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source: ntrip/trunk/BNC/src/ephemeris.h@ 10214

Last change on this file since 10214 was 9789, checked in by stuerze, 2 years ago
some more changes to consider RINEX Version 4 nav file (EPH key only)
File size: 18.2 KB

Rev	Line
[1025]	1	#ifndef EPHEMERIS_H
	2	#define EPHEMERIS_H
	3
[2221]	4	#include <newmat.h>
[3174]	5	#include <QtCore>
[1025]	6	#include <stdio.h>
	7	#include <string>
[4018]	8	#include "bnctime.h"
[5749]	9	#include "bncconst.h"
[5776]	10	#include "t_prn.h"
[6812]	11	#include "gnss.h"
[6139]	12
[7054]	13
[6141]	14	class t_orbCorr;
	15	class t_clkCorr;
[5749]	16
[1025]	17	class t_eph {
	18	public:
[8168]	19	enum e_type {unknown, GPS, QZSS, GLONASS, Galileo, SBAS, BDS, IRNSS};
[8215]	20	enum e_checkState {unchecked, ok, bad, outdated, unhealthy};
[9765]	21	enum e_navType {undefined, LNAV, FDMA, FNAV, INAF, D1, D2, SBASL1, CNAV, CNV1, CNV2, CNV3};
[4005]	22
[5749]	23	t_eph();
[7278]	24	virtual ~t_eph();
[4018]	25
[6109]	26	virtual e_type type() const = 0;
[4013]	27	virtual QString toString(double version) const = 0;
[7169]	28	virtual unsigned int IOD() const = 0;
[8187]	29	virtual unsigned int isUnhealthy() const = 0;
[6109]	30	virtual int slotNum() const {return 0;}
[4018]	31	bncTime TOC() const {return _TOC;}
[6109]	32	bool isNewerThan(const t_eph* eph) const {return earlierTime(eph, this);}
[9765]	33	void setCheckState(e_checkState checkState) {_checkState = checkState;}
[6518]	34	e_checkState checkState() const {return _checkState;}
[9673]	35	QString checkStateToString() {
	36	switch (_checkState) {
[9765]	37	case unchecked: return "unchecked";
	38	case ok: return "ok";
	39	case bad: return "bad";
	40	case outdated: return "outdated";
	41	case unhealthy: return "unhealthy";
	42	default: return "unknown";
[9673]	43	}
	44	}
[9765]	45	e_navType navType() const {return _navType;}
	46	t_irc setNavType(QString navTypeStr);
	47
[6109]	48	t_prn prn() const {return _prn;}
	49	t_irc getCrd(const bncTime& tt, ColumnVector& xc, ColumnVector& vv, bool useCorr) const;
[6141]	50	void setOrbCorr(const t_orbCorr* orbCorr);
	51	void setClkCorr(const t_clkCorr* clkCorr);
[3174]	52	const QDateTime& receptDateTime() const {return _receptDateTime;}
[9212]	53	const QString receptStaID() const {return _receptStaID;}
[6109]	54	static QString rinexDateStr(const bncTime& tt, const t_prn& prn, double version);
	55	static QString rinexDateStr(const bncTime& tt, const QString& prnStr, double version);
[9765]	56	static QString navTypeString(e_navType navType, const t_prn& prn, double version);
[6109]	57	static bool earlierTime(const t_eph* eph1, const t_eph* eph2) {return eph1->_TOC < eph2->_TOC;}
[8799]	58	static bool prnSort(const t_eph* eph1, const t_eph* eph2) {return eph1->prn() < eph2->prn();}
[1025]	59
[7278]	60	protected:
[6213]	61	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const = 0;
[9765]	62	t_prn _prn;
	63	bncTime _TOC;
	64	QDateTime _receptDateTime;
	65	QString _receptStaID;
	66	e_checkState _checkState;
	67	e_navType _navType; // defined in RINEX 4
	68	t_orbCorr* _orbCorr;
	69	t_clkCorr* _clkCorr;
[1025]	70	};
	71
	72	class t_ephGPS : public t_eph {
[5852]	73	friend class t_ephEncoder;
[6812]	74	friend class RTCM3Decoder;
[1025]	75	public:
[7625]	76	t_ephGPS() {
[9789]	77	_clock_bias = 0.0;
	78	_clock_drift = 0.0;
	79	_clock_driftrate = 0.0;
	80	_IODE = 0.0;
	81	_Crs = 0.0;
	82	_Delta_n = 0.0;
	83	_M0 = 0.0;
	84	_Cuc = 0.0;
	85	_e = 0.0;
	86	_Cus = 0.0;
	87	_sqrt_A = 0.0;
	88	_TOEsec = 0.0;
	89	_Cic = 0.0;
	90	_OMEGA0 = 0.0;
	91	_Cis = 0.0;
	92	_i0 = 0.0;
	93	_Crc = 0.0;
	94	_omega = 0.0;
	95	_OMEGADOT = 0.0;
	96	_IDOT = 0.0;
	97	_L2Codes = 0.0;
	98	_TOEweek = 0.0;
	99	_L2PFlag = 0.0;
	100	_ura = 0.0;
	101	_health = 0.0;
	102	_TGD = 0.0;
	103	_IODC = 0.0;
	104	_TOT = 0.0;
	105	_fitInterval = 0.0;
	106	_ADOT = 0.0;
	107	_top = 0.0;
	108	_Delta_n_dot = 0.0;
	109	_URAI_NED0 = 0.0;
	110	_URAI_NED1 = 0.0;
	111	_URAI_NED2 = 0.0;
	112	_URAI_ED = 0.0;
	113	_ISC_L1CA = 0.0;
	114	_ISC_L2C = 0.0;
	115	_ISC_L5I5 = 0.0;
	116	_ISC_L5Q5 = 0.0;
	117	_ISC_L1Cd = 0.0;
	118	_ISC_L1Cp = 0.0;
	119	_wnop = 0.0;
	120	_receptStaID = "";
[7625]	121	}
[9367]	122	t_ephGPS(double rnxVersion, const QStringList& lines);
[2221]	123	virtual ~t_ephGPS() {}
[4005]	124
[8168]	125	virtual e_type type() const {
	126	switch (_prn.system()) {
	127	case 'J':
	128	return t_eph::QZSS;
	129	case 'I':
	130	return t_eph::IRNSS;
	131	};
	132	return t_eph::GPS;
	133	}
[4013]	134	virtual QString toString(double version) const;
[8139]	135	virtual unsigned int IOD() const { return static_cast<unsigned int>(_IODE); }
[8187]	136	virtual unsigned int isUnhealthy() const { return static_cast<unsigned int>(_health); }
[4366]	137	double TGD() const {return _TGD;} // Timing Group Delay (P1-P2 DCB)
	138
[1025]	139	private:
[6213]	140	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6109]	141
[7278]	142	double _clock_bias; // [s]
	143	double _clock_drift; // [s/s]
[4018]	144	double _clock_driftrate; // [s/s^2]
[1025]	145
[8168]	146	double _IODE; // IODEC in case of IRNSS
[7278]	147	double _Crs; // [m]
[4018]	148	double _Delta_n; // [rad/s]
[7278]	149	double _M0; // [rad]
[1025]	150
[7278]	151	double _Cuc; // [rad]
[9786]	152	double _e; // []
[7278]	153	double _Cus; // [rad]
[4018]	154	double _sqrt_A; // [m^0.5]
[1025]	155
[9786]	156	double _TOEsec; // [s of GPS week]
[7278]	157	double _Cic; // [rad]
	158	double _OMEGA0; // [rad]
	159	double _Cis; // [rad]
[4018]	160
[7278]	161	double _i0; // [rad]
	162	double _Crc; // [m]
	163	double _omega; // [rad]
[4018]	164	double _OMEGADOT; // [rad/s]
	165
	166	double _IDOT; // [rad/s]
[8168]	167	double _L2Codes; // Codes on L2 channel (not valid for IRNSS)
[9786]	168	double _TOEweek; // GPS week # to go with TOE, cont. number, not mode 1024
[8790]	169	double _L2PFlag; // L2 P data flag (not valid for IRNSS and QZSS)
[4018]	170
[9316]	171	mutable double _ura; // SV accuracy [m]
[4018]	172	double _health; // SV health
[7278]	173	double _TGD; // [s]
[8168]	174	double _IODC; // (not valid for IRNSS)
[4018]	175
[8790]	176	double _TOT; // Transmission time
[8925]	177	double _fitInterval; // Fit interval in hours (not valid for IRNSS)
[9786]	178
	179	double _ADOT; // [m/s]
	180	double _top; // [s]
[9788]	181	double _Delta_n_dot; // [rad/s^2]
[9786]	182
	183	double _URAI_NED0; // []
	184	double _URAI_NED1; // []
	185	double _URAI_NED2; // []
	186	double _URAI_ED; // []
	187
	188	double _ISC_L1CA; // [s]
	189	double _ISC_L2C; // [s]
	190	double _ISC_L5I5; // [s]
	191	double _ISC_L5Q5; // [s]
	192	double _ISC_L1Cd; // [s]
	193	double _ISC_L1Cp; // [s]
	194
	195	double _wnop; // GPS continuous week number with the ambiguity resolved
[1025]	196	};
	197
[2221]	198	class t_ephGlo : public t_eph {
[5853]	199	friend class t_ephEncoder;
[6812]	200	friend class RTCM3Decoder;
[2221]	201	public:
[7625]	202	t_ephGlo() {
[8495]	203	_xv.ReSize(6); _xv = 0.0;
[7625]	204	_gps_utc = 0.0;
	205	_tau = 0.0;
	206	_gamma = 0.0;
	207	_tki = 0.0;
	208	_x_pos = 0.0;
	209	_x_velocity = 0.0;
	210	_x_acceleration = 0.0;
	211	_health = 0.0;
	212	_y_pos = 0.0;
	213	_y_velocity = 0.0;
	214	_y_acceleration = 0.0;
	215	_frequency_number = 0.0;
	216	_z_pos = 0.0;
	217	_z_velocity = 0.0;
	218	_z_acceleration = 0.0;
	219	_E = 0.0;
[8182]	220	_almanac_health = 0.0;
	221	_almanac_health_availablility_indicator = 0.0;
	222	_additional_data_availability = 0.0;
	223	_tauC = 0.0;
	224	_P1 = 0.0;
	225	_P2 = 0.0;
	226	_P3 = 0.0;
	227	_NA = 0.0;
	228	_M_P = 0.0;
	229	_M_l3 = 0.0;
	230	_M_delta_tau = 0.0;
	231	_M_P4 = 0.0;
	232	_M_FT = 0.0;
	233	_M_NT = 0.0;
	234	_M_M = 0.0;
	235	_M_N4 = 0.0;
	236	_M_tau_GPS = 0.0;
	237	_M_l5 = 0.0;
[9212]	238	_receptStaID = "";
[9367]	239	_flags_unknown = true;
[7625]	240	}
[9367]	241	t_ephGlo(double rnxVersion, const QStringList& lines);
[2221]	242	virtual ~t_ephGlo() {}
	243
[4005]	244	virtual e_type type() const {return t_eph::GLONASS;}
[4013]	245	virtual QString toString(double version) const;
[7169]	246	virtual unsigned int IOD() const;
[8187]	247	virtual unsigned int isUnhealthy() const;
[6109]	248	virtual int slotNum() const {return int(_frequency_number);}
[2221]	249
	250	private:
[6213]	251	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6109]	252	static ColumnVector glo_deriv(double /* tt /, const ColumnVector& xv, double acc);
[2221]	253
[7278]	254	mutable bncTime _tt; // time
[2221]	255	mutable ColumnVector _xv; // status vector (position, velocity) at time _tt
	256
[3255]	257	double _gps_utc;
[7278]	258	double _tau; // [s]
[8182]	259	double _gamma; // [-]
[5853]	260	mutable double _tki; // message frame time
[4018]	261
[7278]	262	double _x_pos; // [km]
	263	double _x_velocity; // [km/s]
	264	double _x_acceleration; // [km/s^2]
[8182]	265	double _health; // 0 = O.K. MSB of Bn word
[4018]	266
[7278]	267	double _y_pos; // [km]
	268	double _y_velocity; // [km/s]
	269	double _y_acceleration; // [km/s^2]
	270	double _frequency_number; // ICD-GLONASS data position
[4018]	271
[7278]	272	double _z_pos; // [km]
	273	double _z_velocity; // [km/s]
	274	double _z_acceleration; // [km/s^2]
	275	double _E; // Age of Information [days]
[8182]	276
	277	double _almanac_health; // Cn word
	278	double _almanac_health_availablility_indicator;
	279
	280	double _additional_data_availability; //
	281	double _tauC; // GLONASS time scale correction to UTC(SU) time [sec]
	282	double _P1; // flag of the immediate data updating [-]
	283	double _P2; // flag of oddness or evenness of the value of tb for intervals 30 or 60 minutes [-]
	284	double _P3; // flag indicating a number of satellites for which almanac is transmitted within given frame [-]
	285	double _NA; // calendar day number within the 4-year period [days]
	286
	287	double _M_P; // control segment parameter that indicates the satellite operation mode with respect of time parameters
	288	double _M_l3; // health flag
	289	double _M_delta_tau; // [sec]
	290	double _M_P4; // flag to show that ephemeris parameters are present [-]
[9367]	291	double _M_FT; // Indicator for predicted satellite User Range Accuracy (URAI) [-]
[8182]	292	double _M_NT; // current date, calendar number of day within 4-year interval [days]
	293	double _M_M; // type of satellite transmitting navigation signal: 0 = GLONASS, 1 = GLONASS-M satellite [-]
	294	double _M_N4; // 4-year interval number starting from 1996
	295	double _M_tau_GPS; // correction to GPS time relative to GLONASS time [days]
	296	double _M_l5; // health flag
[9367]	297	bool _flags_unknown; // status and health flags are unknown (rnx version < 3.05) or known (rnx version >= 3.05)
[2221]	298	};
	299
[2770]	300	class t_ephGal : public t_eph {
[5853]	301	friend class t_ephEncoder;
[6812]	302	friend class RTCM3Decoder;
[2770]	303	public:
[7625]	304	t_ephGal() {
	305	_clock_bias = 0.0;
	306	_clock_drift = 0.0;
	307	_clock_driftrate = 0.0;
	308	_IODnav = 0.0;
	309	_Crs = 0.0;
	310	_Delta_n = 0.0;
	311	_M0 = 0.0;
	312	_Cuc = 0.0;
	313	_e = 0.0;
	314	_Cus = 0.0;
	315	_sqrt_A = 0.0;
	316	_TOEsec = 0.0;
	317	_Cic = 0.0;
	318	_OMEGA0 = 0.0;
	319	_Cis = 0.0;
	320	_i0 = 0.0;
	321	_Crc = 0.0;
	322	_omega = 0.0;
	323	_OMEGADOT = 0.0;
	324	_IDOT = 0.0;
	325	_TOEweek = 0.0;
	326	_SISA = 0.0;
	327	_E5aHS = 0.0;
	328	_E5bHS = 0.0;
	329	_E1_bHS = 0.0;
	330	_BGD_1_5A = 0.0;
	331	_BGD_1_5B = 0.0;
	332	_TOT = 0.0;
[9212]	333	_receptStaID = "";
[7625]	334	};
[9367]	335	t_ephGal(double rnxVersion, const QStringList& lines);
[2770]	336	virtual ~t_ephGal() {}
[4005]	337
[4013]	338	virtual QString toString(double version) const;
[4005]	339	virtual e_type type() const {return t_eph::Galileo;}
[7169]	340	virtual unsigned int IOD() const { return static_cast<unsigned long>(_IODnav); }
[8187]	341	virtual unsigned int isUnhealthy() const;
[2770]	342
[6109]	343	private:
[6213]	344	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[2770]	345
[7278]	346	double _clock_bias; // [s]
	347	double _clock_drift; // [s/s]
[2770]	348	double _clock_driftrate; // [s/s^2]
[4018]	349
[6812]	350	double _IODnav;
[7278]	351	double _Crs; // [m]
[2770]	352	double _Delta_n; // [rad/s]
[7278]	353	double _M0; // [rad]
[4018]	354
[7278]	355	double _Cuc; // [rad]
	356	double _e; //
	357	double _Cus; // [rad]
[2770]	358	double _sqrt_A; // [m^0.5]
[4018]	359
[7278]	360	double _TOEsec; // [s]
	361	double _Cic; // [rad]
	362	double _OMEGA0; // [rad]
	363	double _Cis; // [rad]
[4018]	364
[7278]	365	double _i0; // [rad]
	366	double _Crc; // [m]
	367	double _omega; // [rad]
[2770]	368	double _OMEGADOT; // [rad/s]
[4018]	369
[2770]	370	double _IDOT; // [rad/s]
[6809]	371	double _TOEweek;
[4018]	372	// spare
	373
[6798]	374	mutable double _SISA; // Signal In Space Accuracy
[6794]	375	double _E5aHS; // [0..3] E5a Health Status
	376	double _E5bHS; // [0..3] E5b Health Status
	377	double _E1_bHS; // [0..3] E1-b Health Status
[7278]	378	double _BGD_1_5A; // group delay [s]
	379	double _BGD_1_5B; // group delay [s]
[2770]	380
[6809]	381	double _TOT; // [s]
[6812]	382	/** Data comes from I/NAV when <code>true</code> */
	383	bool _inav;
	384	/** Data comes from F/NAV when <code>true</code> */
	385	bool _fnav;
	386	/** EE Data is not valid */
	387	bool _e1DataInValid;
	388	/** E5A Data is not valid */
	389	bool _e5aDataInValid;
	390	/** E5B Data is not valid */
	391	bool _e5bDataInValid;
[2770]	392	};
	393
[6380]	394	class t_ephSBAS : public t_eph {
	395	friend class t_ephEncoder;
[6812]	396	friend class RTCM3Decoder;
[6380]	397	public:
[7625]	398	t_ephSBAS() {
	399	_IODN = 0;
[8456]	400	_TOT = 0.0;
[7625]	401	_agf0 = 0.0;
	402	_agf1 = 0.0;
	403	_x_pos = 0.0;
	404	_x_velocity = 0.0;
	405	_x_acceleration = 0.0;
	406	_y_pos = 0.0;
	407	_y_velocity = 0.0;
	408	_y_acceleration = 0.0;
	409	_z_pos = 0.0;
	410	_z_velocity = 0.0;
	411	_z_acceleration = 0.0;
	412	_ura = 0.0;
	413	_health = 0.0;
[9212]	414	_receptStaID = "";
[7625]	415	}
[9367]	416	t_ephSBAS(double rnxVersion, const QStringList& lines);
[6380]	417	virtual ~t_ephSBAS() {}
	418
	419	virtual e_type type() const {return t_eph::SBAS;}
[7169]	420	virtual unsigned int IOD() const;
[9774]	421	virtual unsigned int isUnhealthy() const;
[6380]	422	virtual QString toString(double version) const;
	423
	424	private:
[6381]	425	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
[6380]	426
[6536]	427	int _IODN;
[8456]	428	double _TOT; // not used (set to 0.9999e9)
[6380]	429	double _agf0; // [s] clock correction
	430	double _agf1; // [s/s] clock correction drift
	431
[7278]	432	double _x_pos; // [m]
	433	double _x_velocity; // [m/s]
	434	double _x_acceleration; // [m/s^2]
[6380]	435
[7278]	436	double _y_pos; // [m]
	437	double _y_velocity; // [m/s]
	438	double _y_acceleration; // [m/s^2]
[6380]	439
[7278]	440	double _z_pos; // [m]
	441	double _z_velocity; // [m/s]
	442	double _z_acceleration; // [m/s^2]
[6380]	443
[6798]	444	mutable double _ura;
[6390]	445	double _health;
[6380]	446	};
	447
[6600]	448	class t_ephBDS : public t_eph {
[6400]	449	friend class t_ephEncoder;
[6812]	450	friend class RTCM3Decoder;
[6400]	451	public:
[8482]	452	t_ephBDS() {
[9789]	453	_TOT = 0.0;
	454	_AODE = 0;
	455	_AODC = 0;
	456	_URAI = 0;
	457	_URA = 0.0;
	458	_clock_bias = 0.0;
	459	_clock_drift = 0.0;
	460	_clock_driftrate = 0.0;
	461	_Crs = 0.0;
	462	_Delta_n = 0.0;
	463	_M0 = 0.0;
	464	_Cuc = 0.0;
	465	_e = 0.0;
	466	_Cus = 0.0;
	467	_sqrt_A = 0.0;
	468	_Cic = 0.0;
	469	_OMEGA0 = 0.0;
	470	_Cis = 0.0;
	471	_i0 = 0.0;
	472	_Crc = 0.0;
	473	_omega = 0.0;
	474	_OMEGADOT = 0.0;
	475	_IDOT = 0.0;
	476	_TOEsec = 0.0;
	477	_BDTweek = 0.0;
	478	_Delta_n_dot = 0.0;
	479	_satType = 0.0;
	480	_top = 0.0;
	481	_SISAI_oe = 0.0;
	482	_SISAI_ocb = 0.0;
	483	_SISAI_oc1 = 0.0;
	484	_SISAI_oc2 = 0.0;
	485	_ISC_B1Cd = 0.0;
	486	_ISC_B2ad = 0.0;
	487	_TGD1 = 0.0;
	488	_TGD2 = 0.0;
	489	_TGD_B1Cp = 0.0;
	490	_TGD_B2ap = 0.0;
	491	_TGD_B2bI = 0.0;
	492	_SISMAI = 0.0;
	493	_SatH1 = 0;
	494	_health = 0;
	495	_INTEGRITYF_B1C = 0.0;
	496	_INTEGRITYF_B2aB1C = 0.0;
	497	_INTEGRITYF_B2b = 0.0;
	498	_IODC = 0.0;
	499	_IODE = 0.0;
	500	_receptStaID = "";
[7625]	501	}
[9367]	502	t_ephBDS(double rnxVersion, const QStringList& lines);
[6600]	503	virtual ~t_ephBDS() {}
[6400]	504
[6602]	505	virtual e_type type() const {return t_eph::BDS;}
[7169]	506	virtual unsigned int IOD() const;
[9789]	507	virtual unsigned int isUnhealthy() const;
[6400]	508	virtual QString toString(double version) const;
	509
	510	private:
	511	virtual t_irc position(int GPSweek, double GPSweeks, double* xc, double* vv) const;
	512
[9788]	513	double _TOT; // [s] of BDT week
[6400]	514	bncTime _TOE;
	515	int _AODE;
	516	int _AODC;
[9788]	517	int _URAI; // [0..15] index from RTCM stream
	518	mutable double _URA; // user range accuracy [m]
	519	double _clock_bias; // [s]
	520	double _clock_drift; // [s/s]
	521	double _clock_driftrate; // [s/s^2]
	522	double _Crs; // [m]
	523	double _Delta_n; // [rad/s]
	524	double _M0; // [rad]
	525	double _Cuc; // [rad]
[7278]	526	double _e; //
[9788]	527	double _Cus; // [rad]
	528	double _sqrt_A; // [m^0.5]
	529	double _Cic; // [rad]
	530	double _OMEGA0; // [rad]
	531	double _Cis; // [rad]
	532	double _i0; // [rad]
	533	double _Crc; // [m]
	534	double _omega; // [rad]
	535	double _OMEGADOT; // [rad/s]
	536	double _IDOT; // [rad/s]
	537	double _TOEsec; // [s] of BDT week
	538	double _BDTweek; // BDT week
	539
	540	double _Delta_n_dot; // [rad/s^2]
	541	double _satType; // 0..reserved, 1..GEO, 2..IGSO, 3..MEO
	542	double _top; // [s]
	543
	544	double _SISAI_oe; // []
	545	double _SISAI_ocb; // []
	546	double _SISAI_oc1; // []
	547	double _SISAI_oc2; // []
	548
	549	double _ISC_B1Cd; // [s]
	550	double _ISC_B2ad; // [s]
	551
	552	double _TGD1; // [s]
	553	double _TGD2; // [s]
	554	double _TGD_B1Cp; // [s]
	555	double _TGD_B2ap; // [s]
	556	double _TGD_B2bI; // [s]
	557
	558	double _SISMAI; // []
	559
[7278]	560	int _SatH1; //
[9789]	561	int _health; //
[9788]	562
	563	double _INTEGRITYF_B1C; // 3 bits word from sf 3
	564	double _INTEGRITYF_B2aB1C;// 6 bits word with integrity bits in msg 10-11, 30.34 or 40
	565	double _INTEGRITYF_B2b; // 3 bits word from msg 10
	566
	567	double _IODC; // []
	568	double _IODE; // [] IODE are the same as the 8 LSBs of IODC
	569
[6400]	570	};
[1025]	571	#endif

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