**-29, radians*/
            int16_t Cic;
            double d_Cic;
            /* Cis, Amplitude of the Sine Harmonic Correction Term to the
             * Angle of Inclination, 16 bits, unsigned, scale 2**-29, radians */
            int16_t Cis;
            double d_Cis;
            /* Crc, Amplitude of the Cosine Harmonic Correction Term to the
             * Orbit Radius, 16 bits signed, scale 2**-5, meters */
            int16_t Crc;
            double d_Crc;
            /* i0, Inclination Angle at Reference Time, 32 bits, signed,
             * scale 2**-31, semi-circles */
            int32_t i0;
            double d_i0;
            /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly
             * Epoch, 32 bits signed, semi-circles */
            int32_t Omega0;
            double d_Omega0;
            /* omega, Argument of Perigee, 32 bits signed, scale 2**-31,
             * semi-circles */
            int32_t omega;
            double d_omega;
            /* Omega dot, Rate of Right Ascension, 24 bits signed,
             * scale 2**-43, semi-circles/sec */
            int32_t Omegad;
            double d_Omegad;
        } sub3;
        struct {
            struct almanac_t almanac;
        } sub4;
        /* subframe 4, page 13 */
        struct {
            /* mapping ord ERD# to SV # is non trivial
             * leave it alone.  See IS-GPS-200 Section 20.3.3.5.1.9 */
            /* Estimated Range Deviation, 6 bits signed, meters */
            int8_t ERD[33];
            /* ai, Availability Indicator, 2bits, bit map */
            uint8_t ai;
        } sub4_13;
        /* subframe 4, page 17, system message, 23 chars, plus nul */
        struct {
            char str[24];
        } sub4_17;
        /* subframe 4, page 18 */
        struct {
            /* ionospheric and UTC data */
            /* A0, Bias coefficient of GPS time scale relative to UTC time
             * scale, 32 bits signed, scale 2**-30, seconds */
            int32_t A0;
            double d_A0;
            /* A1, Drift coefficient of GPS time scale relative to UTC time
             * scale, 24 bits signed, scale 2**-50, seconds/second */
            int32_t A1;
            double d_A1;

            /* alphaX, the four coefficients of a cubic equation representing
             * the amplitude of the vertical delay */

            /* alpha0, 8 bits signed, scale w**-30, seconds */
            int8_t alpha0;
            double d_alpha0;
            /* alpha1, 8 bits signed, scale w**-27, seconds/semi-circle */
            int8_t alpha1;
            double d_alpha1;
            /* alpha2, 8 bits signed, scale w**-24, seconds/semi-circle**2 */
            int8_t alpha2;
            double d_alpha2;
            /* alpha3, 8 bits signed, scale w**-24, seconds/semi-circle**3 */
            int8_t alpha3;
            double d_alpha3;

            /* betaX, the four coefficients of a cubic equation representing
             * the period of the model */

            /* beta0, 8 bits signed, scale w**11, seconds */
            int8_t beta0;
            double d_beta0;
            /* beta1, 8 bits signed, scale w**14, seconds/semi-circle */
            int8_t beta1;
            double d_beta1;
            /* beta2, 8 bits signed, scale w**16, seconds/semi-circle**2 */
            int8_t beta2;
            double d_beta2;
            /* beta3, 8 bits signed, scale w**16, seconds/semi-circle**3 */
            int8_t beta3;
            double d_beta3;

            /* leap (delta t ls), current leap second, 8 bits signed,
             * scale 1, seconds */
            int8_t leap;
            /* lsf (delta t lsf), future leap second, 8 bits signed,
             * scale 1, seconds */
            int8_t lsf;

            /* tot, reference time for UTC data,
             * 16 bits unsigned, scale 2**12, 0 to 604,784 seconds */
            uint16_t tot;
            unsigned long t_tot;

            /* WNt, UTC reference week number, 8 bits unsigned, scale 1,
             * weeks */
            uint8_t WNt;
            /* WNlsf, Leap second reference Week Number,
             * 8 bits unsigned, scale 1, weeks */
            uint8_t WNlsf;
            /* DN, Leap second reference Day Number , 8 bits unsigned,
             * scale 1, days */
            uint8_t DN;
        } sub4_18;
        /* subframe 4, page 25 */
        struct {
            /* svf, A-S status and the configuration code of each SV
             * 4 bits unsigned, bitmap */
            unsigned char svf[33];
            /* svh, SV health data for SV 25 through 32
             * 6 bits unsigned bitmap */
            uint8_t svhx[8];
        } sub4_25;
        struct {
            struct almanac_t almanac;
        } sub5;
        struct {
            /* toa, Almanac reference Time, 8 bits unsigned, scale 2**12,
             * seconds */
            uint8_t toa;
            unsigned long l_toa;
            /* WNa, Week Number almanac, 8 bits, scale 2, GPS Week
             * Number % 256 */
            uint8_t WNa;
            /* sv, SV health status, 6 bits, bitmap */
            uint8_t sv[25];
        } sub5_25;
    };
};

typedef uint64_t gps_mask_t;

/*
 * Is an MMSI number that of an auxiliary associated with a mother ship?
 * We need to be able to test this for decoding AIS Type 24 messages.
 * According to <http://www.navcen.uscg.gov/marcomms/gmdss/mmsi.htm#format>,
 * auxiliary-craft MMSIs have the form 98MIDXXXX, where MID is a country
 * code and XXXX the vessel ID.
 */
#define AIS_AUXILIARY_MMSI(n)   ((n) / 10000000 == 98)

/* N/A values and scaling constant for 25/24 bit lon/lat pairs */
#define AIS_LON3_NOT_AVAILABLE  181000
#define AIS_LAT3_NOT_AVAILABLE  91000
#define AIS_LATLON3_DIV 60000.0

/* N/A values and scaling constant for 28/27 bit lon/lat pairs */
#define AIS_LON4_NOT_AVAILABLE  1810000
#define AIS_LAT4_NOT_AVAILABLE  910000
#define AIS_LATLON4_DIV 600000.0

struct route_info {
    unsigned int linkage;       /* Message Linkage ID */
    unsigned int sender;        /* Sender Class */
    unsigned int rtype;         /* Route Type */
    unsigned int month;         /* Start month */
    unsigned int day;           /* Start day */
    unsigned int hour;          /* Start hour */
    unsigned int minute;        /* Start minute */
    unsigned int duration;      /* Duration */
    int waycount;               /* Waypoint count */
    struct waypoint_t {
        signed int lon;         /* Longitude */
        signed int lat;         /* Latitude */
    } waypoints[16];
};

struct ais_t
{
    unsigned int        type;           /* message type */
    unsigned int        repeat;         /* Repeat indicator */
    unsigned int        mmsi;           /* MMSI */
    union {
        /* Types 1-3 Common navigation info */
        struct {
            unsigned int status;                /* navigation status */
            signed turn;                        /* rate of turn */
#define AIS_TURN_HARD_LEFT      -127
#define AIS_TURN_HARD_RIGHT     127
#define AIS_TURN_NOT_AVAILABLE  128
            unsigned int speed;         /* speed over ground in deciknots */
#define AIS_SPEED_NOT_AVAILABLE 1023
#define AIS_SPEED_FAST_MOVER    1022            /* >= 102.2 knots */
            bool accuracy;                      /* position accuracy */
#define AIS_LATLON_DIV  600000.0
            int lon;                            /* longitude */
#define AIS_LON_NOT_AVAILABLE   0x6791AC0
            int lat;                            /* latitude */
#define AIS_LAT_NOT_AVAILABLE   0x3412140
            unsigned int course;                /* course over ground */
#define AIS_COURSE_NOT_AVAILABLE        3600
            unsigned int heading;               /* true heading */
#define AIS_HEADING_NOT_AVAILABLE       511
            /* seconds of UTC time, 0 to 59.
             * 60 == N/A, 61 == manual, 62 == dead reckoning,
             * 63 == inoperative */
            unsigned int second;
#define AIS_SEC_NOT_AVAILABLE   60
#define AIS_SEC_MANUAL          61
#define AIS_SEC_ESTIMATED       62
#define AIS_SEC_INOPERATIVE     63
            unsigned int maneuver;      /* maneuver indicator */
            //unsigned int spare;       spare bits */
            bool raim;                  /* RAIM flag */
            unsigned int radio;         /* radio status bits */
        } type1;
        /* Type 4 - Base Station Report & Type 11 - UTC and Date Response */
        struct {
            unsigned int year;                  /* UTC year */
#define AIS_YEAR_NOT_AVAILABLE  0
            unsigned int month;                 /* UTC month */
#define AIS_MONTH_NOT_AVAILABLE 0
            unsigned int day;                   /* UTC day */
#define AIS_DAY_NOT_AVAILABLE   0
            unsigned int hour;                  /* UTC hour */
#define AIS_HOUR_NOT_AVAILABLE  24
            unsigned int minute;                /* UTC minute */
#define AIS_MINUTE_NOT_AVAILABLE        60
            unsigned int second;                /* UTC second */
#define AIS_SECOND_NOT_AVAILABLE        60
            bool accuracy;              /* fix quality */
            int lon;                    /* longitude */
            int lat;                    /* latitude */
            unsigned int epfd;          /* type of position fix device */
            //unsigned int spare;       spare bits */
            bool raim;                  /* RAIM flag */
            unsigned int radio;         /* radio status bits */
        } type4;
        /* Type 5 - Ship static and voyage related data */
        struct {
            unsigned int ais_version;   /* AIS version level */
            unsigned int imo;           /* IMO identification */
            // cppcheck-suppress arrayIndexOutOfBounds
            char callsign[7+1];         /* callsign */
#define AIS_SHIPNAME_MAXLEN     20
            // cppcheck-suppress arrayIndexOutOfBounds
            char shipname[AIS_SHIPNAME_MAXLEN+1];       /* vessel name */
            unsigned int shiptype;      /* ship type code */
            unsigned int to_bow;        /* dimension to bow */
            unsigned int to_stern;      /* dimension to stern */
            unsigned int to_port;       /* dimension to port */
            unsigned int to_starboard;  /* dimension to starboard */
            unsigned int epfd;          /* type of position fix device */
            unsigned int month;         /* UTC month */
            unsigned int day;           /* UTC day */
            unsigned int hour;          /* UTC hour */
            unsigned int minute;        /* UTC minute */
            unsigned int draught;       /* draft in meters */
            char destination[20+1];     /* ship destination */
            unsigned int dte;           /* data terminal enable */
            //unsigned int spare;       spare bits */
        } type5;
        /* Type 6 - Addressed Binary Message */
        struct {
            unsigned int seqno;         /* sequence number */
            unsigned int dest_mmsi;     /* destination MMSI */
            bool retransmit;            /* retransmit flag */
            //unsigned int spare;       spare bit(s) */
            unsigned int dac;           /* Application ID */
            unsigned int fid;           /* Functional ID */
            bool structured;            /* True match for DAC/FID? */
#define AIS_TYPE6_BINARY_MAX    920     /* 920 bits */
            size_t bitcount;            /* bit count of the data */
            union {
                // cppcheck-suppress arrayIndexOutOfBounds
                char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8];
                /* Inland AIS - ETA at lock/bridge/terminal */
                struct {
                    char country[2+1];  /* UN Country Code */
                    char locode[3+1];   /* UN/LOCODE */
                    char section[5+1];  /* Fairway section */
                    char terminal[5+1]; /* Terminal code */
                    char hectometre[5+1];       /* Fairway hectometre */
                    unsigned int month; /* ETA month */
                    unsigned int day;   /* ETA day */
                    unsigned int hour;  /* ETA hour */
                    unsigned int minute;        /* ETA minute */
                    unsigned int tugs;  /* Assisting Tugs */
                    unsigned int airdraught;    /* Air Draught */
                } dac200fid21;
                /* Inland AIS - ETA at lock/bridge/terminal */
                struct {
                    char country[2+1];  /* UN Country Code */
                    char locode[3+1];   /* UN/LOCODE */
                    char section[5+1];  /* Fairway section */
                    char terminal[5+1]; /* Terminal code */
                    char hectometre[5+1];       /* Fairway hectometre */
                    unsigned int month; /* RTA month */
                    unsigned int day;   /* RTA day */
                    unsigned int hour;  /* RTA hour */
                    unsigned int minute;        /* RTA minute */
                    unsigned int status;        /* Status */
#define DAC200FID22_STATUS_OPERATIONAL  0
#define DAC200FID22_STATUS_LIMITED      1
#define DAC200FID22_STATUS_OUT_OF_ORDER 2
#define DAC200FID22_STATUS_NOT_AVAILABLE        0
                } dac200fid22;
                /* Inland AIS - Number of persons on board */
                struct {
                    unsigned int crew;  /* # crew on board */
                    unsigned int passengers;    /* # passengers on board */
                    unsigned int personnel;     /* # personnel on board */
#define DAC200FID55_COUNT_NOT_AVAILABLE 255
                } dac200fid55;
                /* GLA - AtoN monitoring data (UK/ROI) */
                struct {
                    unsigned int ana_int;       /* Analogue (internal) */
                    unsigned int ana_ext1;      /* Analogue (external #1) */
                    unsigned int ana_ext2;      /* Analogue (external #2) */
                    unsigned int racon; /* RACON status */
                    unsigned int light; /* Light status */
                    bool alarm; /* Health alarm*/
                    unsigned int stat_ext;      /* Status bits (external) */
                    bool off_pos;    /* Off position status */
                } dac235fid10;
                /* IMO236 - Dangerous Cargo Indication */
                struct {
                    char lastport[5+1];         /* Last Port Of Call */
                    unsigned int lmonth;        /* ETA month */
                    unsigned int lday;          /* ETA day */
                    unsigned int lhour;         /* ETA hour */
                    unsigned int lminute;       /* ETA minute */
                    char nextport[5+1];         /* Next Port Of Call */
                    unsigned int nmonth;        /* ETA month */
                    unsigned int nday;          /* ETA day */
                    unsigned int nhour;         /* ETA hour */
                    unsigned int nminute;       /* ETA minute */
                    char dangerous[20+1];       /* Main Dangerous Good */
                    char imdcat[4+1];           /* IMD Category */
                    unsigned int unid;          /* UN Number */
                    unsigned int amount;        /* Amount of Cargo */
                    unsigned int unit;          /* Unit of Quantity */
                } dac1fid12;
                /* IMO236 - Extended Ship Static and Voyage Related Data */
                struct {
                    unsigned int airdraught;    /* Air Draught */
                } dac1fid15;
                /* IMO236 - Number of Persons on board */
                struct {
                    unsigned persons;   /* number of persons */
                } dac1fid16;
                /* IMO289 - Clearance Time To Enter Port */
                struct {
                    unsigned int linkage;       /* Message Linkage ID */
                    unsigned int month; /* Month (UTC) */
                    unsigned int day;   /* Day (UTC) */
                    unsigned int hour;  /* Hour (UTC) */
                    unsigned int minute;        /* Minute (UTC) */
                    char portname[20+1];        /* Name of Port & Berth */
                    char destination[5+1];      /* Destination */
                    signed int lon;     /* Longitude */
                    signed int lat;     /* Latitude */
                } dac1fid18;
                /* IMO289 - Berthing Data (addressed) */
                struct {
                    unsigned int linkage;       /* Message Linkage ID */
                    unsigned int berth_length;  /* Berth length */
                    unsigned int berth_depth;   /* Berth Water Depth */
                    unsigned int position;      /* Mooring Position */
                    unsigned int month; /* Month (UTC) */
                    unsigned int day;   /* Day (UTC) */
                    unsigned int hour;  /* Hour (UTC) */
                    unsigned int minute;        /* Minute (UTC) */
                    unsigned int availability;  /* Services Availability */
                    unsigned int agent; /* Agent */
                    unsigned int fuel;  /* Bunker/fuel */
                    unsigned int chandler;      /* Chandler */
                    unsigned int stevedore;     /* Stevedore */
                    unsigned int electrical;    /* Electrical */
                    unsigned int water; /* Potable water */
                    unsigned int customs;       /* Customs house */
                    unsigned int cartage;       /* Cartage */
                    unsigned int crane; /* Crane(s) */
                    unsigned int lift;  /* Lift(s) */
                    unsigned int medical;       /* Medical facilities */
                    unsigned int navrepair;     /* Navigation repair */
                    unsigned int provisions;    /* Provisions */
                    unsigned int shiprepair;    /* Ship repair */
                    unsigned int surveyor;      /* Surveyor */
                    unsigned int steam; /* Steam */
                    unsigned int tugs;  /* Tugs */
                    unsigned int solidwaste;    /* Waste disposal (solid) */
                    unsigned int liquidwaste;   /* Waste disposal (liquid) */
                    unsigned int hazardouswaste;  // Waste disposal (hazardous)
                    unsigned int ballast;       /* Reserved ballast exchange */
                    unsigned int additional;    /* Additional services */
                    unsigned int regional1;     /* Regional reserved 1 */
                    unsigned int regional2;     /* Regional reserved 2 */
                    unsigned int future1;       /* Reserved for future */
                    unsigned int future2;       /* Reserved for future */
                    char berth_name[20+1];      /* Name of Berth */
                    signed int berth_lon;       /* Longitude */
                    signed int berth_lat;       /* Latitude */
                } dac1fid20;
                /* IMO289 - Weather observation report from ship */
                /*** WORK IN PROGRESS - NOT YET DECODED ***/
                struct {
                    bool wmo;                   /* true if WMO variant */
                    union {
                        struct {
                            char location[20+1];        /* Location */
                            signed int lon;             /* Longitude */
                            signed int lat;             /* Latitude */
                            unsigned int day;           /* Report day */
                            unsigned int hour;          /* Report hour */
                            unsigned int minute;        /* Report minute */
                            bool vislimit;              /* Max range? */
                            unsigned int visibility;    /* Units of 0.1 nm */
#define DAC1FID21_VISIBILITY_NOT_AVAILABLE      127
#define DAC1FID21_VISIBILITY_SCALE              10.0
                            unsigned humidity;          /* units of 1% */
                            unsigned int wspeed;        /* average wind speed */
                            unsigned int wgust;         /* wind gust */
#define DAC1FID21_WSPEED_NOT_AVAILABLE          127
                            unsigned int wdir;          /* wind direction */
#define DAC1FID21_WDIR_NOT_AVAILABLE            360
                            unsigned int pressure;      /* air pressure, hpa */
#define DAC1FID21_NONWMO_PRESSURE_NOT_AVAILABLE 403
#define DAC1FID21_NONWMO_PRESSURE_HIGH          402     /* > 1200hPa */
#define DAC1FID21_NONWMO_PRESSURE_OFFSET                400     /* N/A */
                            unsigned int pressuretend;  /* tendency */
                            int airtemp;                /* temp, units 0.1C */
#define DAC1FID21_AIRTEMP_NOT_AVAILABLE         -1024
#define DAC1FID21_AIRTEMP_SCALE                 10.0
                            unsigned int watertemp;     /* units 0.1degC */
#define DAC1FID21_WATERTEMP_NOT_AVAILABLE       501
#define DAC1FID21_WATERTEMP_SCALE               10.0
                            unsigned int waveperiod;    /* in seconds */
#define DAC1FID21_WAVEPERIOD_NOT_AVAILABLE      63
                            unsigned int wavedir;       /* direction in deg */
#define DAC1FID21_WAVEDIR_NOT_AVAILABLE         360
                            unsigned int swellheight;   /* in decimeters */
                            unsigned int swellperiod;   /* in seconds */
                            unsigned int swelldir;      /* direction in deg */
                        } nonwmo_obs;
                        struct {
                            signed int lon;             /* Longitude */
                            signed int lat;             /* Latitude */
                            unsigned int month;         /* UTC month */
                            unsigned int day;           /* Report day */
                            unsigned int hour;          /* Report hour */
                            unsigned int minute;        /* Report minute */
                            unsigned int course;        /* course over ground */
                            unsigned int speed;         /* speed, m/s */
#define DAC1FID21_SOG_NOT_AVAILABLE             31
#define DAC1FID21_SOG_HIGH_SPEED                30
#define DAC1FID21_SOG_SCALE                     2.0
                            unsigned int heading;       /* true heading */
#define DAC1FID21_HDG_NOT_AVAILABLE             127
#define DAC1FID21_HDG_SCALE                     5.0
                            unsigned int pressure;      /* units of hPa * 0.1 */
#define DAC1FID21_WMO_PRESSURE_SCALE            10
#define DAC1FID21_WMO_PRESSURE_OFFSET           90.0
                            unsigned int pdelta;        /* units of hPa * 0.1 */
#define DAC1FID21_PDELTA_SCALE                  10
#define DAC1FID21_PDELTA_OFFSET                 50.0
                            unsigned int ptend;         /* enumerated */
                            unsigned int twinddir;      /* in 5 degree steps */
#define DAC1FID21_TWINDDIR_NOT_AVAILABLE        127
                            unsigned int twindspeed;    /* meters per second */
#define DAC1FID21_TWINDSPEED_SCALE              2
#define DAC1FID21_RWINDSPEED_NOT_AVAILABLE      255
                            unsigned int rwinddir;      /* in 5 degree steps */
#define DAC1FID21_RWINDDIR_NOT_AVAILABLE        127
                            unsigned int rwindspeed;    /* meters per second */
#define DAC1FID21_RWINDSPEED_SCALE              2
#define DAC1FID21_RWINDSPEED_NOT_AVAILABLE      255
                            unsigned int mgustspeed;    /* meters per second */
#define DAC1FID21_MGUSTSPEED_SCALE              2
#define DAC1FID21_MGUSTSPEED_NOT_AVAILABLE      255
                            unsigned int mgustdir;      /* in 5 degree steps */
#define DAC1FID21_MGUSTDIR_NOT_AVAILABLE        127
                            unsigned int airtemp;       /* degrees K */
#define DAC1FID21_AIRTEMP_OFFSET                223
                            unsigned humidity;          /* units of 1% */
#define DAC1FID21_HUMIDITY_NOT_VAILABLE         127
                            /* some trailing fields are missing */
                        } wmo_obs;
                    };
                } dac1fid21;
                /*** WORK IN PROGRESS ENDS HERE ***/
                /* IMO289 - Dangerous Cargo Indication */
                struct {
                    unsigned int unit;  /* Unit of Quantity */
                    unsigned int amount;        /* Amount of Cargo */
                    int ncargos;
                    struct cargo_t {
                        unsigned int code;      /* Cargo code */
                        unsigned int subtype;   /* Cargo subtype */
                    } cargos[28];
                } dac1fid25;
                /* IMO289 - Route info (addressed) */
                struct route_info dac1fid28;
                /* IMO289 - Text message (addressed) */
                struct {
                    unsigned int linkage;
#define AIS_DAC1FID30_TEXT_MAX  154     /* 920 bits of six-bit, plus NUL */
                    char text[AIS_DAC1FID30_TEXT_MAX];
                } dac1fid30;
                /* IMO289 & IMO236 - Tidal Window */
                struct {
                    unsigned int month; /* Month */
                    unsigned int day;   /* Day */
                    signed int ntidals;
                    struct tidal_t {
                        signed int lon; /* Longitude */
                        signed int lat; /* Latitude */
                        unsigned int from_hour; /* From UTC Hour */
                        unsigned int from_min;  /* From UTC Minute */
                        unsigned int to_hour;   /* To UTC Hour */
                        unsigned int to_min;    /* To UTC Minute */
#define DAC1FID32_CDIR_NOT_AVAILABLE            360
                        unsigned int cdir;      /* Current Dir. Predicted */
#define DAC1FID32_CSPEED_NOT_AVAILABLE          127
                        unsigned int cspeed;    /* Current Speed Predicted */
                    } tidals[3];
                } dac1fid32;
            };
        } type6;
        /* Type 7 - Binary Acknowledge */
        struct {
            unsigned int mmsi1;
            unsigned int seqno1;
            unsigned int mmsi2;
            unsigned int seqno2;
            unsigned int mmsi3;
            unsigned int seqno3;
            unsigned int mmsi4;
            unsigned int seqno4;
            /* spares ignored, they're only padding here */
        } type7;
        /* Type 8 - Broadcast Binary Message */
        struct {
            unsigned int dac;           /* Designated Area Code */
            unsigned int fid;           /* Functional ID */
#define AIS_TYPE8_BINARY_MAX    952     /* 952 bits */
            size_t bitcount;            /* bit count of the data */
            bool structured;            /* True match for DAC/FID? */
            union {
                // cppcheck-suppress arrayIndexOutOfBounds
                char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8];
                /* Inland static ship and voyage-related data */
                struct {
                    char vin[8+1];              /* European Vessel ID */
                    unsigned int length;        /* Length of ship */
                    unsigned int beam;          /* Beam of ship */
                    unsigned int shiptype;      /* Ship/combination type */
                    unsigned int hazard;        /* Hazardous cargo */
#define DAC200FID10_HAZARD_MAX  5
                    unsigned int draught;       /* Draught */
                    unsigned int loaded;        /* Loaded/Unloaded */
                    bool speed_q;       /* Speed inf. quality */
                    bool course_q;      /* Course inf. quality */
                    bool heading_q;     /* Heading inf. quality */
                } dac200fid10;
                /* Inland AIS EMMA Warning */
                struct {
                    unsigned int start_year;    /* Start Year */
                    unsigned int start_month;   /* Start Month */
                    unsigned int start_day;     /* Start Day */
                    unsigned int end_year;      /* End Year */
                    unsigned int end_month;     /* End Month */
                    unsigned int end_day;       /* End Day */
                    unsigned int start_hour;    /* Start Hour */
                    unsigned int start_minute;  /* Start Minute */
                    unsigned int end_hour;      /* End Hour */
                    unsigned int end_minute;    /* End Minute */
                    signed int start_lon;       /* Start Longitude */
                    signed int start_lat;       /* Start Latitude */
                    signed int end_lon; /* End Longitude */
                    signed int end_lat; /* End Latitude */
                    unsigned int type;  /* Type */
#define DAC200FID23_TYPE_UNKNOWN                0
                    signed int min;     /* Min value */
#define DAC200FID23_MIN_UNKNOWN                 255
                    signed int max;     /* Max value */
#define DAC200FID23_MAX_UNKNOWN                 255
                    unsigned int intensity;     /* Classification */
#define DAC200FID23_CLASS_UNKNOWN               0
                    unsigned int wind;  /* Wind Direction */
#define DAC200FID23_WIND_UNKNOWN                0
                } dac200fid23;
                struct {
                    char country[2+1];  /* UN Country Code */
                    signed int ngauges;
                    struct gauge_t {
                        unsigned int id;        /* Gauge ID */
#define DAC200FID24_GAUGE_ID_UNKNOWN            0
                        signed int level;       /* Water Level */
#define DAC200FID24_GAUGE_LEVEL_UNKNOWN         0
                    } gauges[4];
                } dac200fid24;
                struct {
                    signed int lon;     /* Signal Longitude */
                    signed int lat;     /* Signal Latitude */
                    unsigned int form;  /* Signal form */
#define DAC200FID40_FORM_UNKNOWN                0
                    unsigned int facing;        /* Signal orientation */
#define DAC200FID40_FACING_UNKNOWN              0
                    unsigned int direction;     /* Direction of impact */
#define DAC200FID40_DIRECTION_UNKNOWN           0
                    unsigned int status;        /* Light Status */
#define DAC200FID40_STATUS_UNKNOWN              0
                } dac200fid40;
                /* IMO236  - Meteorological-Hydrological data
                 * Trial message, not to be used after January 2013
                 * Replaced by IMO289 (DAC 1, FID 31)
                 */
                struct {
#define DAC1FID11_LATLON_SCALE                  1000
                    int lon;                    /* longitude in minutes * .001 */
#define DAC1FID11_LON_NOT_AVAILABLE             0xFFFFFF
                    int lat;                    /* latitude in minutes * .001 */
#define DAC1FID11_LAT_NOT_AVAILABLE             0x7FFFFF
                    unsigned int day;           /* UTC day */
                    unsigned int hour;          /* UTC hour */
                    unsigned int minute;        /* UTC minute */
                    unsigned int wspeed;        /* average wind speed */
                    unsigned int wgust;         /* wind gust */
#define DAC1FID11_WSPEED_NOT_AVAILABLE          127
                    unsigned int wdir;          /* wind direction */
                    unsigned int wgustdir;      /* wind gust direction */
#define DAC1FID11_WDIR_NOT_AVAILABLE            511
                    unsigned int airtemp;       /* temperature, units 0.1C */
#define DAC1FID11_AIRTEMP_NOT_AVAILABLE         2047
#define DAC1FID11_AIRTEMP_OFFSET                600
#define DAC1FID11_AIRTEMP_DIV                   10.0
                    unsigned int humidity;      /* relative humidity, % */
#define DAC1FID11_HUMIDITY_NOT_AVAILABLE        127
                    unsigned int dewpoint;      /* dew point, units 0.1C */
#define DAC1FID11_DEWPOINT_NOT_AVAILABLE        1023
#define DAC1FID11_DEWPOINT_OFFSET               200
#define DAC1FID11_DEWPOINT_DIV          10.0
                    unsigned int pressure;      /* air pressure, hpa */
#define DAC1FID11_PRESSURE_NOT_AVAILABLE        511
#define DAC1FID11_PRESSURE_OFFSET               -800
                    unsigned int pressuretend;  /* tendency */
#define DAC1FID11_PRESSURETREND_NOT_AVAILABLE   3
                    unsigned int visibility;    /* units 0.1 nautical miles */
#define DAC1FID11_VISIBILITY_NOT_AVAILABLE      255
#define DAC1FID11_VISIBILITY_DIV                10.0
                    int waterlevel;             /* decimeters */
#define DAC1FID11_WATERLEVEL_NOT_AVAILABLE      511
#define DAC1FID11_WATERLEVEL_OFFSET             100
#define DAC1FID11_WATERLEVEL_DIV                10.0
                    unsigned int leveltrend;    /* water level trend code */
#define DAC1FID11_WATERLEVELTREND_NOT_AVAILABLE 3
                    unsigned int cspeed;  // surface current speed in deciknots
#define DAC1FID11_CSPEED_NOT_AVAILABLE          255
#define DAC1FID11_CSPEED_DIV                    10.0
                    unsigned int cdir;  /* surface current dir., degrees */
#define DAC1FID11_CDIR_NOT_AVAILABLE            511
                    unsigned int cspeed2;       /* current speed in deciknots */
                    unsigned int cdir2;         /* current dir., degrees */
                    unsigned int cdepth2;       /* measurement depth, m */
#define DAC1FID11_CDEPTH_NOT_AVAILABLE          31
                    unsigned int cspeed3;       /* current speed in deciknots */
                    unsigned int cdir3;         /* current dir., degrees */
                    unsigned int cdepth3;       /* measurement depth, m */
                    unsigned int waveheight;    /* in decimeters */
#define DAC1FID11_WAVEHEIGHT_NOT_AVAILABLE      255
#define DAC1FID11_WAVEHEIGHT_DIV                10.0
                    unsigned int waveperiod;    /* in seconds */
#define DAC1FID11_WAVEPERIOD_NOT_AVAILABLE      63
                    unsigned int wavedir;       /* direction in degrees */
#define DAC1FID11_WAVEDIR_NOT_AVAILABLE         511
                    unsigned int swellheight;   /* in decimeters */
                    unsigned int swellperiod;   /* in seconds */
                    unsigned int swelldir;      /* direction in degrees */
                    unsigned int seastate;      /* Beaufort scale, 0-12 */
#define DAC1FID11_SEASTATE_NOT_AVAILABLE        15
                    unsigned int watertemp;     /* units 0.1deg Celsius */
#define DAC1FID11_WATERTEMP_NOT_AVAILABLE       1023
#define DAC1FID11_WATERTEMP_OFFSET              100
#define DAC1FID11_WATERTEMP_DIV         10.0
                    unsigned int preciptype;    /* 0-7, enumerated */
#define DAC1FID11_PRECIPTYPE_NOT_AVAILABLE      7
                    unsigned int salinity;      /* units of 0.1ppt */
#define DAC1FID11_SALINITY_NOT_AVAILABLE        511
#define DAC1FID11_SALINITY_DIV          10.0
                    unsigned int ice;           /* is there sea ice? */
#define DAC1FID11_ICE_NOT_AVAILABLE             3
                } dac1fid11;
                /* IMO236 - Fairway Closed */
                struct {
                    char reason[20+1];          /* Reason For Closing */
                    char closefrom[20+1];       /* Location Of Closing From */
                    char closeto[20+1];         /* Location of Closing To */
                    unsigned int radius;        /* Radius extension */
#define AIS_DAC1FID13_RADIUS_NOT_AVAILABLE 10001
                    unsigned int extunit;       /* Unit of extension */
#define AIS_DAC1FID13_EXTUNIT_NOT_AVAILABLE 0
                    unsigned int fday;          /* From day (UTC) */
                    unsigned int fmonth;        /* From month (UTC) */
                    unsigned int fhour;         /* From hour (UTC) */
                    unsigned int fminute;       /* From minute (UTC) */
                    unsigned int tday;          /* To day (UTC) */
                    unsigned int tmonth;        /* To month (UTC) */
                    unsigned int thour;         /* To hour (UTC) */
                    unsigned int tminute;       /* To minute (UTC) */
                } dac1fid13;
                /* IMO236 - Extended ship and voyage data */
                struct {
                    unsigned int airdraught;    /* Air Draught */
                } dac1fid15;
                /* IMO286 - Number of Persons on board */
                struct {
                    unsigned persons;   /* number of persons */
                } dac1fid16;
                /* IMO289 - VTS-generated/Synthetic Targets */
                struct {
                    signed int ntargets;
                    struct target_t {
#define DAC1FID17_IDTYPE_MMSI           0
#define DAC1FID17_IDTYPE_IMO            1
#define DAC1FID17_IDTYPE_CALLSIGN       2
#define DAC1FID17_IDTYPE_OTHER          3
                        unsigned int idtype;    /* Identifier type */
                        union target_id {       /* Target identifier */
                            unsigned int mmsi;
                            unsigned int imo;
#define DAC1FID17_ID_LENGTH             7
                            // cppcheck-suppress arrayIndexOutOfBounds
                            char callsign[DAC1FID17_ID_LENGTH+1];
                            char other[DAC1FID17_ID_LENGTH+1];
                        } id;
                        signed int lat;         /* Latitude */
                        signed int lon;         /* Longitude */
#define DAC1FID17_COURSE_NOT_AVAILABLE          360
                        unsigned int course;    /* Course Over Ground */
                        unsigned int second;    /* Time Stamp */
#define DAC1FID17_SPEED_NOT_AVAILABLE           255
                        unsigned int speed;     /* Speed Over Ground */
                    } targets[4];
                } dac1fid17;
                /* IMO 289 - Marine Traffic Signal */
                struct {
                    unsigned int linkage;       /* Message Linkage ID */
                    char station[20+1];         /* Name of Signal Station */
                    signed int lon;             /* Longitude */
                    signed int lat;             /* Latitude */
                    unsigned int status;        /* Status of Signal */
                    unsigned int signal;        /* Signal In Service */
                    unsigned int hour;          /* UTC hour */
                    unsigned int minute;        /* UTC minute */
                    unsigned int nextsignal;    /* Expected Next Signal */
                } dac1fid19;
                /* IMO289 - Route info (broadcast) */
                struct route_info dac1fid27;
                /* IMO289 - Text message (broadcast) */
                struct {
                    unsigned int linkage;
#define AIS_DAC1FID29_TEXT_MAX  162     /* 920 bits of six-bit, plus NUL */
                    char text[AIS_DAC1FID29_TEXT_MAX];
                } dac1fid29;
                /* IMO289 - Meteorological-Hydrological data */
                struct {
                    bool accuracy;      /* position accuracy, <10m if true */
#define DAC1FID31_LATLON_SCALE  1000
                    int lon;            /* longitude in minutes * .001 */
#define DAC1FID31_LON_NOT_AVAILABLE     (181*60*DAC1FID31_LATLON_SCALE)
                    int lat;            /* longitude in minutes * .001 */
#define DAC1FID31_LAT_NOT_AVAILABLE     (91*60*DAC1FID31_LATLON_SCALE)
                    unsigned int day;           /* UTC day */
                    unsigned int hour;          /* UTC hour */
                    unsigned int minute;        /* UTC minute */
                    unsigned int wspeed;        /* average wind speed */
                    unsigned int wgust;         /* wind gust */
#define DAC1FID31_WIND_HIGH                     126
#define DAC1FID31_WIND_NOT_AVAILABLE            127
                    unsigned int wdir;          /* wind direction */
                    unsigned int wgustdir;      /* wind gust direction */
#define DAC1FID31_DIR_NOT_AVAILABLE             360
                    int airtemp;                /* temperature, units 0.1C */
#define DAC1FID31_AIRTEMP_NOT_AVAILABLE         -1024
#define DAC1FID31_AIRTEMP_DIV                   10.0
                    unsigned int humidity;      /* relative humidity, % */
#define DAC1FID31_HUMIDITY_NOT_AVAILABLE        101
                    int dewpoint;               /* dew point, units 0.1C */
#define DAC1FID31_DEWPOINT_NOT_AVAILABLE        501
#define DAC1FID31_DEWPOINT_DIV          10.0
                    unsigned int pressure;      /* air pressure, hpa */
#define DAC1FID31_PRESSURE_NOT_AVAILABLE        511
#define DAC1FID31_PRESSURE_HIGH                 402
#define DAC1FID31_PRESSURE_OFFSET               -799
                    unsigned int pressuretend;  /* tendency */
#define DAC1FID31_PRESSURETEND_NOT_AVAILABLE    3
                    bool visgreater;            /* visibility greater than */
                    unsigned int visibility;    /* units 0.1 nautical miles */
#define DAC1FID31_VISIBILITY_NOT_AVAILABLE      127
#define DAC1FID31_VISIBILITY_DIV                10.0
                    int waterlevel;             /* cm */
#define DAC1FID31_WATERLEVEL_NOT_AVAILABLE      4001
#define DAC1FID31_WATERLEVEL_OFFSET             1000
#define DAC1FID31_WATERLEVEL_DIV                100.0
                    unsigned int leveltrend;    /* water level trend code */
#define DAC1FID31_WATERLEVELTREND_NOT_AVAILABLE 3
                    unsigned int cspeed;        /* current speed in deciknots */
#define DAC1FID31_CSPEED_NOT_AVAILABLE          255
#define DAC1FID31_CSPEED_DIV                    10.0
                    unsigned int cdir;          /* current dir., degrees */
                    unsigned int cspeed2;       /* current speed in deciknots */
                    unsigned int cdir2;         /* current dir., degrees */
                    unsigned int cdepth2;       /* measurement depth, 0.1m */
#define DAC1FID31_CDEPTH_NOT_AVAILABLE          301
#define DAC1FID31_CDEPTH_SCALE                  10.0
                    unsigned int cspeed3;       /* current speed in deciknots */
                    unsigned int cdir3;         /* current dir., degrees */
                    unsigned int cdepth3;       /* measurement depth, 0.1m */
                    unsigned int waveheight;    /* in decimeters */
#define DAC1FID31_HEIGHT_NOT_AVAILABLE          31
#define DAC1FID31_HEIGHT_DIV                    10.0
                    unsigned int waveperiod;    /* in seconds */
#define DAC1FID31_PERIOD_NOT_AVAILABLE          63
                    unsigned int wavedir;       /* direction in degrees */
                    unsigned int swellheight;   /* in decimeters */
                    unsigned int swellperiod;   /* in seconds */
                    unsigned int swelldir;      /* direction in degrees */
                    unsigned int seastate;      /* Beaufort scale, 0-12 */
#define DAC1FID31_SEASTATE_NOT_AVAILABLE        15
                    int watertemp;              /* units 0.1deg Celsius */
#define DAC1FID31_WATERTEMP_NOT_AVAILABLE       601
#define DAC1FID31_WATERTEMP_DIV         10.0
                    unsigned int preciptype;    /* 0-7, enumerated */
#define DAC1FID31_PRECIPTYPE_NOT_AVAILABLE      7
                    unsigned int salinity;   // units of 0.1 permil (ca. PSU)
#define DAC1FID31_SALINITY_NOT_AVAILABLE        510
#define DAC1FID31_SALINITY_DIV          10.0
                    unsigned int ice;           /* is there sea ice? */
#define DAC1FID31_ICE_NOT_AVAILABLE             3
                } dac1fid31;
            };
        } type8;
        /* Type 9 - Standard SAR Aircraft Position Report */
        struct {
            unsigned int alt;           /* altitude in meters */
#define AIS_ALT_NOT_AVAILABLE   4095
#define AIS_ALT_HIGH            4094    /* 4094 meters or higher */
            unsigned int speed;         /* speed over ground in deciknots */
#define AIS_SAR_SPEED_NOT_AVAILABLE     1023
#define AIS_SAR_FAST_MOVER      1022
            bool accuracy;              /* position accuracy */
            int lon;                    /* longitude */
            int lat;                    /* latitude */
            unsigned int course;        /* course over ground */
            /* seconds of UTC time, 0 to 59.
             * 60 == N/A, 61 == manual, 62 == dead reckoning,
             * 63 == inoperative */
            unsigned int second;        /* seconds of UTC time */
            unsigned int regional;      /* regional reserved */
            unsigned int dte;           /* data terminal enable */
            //unsigned int spare;       spare bits */
            bool assigned;              /* assigned-mode flag */
            bool raim;                  /* RAIM flag */
            unsigned int radio;         /* radio status bits */
        } type9;
        /* Type 10 - UTC/Date Inquiry */
        struct {
            //unsigned int spare;
            unsigned int dest_mmsi;     /* destination MMSI */
            //unsigned int spare2;
        } type10;
        /* Type 12 - Safety-Related Message */
        struct {
            unsigned int seqno;         /* sequence number */
            unsigned int dest_mmsi;     /* destination MMSI */
            bool retransmit;            /* retransmit flag */
            //unsigned int spare;       spare bit(s) */
#define AIS_TYPE12_TEXT_MAX     157     /* 936 bits of six-bit, plus NUL */
            char text[AIS_TYPE12_TEXT_MAX];
        } type12;
        /* Type 14 - Safety-Related Broadcast Message */
        struct {
            //unsigned int spare;       spare bit(s) */
#define AIS_TYPE14_TEXT_MAX     161     /* 952 bits of six-bit, plus NUL */
            char text[AIS_TYPE14_TEXT_MAX];
        } type14;
        /* Type 15 - Interrogation */
        struct {
            //unsigned int spare;       spare bit(s) */
            unsigned int mmsi1;
            unsigned int type1_1;
            unsigned int offset1_1;
            //unsigned int spare2;      spare bit(s) */
            unsigned int type1_2;
            unsigned int offset1_2;
            //unsigned int spare3;      spare bit(s) */
            unsigned int mmsi2;
            unsigned int type2_1;
            unsigned int offset2_1;
            //unsigned int spare4;      spare bit(s) */
        } type15;
        /* Type 16 - Assigned Mode Command */
        struct {
            //unsigned int spare;       spare bit(s) */
            unsigned int mmsi1;
            unsigned int offset1;
            unsigned int increment1;
            unsigned int mmsi2;
            unsigned int offset2;
            unsigned int increment2;
        } type16;
        /* Type 17 - GNSS Broadcast Binary Message */
        struct {
            //unsigned int spare;       spare bit(s) */
#define AIS_GNSS_LATLON_DIV     600.0
            int lon;                    /* longitude */
            int lat;                    /* latitude */
            //unsigned int spare2;      spare bit(s) */
#define AIS_TYPE17_BINARY_MAX   736     /* 920 bits */
            size_t bitcount;            /* bit count of the data */
            char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8];
        } type17;
        /* Type 18 - Standard Class B CS Position Report */
        struct {
            unsigned int reserved;      /* altitude in meters */
            unsigned int speed;         /* speed over ground in deciknots */
            bool accuracy;              /* position accuracy */
            int lon;                    /* longitude */
#define AIS_GNS_LON_NOT_AVAILABLE       0x1a838
            int lat;                    /* latitude */
#define AIS_GNS_LAT_NOT_AVAILABLE       0xd548
            unsigned int course;        /* course over ground */
            unsigned int heading;       /* true heading */
            /* seconds of UTC time, 0 to 59.
             * 60 == N/A, 61 == manual, 62 == dead reckoning,
             * 63 == inoperative */
            unsigned int second;
            unsigned int regional;      /* regional reserved */
            bool cs;                    /* carrier sense unit flag */
            bool display;               /* unit has attached display? */
            bool dsc;                   /* unit attached to radio with DSC? */
            bool band;                  /* unit can switch frequency bands? */
            bool msg22;                 /* can accept Message 22 management? */
            bool assigned;              /* assigned-mode flag */
            bool raim;                  /* RAIM flag */
            unsigned int radio;         /* radio status bits */
        } type18;
        /* Type 19 - Extended Class B CS Position Report */
        struct {
            unsigned int reserved;      /* altitude in meters */
            unsigned int speed;         /* speed over ground in deciknots */
            bool accuracy;              /* position accuracy */
            int lon;                    /* longitude */
            int lat;                    /* latitude */
            unsigned int course;        /* course over ground */
            unsigned int heading;       /* true heading */
            /* seconds of UTC time, 0 to 59.
             * 60 == N/A, 61 == manual, 62 == dead reckoning,
             * 63 == inoperative */
            unsigned int second;
            unsigned int regional;      /* regional reserved */
            // cppcheck-suppress arrayIndexOutOfBounds
            char shipname[AIS_SHIPNAME_MAXLEN+1];               /* ship name */
            unsigned int shiptype;      /* ship type code */
            unsigned int to_bow;        /* dimension to bow */
            unsigned int to_stern;      /* dimension to stern */
            unsigned int to_port;       /* dimension to port */
            unsigned int to_starboard;  /* dimension to starboard */
            unsigned int epfd;          /* type of position fix device */
            bool raim;                  /* RAIM flag */
            unsigned int dte;           /* date terminal enable */
            bool assigned;              /* assigned-mode flag */
            //unsigned int spare;       spare bits */
        } type19;
        /* Type 20 - Data Link Management Message */
        struct {
            //unsigned int spare;       spare bit(s) */
            unsigned int offset1;       /* TDMA slot offset */
            unsigned int number1;       /* number of xlots to allocate */
            unsigned int timeout1;      /* allocation timeout */
            unsigned int increment1;    /* repeat increment */
            unsigned int offset2;       /* TDMA slot offset */
            unsigned int number2;       /* number of xlots to allocate */
            unsigned int timeout2;      /* allocation timeout */
            unsigned int increment2;    /* repeat increment */
            unsigned int offset3;       /* TDMA slot offset */
            unsigned int number3;       /* number of xlots to allocate */
            unsigned int timeout3;      /* allocation timeout */
            unsigned int increment3;    /* repeat increment */
            unsigned int offset4;       /* TDMA slot offset */
            unsigned int number4;       /* number of xlots to allocate */
            unsigned int timeout4;      /* allocation timeout */
            unsigned int increment4;    /* repeat increment */
        } type20;
        /* Type 21 - Aids to Navigation Report */
        struct {
            unsigned int aid_type;      /* aid type */
            char name[35];              /* name of aid to navigation */
            bool accuracy;              /* position accuracy */
            int lon;                    /* longitude */
            int lat;                    /* latitude */
            unsigned int to_bow;        /* dimension to bow */
            unsigned int to_stern;      /* dimension to stern */
            unsigned int to_port;       /* dimension to port */
            unsigned int to_starboard;  /* dimension to starboard */
            unsigned int epfd;          /* type of EPFD */
            /* seconds of UTC time, 0 to 59.
             * 60 == N/A, 61 == manual, 62 == dead reckoning,
             * 63 == inoperative */
            unsigned int second;
            bool off_position;          /* off-position indicator */
            unsigned int regional;      /* regional reserved field */
            bool raim;                  /* RAIM flag */
            bool virtual_aid;           /* is virtual station? */
            bool assigned;              /* assigned-mode flag */
            //unsigned int spare;       unused */
        } type21;
        /* Type 22 - Channel Management */
        struct {
            //unsigned int spare;       spare bit(s) */
            unsigned int channel_a;     /* Channel A number */
            unsigned int channel_b;     /* Channel B number */
            unsigned int txrx;          /* transmit/receive mode */
            bool power;                 /* high-power flag */
#define AIS_CHANNEL_LATLON_DIV  600.0
            union {
                struct {
                    int ne_lon;         /* NE corner longitude */
                    int ne_lat;         /* NE corner latitude */
                    int sw_lon;         /* SW corner longitude */
                    int sw_lat;         /* SW corner latitude */
                } area;
                struct {
                    unsigned int dest1; /* addressed station MMSI 1 */
                    unsigned int dest2; /* addressed station MMSI 2 */
                } mmsi;
            };
            bool addressed;             /* addressed vs. broadcast flag */
            bool band_a;                /* fix 1.5kHz band for channel A */
            bool band_b;                /* fix 1.5kHz band for channel B */
            unsigned int zonesize;      /* size of transitional zone */
        } type22;
        /* Type 23 - Group Assignment Command */
        struct {
            int ne_lon;                 /* NE corner longitude */
            int ne_lat;                 /* NE corner latitude */
            int sw_lon;                 /* SW corner longitude */
            int sw_lat;                 /* SW corner latitude */
            //unsigned int spare;       spare bit(s) */
            unsigned int stationtype;   /* station type code */
            unsigned int shiptype;      /* ship type code */
            //unsigned int spare2;      spare bit(s) */
            unsigned int txrx;          /* transmit-enable code */
            unsigned int interval;      /* report interval */
            unsigned int quiet;         /* quiet time */
            //unsigned int spare3;      spare bit(s) */
        } type23;
        /* Type 24 - Class B CS Static Data Report */
        struct {
            char shipname[AIS_SHIPNAME_MAXLEN+1];       /* vessel name */
            enum {
                both,
                part_a,
                part_b,
            } part;
            unsigned int shiptype;      /* ship type code */
            char vendorid[8];           /* vendor ID */
            unsigned int model;         /* unit model code */
            unsigned int serial;        /* serial number */
            char callsign[8];           /* callsign */
            union {
                unsigned int mothership_mmsi;   /* MMSI of main vessel */
                struct {
                    unsigned int to_bow;        /* dimension to bow */
                    unsigned int to_stern;      /* dimension to stern */
                    unsigned int to_port;       /* dimension to port */
                    unsigned int to_starboard;  /* dimension to starboard */
                } dim;
            };
        } type24;
        /* Type 25 - Addressed Binary Message */
        struct {
            bool addressed;             /* addressed-vs.broadcast flag */
            bool structured;            /* structured-binary flag */
            unsigned int dest_mmsi;     /* destination MMSI */
            unsigned int app_id;        /* Application ID */
#define AIS_TYPE25_BINARY_MAX   128     /* Up to 128 bits */
            size_t bitcount;            /* bit count of the data */
            char bitdata[(AIS_TYPE25_BINARY_MAX + 7) / 8];
        } type25;
        /* Type 26 - Addressed Binary Message */
        struct {
            bool addressed;             /* addressed-vs.broadcast flag */
            bool structured;            /* structured-binary flag */
            unsigned int dest_mmsi;     /* destination MMSI */
            unsigned int app_id;        /* Application ID */
#define AIS_TYPE26_BINARY_MAX   1004    /* Up to 128 bits */
            size_t bitcount;            /* bit count of the data */
            char bitdata[(AIS_TYPE26_BINARY_MAX + 7) / 8];
            unsigned int radio;         /* radio status bits */
        } type26;
        /* Type 27 - Long Range AIS Broadcast message */
        struct {
            bool accuracy;              /* position accuracy */
            bool raim;                  /* RAIM flag */
            unsigned int status;        /* navigation status */
#define AIS_LONGRANGE_LATLON_DIV        600.0
            int lon;                    /* longitude */
#define AIS_LONGRANGE_LON_NOT_AVAILABLE 0x1a838
            int lat;                    /* latitude */
#define AIS_LONGRANGE_LAT_NOT_AVAILABLE 0xd548
            unsigned int speed;         /* speed over ground in deciknots */
#define AIS_LONGRANGE_SPEED_NOT_AVAILABLE 63
            unsigned int course;        /* course over ground */
#define AIS_LONGRANGE_COURSE_NOT_AVAILABLE 511
            bool gnss;                  /* are we reporting GNSS position? */
        } type27;
    };
};


/* basic data, per PRN, from GPGSA and GPGSV, or GPS binary messages */
/* FIXME: u-blox 9 no longer uses PRN */
struct satellite_t {
    /* SNR. signal-to-noise ratio, 0 to 254 dB, u-blox can be 0 to 63.
     * -1 for n/a */
    double ss;
    bool used;          /* this satellite used in solution */
    /* PRN of this satellite, 1 to 437, 0 for n/a
     * sadly there is no standard, but many different implementations of
     * how to code PRN
     */
    short PRN;          /* PRN numbering per NMEA 2.x to 4.0, not 4.10 */
    double elevation;   /* elevation of satellite, -90 to 90 deg, NAN for n/a */
    double azimuth;     /* azimuth, 0 to 359 deg, NAN1 for n/a */
    /* gnssid:svid:sigid, as defined by u-blox 8/9:
     *  gnssid        svid (native PRN)
     *  0 = GPS       1-32
     *  1 = SBAS      120-158
     *  2 = Galileo   1-36
     *  3 - BeiDou    1-37
     *  4 = IMES      1-10
     *  5 = QZSS      1-5       Undocumented u-blox goes to 7
     *  6 = GLONASS   1-32, 255
     *  7 = IRNSS     1-11       ZED-F9T
     *
     * gnssid:svid:sigid, as defined by NMEA 4.10, NOT USED HERE!
     *  1 = GPS       1-32
     *  1 = SBAS      33-64, 152-158
     *  1 = QZSS      193-197  Undocuemtned u-blox goes to 199
     *  2 = GLONASS   1-32, nul
     *  3 = Galileo   1-36
     *  4 - BeiDou    1-37
     *  x = IMES                Not defined by NMEA 4.10
     *  x = IRNSS               Not defined by NMEA 4.10
     *
     * Note: other GNSS receivers use different mappings!
     */
    unsigned char gnssid;
/* defines for u-blox gnssId, as used in satellite_t */
#define GNSSID_GPS 0
#define GNSSID_SBAS 1
#define GNSSID_GAL 2
#define GNSSID_BD 3
#define GNSSID_IMES 4
#define GNSSID_QZSS 5
#define GNSSID_GLO 6
#define GNSSID_IRNSS 7            // ZED-F9T
#define GNSSID_CNT 8              /* count for array size */

    /* ignore gnssid and sigid if svid is zero */
    unsigned char svid;
    /* sigid as defined by u-blox 9, and used here
     * GPS:      0 = L1C/A, 3 = L2 CL, 4 = L2 CM
     * SBAS:     0 = L1C/A, ? = L5I
     * Galileo:  0 = E1 C,  1 = E1 B,  5 = E5 bl, 6 = E5 bQ
     * BeiDou:   0 = B1I D1, 1 = B1I D2, 2 = B2I D1, 3 = B2I D2
     * QZSS:     0 = L1C/A, 4 = L2 CM, 5 = L2 CL
     * GLONASS:  0 = L1 OF, 2 = L2 OF
     *
     * sigid as defined by NMEA 4.10, NOT used here
     * GPS:      1 = L1C/A, 6 = L2 CL, 5 = L2 CM
     * Galileo:  7 = E1 C,  7 = E1 B,  2 = E5 bl, 2 = E5 bQ
     * BeiDou:   1 = B1|D1, 1 = B1|D2, 3 = B2|D1, 3 = B2|D2
     * QZSS:     not defined
     * GLONASS:  1 = L1 OF, 3 = L2 OF
     */
    unsigned char sigid;
    signed char freqid;         /* The GLONASS (Only) frequency, 0 - 13 */
    unsigned char health;       /* 0 = unknown, 1 = healthy, 2 = unhealthy */
#define SAT_HEALTH_UNK 0
#define SAT_HEALTH_OK 1
#define SAT_HEALTH_BAD 2
};

struct attitude_t {
    timespec_t  mtime;  /* time of measurement */
    double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
    double acc_x;
    double acc_y;
    double acc_z;
    double depth;
    double dip;
    double gyro_x;
    double gyro_y;
    double heading;
    double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
    double mag_x;
    double mag_y;
    double mag_z;
    double pitch;
    double roll;
    double temp;
    double yaw;
    /* compass status -- TrueNorth (and any similar) devices only */
    char mag_st;
    char pitch_st;
    char roll_st;
    char yaw_st;
};

struct dop_t {
    /* Dilution of precision factors */
    double xdop, ydop, pdop, hdop, vdop, tdop, gdop;
};

struct rawdata_t {
    /* raw measurement data, suitable for RINEX 3 */
    timespec_t mtime;           /* time of measurement: sec, nsec
                                 * Note: GPS time, not UTC time */
    struct meas_t {
        /* gnssid see satellite_t for decode */
        unsigned char gnssid;
        /* svid see RINEX 3 for decode, not satellite_t */
        unsigned char svid;
        /* sigid see satellite_t for decode */
        unsigned char sigid;
        /* SNR.  0 to 100 dB-Hz.  u-blox can be 0 to 63. */
        unsigned char snr;
        unsigned char freqid;   /* The GLONASS (Only) frequency, 0 - 13 */
        unsigned char lli;      /* RINEX Loss of Lock Indicator
                                 * bit 0 - Lost Lock
                                 * bit 1 - half-cycle ambiguity/slip possible
                                 * bit 2 - GALILEO BOC-tracking of MBOC signal
                                 */
        char obs_code[4];       /* 3 char RINEX observation code */
        /* see RINEX documentation
         * GPS: L1: L1C, L1S, L1L, L1X, L1P, L1W, L1N
         *      L2: L2C, L2D, L2S, L2L, L2X, L2P, L2W, L2N
         *      L5: L5I, L5Q
         * GLONASS: G1: L1C, L1P
         *          G2: L2C, L2P
         *          G3: L3I, L3Q, L3X
         * GALILEO: E1: L1B, L1C, L1X
         *          E5A: L5I, L5Ql L5X
         *          E5B: L7I, L7Q, L7X
         *          E5(A+B): L8I, L8Q, L8X
         *          E6: L6B, L6C, L6X
         * QZSS: L1: L1C, L1S, L1L, L1X, L1Z
         *       L2: L2S, L2L, L2X
         *       L5: L5I, L5Q, L5X
         *       LEX(6): L6S, L6L, L6X
         * BeiDou: B1: L2I, L2Q, L2X
         *         B2: L7I, L7Q, L7X
         *         B3: L6I, L6Q, L6X
         * IRNSS: L5: L5A, L5B, L5C, L5X
         *        S: L9A, L9B, L9C, L9X
         */
        double codephase;       /* meters */
        double carrierphase;    /* L1 C/A meters, RINEX L1C */
        double pseudorange;     /* L1 C/A meters, RINEX C1C */
        double deltarange;      /* L1 C/A meters/sec, RINEX D1C */
        double doppler;         /* Hz */
#define LOCKMAX         64500   /* locktime capped at 64500 */
        unsigned locktime;      /* Carrier Phase Locktime in ms.
                                 * max 64,500 ms */
        double l2c;             /* L2 C/A carrier phase meters, RINEX L2C */
        double c2c;             /* L2 C/A pseudo-range meters, RINEX C2C */
        unsigned satstat;       /* tracking status */
#define SAT_ACQUIRED    0x01    /* satellite acquired */
#define SAT_CODE_TRACK  0x02    /* code-tracking loop acquired */
#define SAT_CARR_TRACK  0x04    /* carrier-tracking loop acquired */
#define SAT_DATA_SYNC   0x08    /* data-bit synchronization done */
#define SAT_FRAME_SYNC  0x10    /* frame synchronization done */
#define SAT_EPHEMERIS   0x20    /* ephemeris collected */
#define SAT_FIX_USED    0x40    /* used for position fix */
    } meas[MAXCHANNELS];
};

struct version_t {
    char release[64];                   /* external version */
    char rev[64];                       /* internal revision ID */
    int proto_major, proto_minor;       /* API major and minor versions */
    char remote[GPS_PATH_MAX];          /* could be from a remote device */
};

#define HEXDATA_MAX 512                 /* hex encoded command buffer, max */
struct devconfig_t {
    char path[GPS_PATH_MAX];
    int flags;
#define SEEN_GPS        0x01
#define SEEN_RTCM2      0x02
#define SEEN_RTCM3      0x04
#define SEEN_AIS        0x08
    char driver[64];
    /* 96 too small for ZED-F9 */
    char subtype[128];           // maybe hardware version
    char subtype1[128];          // maybe software version
    /* a buffer to hold data to output to GPS */
    char hexdata[HEXDATA_MAX];
    timespec_t activated;
    unsigned int baudrate, stopbits;    /* RS232 link parameters */
    char parity;                        /* 'N', 'O', or 'E' */
    timespec_t cycle, mincycle;         /* refresh cycle time in seconds */
    int driver_mode;                    /* is driver in native mode or not? */
};

struct gps_policy_t {
    bool watcher;                       /* is watcher mode on? */
    bool json;                          /* requesting JSON? */
    bool nmea;                          /* requesting dumping as NMEA? */
    int raw;                            /* requesting raw data? */
    bool scaled;                        /* requesting report scaling? */
    bool timing;                        /* requesting timing info */
    bool split24;                       /* requesting split AIS Type 24s */
    bool pps;                           /* requesting PPS in NMEA/raw modes */
    // loglevel presently unused
    int loglevel;                       /* requested log level of messages */
    char devpath[GPS_PATH_MAX];         /* specific device to watch */
    // remote presently unused
    char remote[GPS_PATH_MAX];          /* ...if this was passthrough */
};

#ifndef TIMEDELTA_DEFINED
#define TIMEDELTA_DEFINED

struct timedelta_t {
    timespec_t  real;
    timespec_t  clock;
};
#endif /* TIMEDELTA_DEFINED */

struct oscillator_t {
    bool running;                       /* oscillator is running */
    bool reference;                     /* PPS reference is available */
    bool disciplined;                   /* oscillator is GPS-disciplined */
    int delta;                          /* last observed PPS delta */
};

/*
 * Someday we may support Windows, under which socket_t is a separate type.
 * In the meantime, having a typedef for this semantic kind is no bad thing,
 * as it makes clearer what some declarations are doing without breaking
 * binary compatibility.
 */
typedef int socket_t;
#define BAD_SOCKET(s)   ((s) == -1)
#define INVALIDATE_SOCKET(s)    do { s = -1; } while (0)

/* mode flags for setting streaming policy */
#define WATCH_ENABLE    0x000001u       /* enable streaming */
#define WATCH_DISABLE   0x000002u       /* disable watching */
#define WATCH_JSON      0x000010u       /* JSON output */
#define WATCH_NMEA      0x000020u       /* output in NMEA */
#define WATCH_RARE      0x000040u       /* output of packets in hex */
#define WATCH_RAW       0x000080u       /* output of raw packets */
#define WATCH_SCALED    0x000100u       /* scale output to floats */
#define WATCH_TIMING    0x000200u       /* timing information */
#define WATCH_DEVICE    0x000800u       /* watch specific device */
#define WATCH_SPLIT24   0x001000u       /* split AIS Type 24s */
#define WATCH_PPS       0x002000u       /* enable PPS JSON */
#define WATCH_NEWSTYLE  0x010000u       /* force JSON streaming */

/*
 * Main structure that includes all previous substructures
 */

struct gps_data_t {
    gps_mask_t set;     /* has field been set since this was last cleared? */
#define ONLINE_SET      (1llu<<1)
#define TIME_SET        (1llu<<2)
#define TIMERR_SET      (1llu<<3)
#define LATLON_SET      (1llu<<4)
#define ALTITUDE_SET    (1llu<<5)
#define SPEED_SET       (1llu<<6)
#define TRACK_SET       (1llu<<7)
#define CLIMB_SET       (1llu<<8)
#define STATUS_SET      (1llu<<9)
#define MODE_SET        (1llu<<10)
#define DOP_SET         (1llu<<11)   // not used by clients
#define HERR_SET        (1llu<<12)
#define VERR_SET        (1llu<<13)
#define ATTITUDE_SET    (1llu<<14)
#define SATELLITE_SET   (1llu<<15)
#define SPEEDERR_SET    (1llu<<16)
#define TRACKERR_SET    (1llu<<17)
#define CLIMBERR_SET    (1llu<<18)
#define DEVICE_SET      (1llu<<19)
#define DEVICELIST_SET  (1llu<<20)
#define DEVICEID_SET    (1llu<<21)
#define RTCM2_SET       (1llu<<22)
#define RTCM3_SET       (1llu<<23)
#define AIS_SET         (1llu<<24)
#define PACKET_SET      (1llu<<25)
#define SUBFRAME_SET    (1llu<<26)
#define GST_SET         (1llu<<27)
#define VERSION_SET     (1llu<<28)
#define POLICY_SET      (1llu<<29)
#define LOGMESSAGE_SET  (1llu<<30)
#define ERROR_SET       (1llu<<31)
#define TOFF_SET        (1llu<<32)      /* not yet used */
#define PPS_SET         (1llu<<33)
#define NAVDATA_SET     (1llu<<34)
#define OSCILLATOR_SET  (1llu<<35)
#define ECEF_SET        (1llu<<36)
#define VECEF_SET       (1llu<<37)
#define MAGNETIC_TRACK_SET (1llu<<38)
#define RAW_SET         (1llu<<39)
#define NED_SET         (1llu<<40)
#define VNED_SET        (1llu<<41)
#define LOG_SET         (1llu<<42)
#define SET_HIGH_BIT    43
    timespec_t online;          /* NZ if GPS is on line, 0 if not.
                                 *
                                 * Note: gpsd clears this time when sentences
                                 * fail to show up within the GPS's normal
                                 * send cycle time. If the host-to-GPS
                                 * link is lossy enough to drop entire
                                 * sentences, this field will be
                                 * prone to false zero values.
                                 */

#ifdef USE_QT
    void* gps_fd;
#else
    /* socket or file descriptor to GPS
     * POSIX says this is an int.
     * use socket_t, which is int, for windows compatibility */
    socket_t gps_fd;
#endif
    struct gps_fix_t    fix;    /* accumulated PVT data */
    struct gps_log_t    log;    // log data

    int leap_seconds;           /* Unix secs to UTC (GPS-UTC offset) */
    /* precision of fix -- valid if satellites_used > 0 */
    int satellites_used;        /* Number of satellites used in solution */
    struct dop_t dop;

    /* satellite status -- valid when satellites_visible > 0 */
    timespec_t skyview_time;    /* skyview time */
    int satellites_visible;     /* # of satellites in view */
    struct satellite_t skyview[MAXCHANNELS];

    struct devconfig_t dev;     /* device that shipped last update */

    struct gps_policy_t policy; /* our listening policy */

    struct {
        timespec_t time;
        int ndevices;
        struct devconfig_t list[MAXUSERDEVS];
    } devices;

    /* pack things never reported together to reduce structure size */
#define UNION_SET       (AIS_SET|ATTITUDE_SET|ERROR_SET|GST_SET| \
                         LOGMESSAGE_SET|OSCILLATOR_SET|PPS_SET|RAW_SET| \
                         RTCM2_SET|RTCM3_SET|SUBFRAME_SET|TOFF_SET|VERSION_SET)

    union {
        /* unusual forms of sensor data that might come up the pipe */
        struct rtcm2_t  rtcm2;
        struct rtcm3_t  rtcm3;
        struct subframe_t subframe;
        struct ais_t ais;
        struct attitude_t attitude;
        struct rawdata_t raw;
        struct gst_t gst;
        struct oscillator_t osc;
        /* "artificial" structures for various protocol responses */
        struct version_t version;
        char error[256];
    };

    /* time stuff */
    /* FIXME! next lib rev need to add a place to put PPS precision */
    struct timedelta_t toff;
    struct timedelta_t pps;
    /* quantization error adjustment to PPS. aka "sawtooth" correction */
    long qErr;                  /* offset in picoseconds (ps) */
    /* time of PPS pulse that qErr applies to */
    timespec_t qErr_time;

    /* Private data - client code must not set this */
    void *privdata;
};

extern int gps_open(const char *, const char *,
                      struct gps_data_t *);
extern int gps_close(struct gps_data_t *);
extern int gps_send(struct gps_data_t *, const char *, ... );
extern int gps_read(struct gps_data_t *, char *message, int message_len);
extern int gps_unpack(char *, struct gps_data_t *);
extern bool gps_waiting(const struct gps_data_t *, int);
extern int gps_stream(struct gps_data_t *, unsigned int, void *);
extern int gps_mainloop(struct gps_data_t *, int,
                        void (*)(struct gps_data_t *));
extern const char *gps_data(const struct gps_data_t *);
extern const char *gps_errstr(const int);

int json_toff_read(const char *buf, struct gps_data_t *,
                  const char **);
int json_pps_read(const char *buf, struct gps_data_t *,
                  const char **);
int json_oscillator_read(const char *buf, struct gps_data_t *,
                         const char **);

/* dependencies on struct gpsdata_t end here */

extern void libgps_trace(int errlevel, const char *, ...);

extern void gps_clear_att(struct attitude_t *);
extern void gps_clear_dop( struct dop_t *);
extern void gps_clear_fix(struct gps_fix_t *);
extern void gps_clear_log(struct gps_log_t *);
extern void gps_merge_fix(struct gps_fix_t *, gps_mask_t, struct gps_fix_t *);
extern void gps_enable_debug(int, FILE *);
extern const char *gps_maskdump(gps_mask_t);

extern double safe_atof(const char *);
extern time_t mkgmtime(struct tm *);
extern timespec_t iso8601_to_timespec(char *);
extern char *now_to_iso8601(char[], size_t len);
extern char *timespec_to_iso8601(timespec_t t, char[], size_t len);
extern double earth_distance(double, double, double, double);
extern double earth_distance_and_bearings(double, double, double, double,
                                          double *,
                                          double *);
extern double wgs84_separation(double, double);
extern double mag_var(double, double);
extern void datum_code_string(int code, char *buffer, size_t len);

/* some multipliers for interpreting GPS output */

/* International Foot to Meters, exact
 * Note: not the same as the USA Survey Foot to meters:
 *   approximately: 0.304800609601.  exactly: (1200 / 3937)
 * Some states use the International Foot, not the USA Survey Foot */
#define FEET_TO_METERS  0.3048                   // intl feet to meters, exact
#define METERS_TO_FEET  (1 / FEET_TO_METERS)     // meters to intl feet, exact

#define MILES_TO_METERS 1.609344                  // Miles to meters, exact
#define METERS_TO_MILES (1 / MILES_TO_METERS)     // Meters to miles, exact
#define FATHOMS_TO_METERS 1.8288                  // Fathoms to meters, exact
#define METERS_TO_FATHOMS (1 / FATHOMS_TO_METER)  // Meters to fathoms, exact

// gpsd uses the international nautical mile, same as USA nautical mile
// different from UK nautical mile
#define KNOTS_TO_MPH    (1852 / 1609.344)   // Knots to miles per hour, exact
#define KNOTS_TO_KPH    1.852          // Knots to kilometers per hour, exact
#define KNOTS_TO_MPS (KNOTS_TO_KPH / 3.6)  // Knots to meters per second, exact
#define MPS_TO_KPH      3.6            // Meters per second to klicks/hr, exact
#define MPS_TO_MPH   (1 / 0.44704)    // Meters/second to miles per hour, exact
#define MPS_TO_KNOTS (3600.0 / 1852.0)     // Meters per second to knots, exact
/* miles and knots are both the international standard versions of the units */

// angle conversion multipliers
// IS-GPS-200 uses pi = 3.1415926535898
#define GPS_PI          3.1415926535897932384626433832795029
#define RAD_2_DEG       57.2957795130823208767981548141051703
#define DEG_2_RAD       0.0174532925199432957692369076848861271

/* other mathematical constants */
#define GPS_LN2         0.693147180559945309417232121458176568


/* WGS84(G1674) degining parameters */
/* https://en.wikipedia.org/wiki/Geodetic_datum
 * Section #World_Geodetic_System_1984_(WGS_84)
 *
 * http://www.unoosa.org/pdf/icg/2012/template/WGS_84.pdf
 */
#define WGS84A 6378137.0             /* equatorial radius (semi-major axis) */
#define WGS84F 298.257223563            /* flattening */
#define WGS84B 6356752.314245           /* polar radius (semi-minor axis) */
/* 1st eccentricity squared = (WGS84A ^ 2 + WGS84B ^ 2) / (WGS84A ^ 2)
 * precomputed so C does not recompute every time */
#define WGS84E 0.006694379990197585     /* 1st eccentricity squared */
/* 2nd eccentricity squared = ((WGS84A ^ 2 - WGS84B ^ 2) / (WGS84B ^ 2)
 * precomputed so C does not recompute every time */
#define WGS84E2 0.006739496742333464    /* 2nd eccentricy squared */

#define CLIGHT      299792458.0  /* speed of light (m/s) */

/* netlib_connectsock() errno return values */
#define NL_NOSERVICE    -1      /* can't get service entry */
#define NL_NOHOST       -2      /* can't get host entry */
#define NL_NOPROTO      -3      /* can't get protocol entry */
#define NL_NOSOCK       -4      /* can't create socket */
#define NL_NOSOCKOPT    -5      /* error SETSOCKOPT SO_REUSEADDR */
#define NL_NOCONNECT    -6      /* can't connect to host/socket pair */
#define SHM_NOSHARED    -7      /* shared-memory segment not available */
#define SHM_NOATTACH    -8      /* shared-memory attach failed */
#define DBUS_FAILURE    -9      /* DBUS initialization failure */

#define DEFAULT_GPSD_PORT       "2947"  /* IANA assignment */
#define DEFAULT_RTCM_PORT       "2101"  /* IANA assignment */

/* special host values for non-socket exports */
#define GPSD_SHARED_MEMORY      "shared memory"
#define GPSD_DBUS_EXPORT        "DBUS export"

#ifdef __cplusplus
}  /* End of the 'extern "C"' block */
#endif

#endif /* _GPSD_GPS_H_ */
/* gps.h ends here */
// vim: set expandtab shiftwidth=4