Index: /trunk/clock_and_orbit/CLCK4_080423
===================================================================
--- /trunk/clock_and_orbit/CLCK4_080423	(revision 956)
+++ /trunk/clock_and_orbit/CLCK4_080423	(revision 956)
@@ -0,0 +1,16310 @@
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+1476 303857.0 G16    29  29      3.247      1.704    1.072   -0.592
+1476 303857.0 G20    85  85      5.091      1.578   -0.044    0.674
+1476 303857.0 G23    25  25     -2.902      0.118   -1.817    0.405
+1476 303857.0 G25    58  58      6.936      0.903   -0.469   -0.344
+1476 303857.0 G27    90  90      7.548      0.915   -1.463   -0.169
+1476 303858.0 G02    18  18     -6.434      0.054    0.548   -0.694
+1476 303858.0 G04   115 115      6.155      1.193   -1.052   -0.529
+1476 303858.0 G07    24  24     -1.094     -0.079   -0.277   -0.714
+1476 303858.0 G13    57  57     -2.120      1.389    2.053   -0.800
+1476 303858.0 G16    29  29      3.248      1.703    1.072   -0.591
+1476 303858.0 G20    85  85      5.091      1.578   -0.044    0.674
+1476 303858.0 G23    25  25     -2.902      0.118   -1.818    0.405
+1476 303858.0 G25    58  58      6.937      0.904   -0.470   -0.344
+1476 303858.0 G27    90  90      7.546      0.914   -1.463   -0.168
+1476 303859.0 G02    18  18     -6.433      0.053    0.548   -0.694
+1476 303859.0 G04   115 115      6.156      1.193   -1.051   -0.528
+1476 303859.0 G07    24  24     -1.095     -0.079   -0.277   -0.714
+1476 303859.0 G13    57  57     -2.118      1.389    2.053   -0.800
+1476 303859.0 G16    29  29      3.247      1.703    1.072   -0.592
+1476 303859.0 G20    85  85      5.091      1.579   -0.044    0.674
+1476 303859.0 G23    25  25     -2.903      0.118   -1.818    0.405
+1476 303859.0 G25    58  58      6.937      0.904   -0.469   -0.343
+1476 303859.0 G27    90  90      7.545      0.914   -1.462   -0.168
+1476 303860.0 G02    18  18     -6.433      0.053    0.548   -0.694
+1476 303860.0 G04   115 115      6.156      1.193   -1.052   -0.529
+1476 303860.0 G07    24  24     -1.095     -0.079   -0.277   -0.714
+1476 303860.0 G13    57  57     -2.118      1.389    2.053   -0.800
+1476 303860.0 G16    29  29      3.247      1.703    1.072   -0.591
+1476 303860.0 G20    85  85      5.092      1.579   -0.045    0.674
+1476 303860.0 G23    25  25     -2.903      0.118   -1.818    0.405
+1476 303860.0 G25    58  58      6.938      0.904   -0.469   -0.343
+1476 303860.0 G27    90  90      7.545      0.915   -1.462   -0.168
+1476 303861.0 G02    18  18     -6.431      0.053    0.547   -0.694
+1476 303861.0 G04   115 115      6.153      1.193   -1.052   -0.528
+1476 303861.0 G07    24  24     -1.095     -0.079   -0.277   -0.714
+1476 303861.0 G13    57  57     -2.118      1.389    2.053   -0.799
+1476 303861.0 G16    29  29      3.247      1.703    1.072   -0.591
+1476 303861.0 G20    85  85      5.093      1.579   -0.045    0.674
+1476 303861.0 G23    25  25     -2.902      0.118   -1.819    0.404
+1476 303861.0 G25    58  58      6.937      0.904   -0.469   -0.343
+1476 303861.0 G27    90  90      7.545      0.914   -1.463   -0.168
+1476 303901.0 G02    18  18     -6.395      0.054    0.538   -0.690
+1476 303901.0 G04   115 115      6.158      1.192   -1.055   -0.531
+1476 303901.0 G07    24  24     -1.083     -0.080   -0.266   -0.718
+1476 303901.0 G13    57  57     -2.074      1.389    2.057   -0.791
+1476 303901.0 G16    29  29      3.179      1.703    1.071   -0.589
+1476 303901.0 G20    85  85      5.081      1.580   -0.057    0.675
+1476 303901.0 G23    25  25     -2.881      0.118   -1.830    0.403
+1476 303901.0 G25    58  58      6.949      0.903   -0.461   -0.334
+1476 303901.0 G27    90  90      7.529      0.910   -1.462   -0.160
+1476 303902.0 G02    18  18     -6.394      0.054    0.538   -0.690
+1476 303902.0 G04   115 115      6.157      1.192   -1.056   -0.531
+1476 303902.0 G07    24  24     -1.081     -0.080   -0.266   -0.718
+1476 303902.0 G13    57  57     -2.072      1.390    2.057   -0.791
+1476 303902.0 G16    29  29      3.178      1.703    1.071   -0.589
+1476 303902.0 G20    85  85      5.080      1.580   -0.058    0.675
+1476 303902.0 G23    25  25     -2.880      0.118   -1.831    0.403
+1476 303902.0 G25    58  58      6.951      0.904   -0.460   -0.334
+1476 303902.0 G27    90  90      7.527      0.910   -1.461   -0.160
+1476 303903.0 G02    18  18     -6.396      0.054    0.538   -0.690
+1476 303903.0 G04   115 115      6.153      1.193   -1.056   -0.531
+1476 303903.0 G07    24  24     -1.083     -0.081   -0.266   -0.718
+1476 303903.0 G13    57  57     -2.071      1.389    2.057   -0.791
+1476 303903.0 G16    29  29      3.175      1.703    1.071   -0.589
+1476 303903.0 G20    85  85      5.079      1.579   -0.058    0.675
+1476 303903.0 G23    25  25     -2.880      0.119   -1.831    0.402
+1476 303903.0 G25    58  58      6.950      0.903   -0.460   -0.333
+1476 303903.0 G27    90  90      7.527      0.910   -1.461   -0.159
+1476 303904.0 G02    18  18     -6.394      0.054    0.537   -0.690
+1476 303904.0 G04   115 115      6.153      1.192   -1.056   -0.532
+1476 303904.0 G07    24  24     -1.081     -0.081   -0.265   -0.718
+1476 303904.0 G13    57  57     -2.068      1.389    2.058   -0.791
+1476 303904.0 G16    29  29      3.173      1.703    1.070   -0.589
+1476 303904.0 G20    85  85      5.080      1.580   -0.058    0.675
+1476 303904.0 G23    25  25     -2.877      0.118   -1.831    0.402
+1476 303904.0 G25    58  58      6.951      0.903   -0.460   -0.334
+1476 303904.0 G27    90  90      7.529      0.909   -1.462   -0.159
+1476 303905.0 G02    18  18     -6.393      0.054    0.537   -0.690
+1476 303905.0 G04   115 115      6.151      1.193   -1.056   -0.531
+1476 303905.0 G07    24  24     -1.080     -0.081   -0.266   -0.718
+1476 303905.0 G13    57  57     -2.066      1.390    2.057   -0.791
+1476 303905.0 G16    29  29      3.172      1.703    1.071   -0.589
+1476 303905.0 G20    85  85      5.080      1.580   -0.059    0.675
+1476 303905.0 G23    25  25     -2.875      0.118   -1.832    0.402
+1476 303905.0 G25    58  58      6.951      0.903   -0.460   -0.334
+1476 303905.0 G27    90  90      7.528      0.910   -1.462   -0.159
+1476 303906.0 G02    18  18     -6.392      0.054    0.537   -0.690
+1476 303906.0 G04   115 115      6.149      1.192   -1.056   -0.531
+1476 303906.0 G07    24  24     -1.082     -0.081   -0.266   -0.718
+1476 303906.0 G13    57  57     -2.069      1.389    2.058   -0.790
+1476 303906.0 G16    29  29      3.170      1.703    1.071   -0.589
+1476 303906.0 G20    85  85      5.079      1.580   -0.059    0.675
+1476 303906.0 G23    25  25     -2.875      0.118   -1.831    0.402
+1476 303906.0 G25    58  58      6.951      0.903   -0.459   -0.334
+1476 303906.0 G27    90  90      7.527      0.909   -1.462   -0.159
+1476 303907.0 G02    18  18     -6.392      0.054    0.536   -0.690
+1476 303907.0 G04   115 115      6.148      1.191   -1.057   -0.531
+1476 303907.0 G07    24  24     -1.081     -0.081   -0.265   -0.718
+1476 303907.0 G13    57  57     -2.069      1.390    2.057   -0.790
+1476 303907.0 G16    29  29      3.169      1.703    1.072   -0.589
+1476 303907.0 G20    85  85      5.080      1.580   -0.059    0.675
+1476 303907.0 G23    25  25     -2.874      0.119   -1.832    0.402
+1476 303907.0 G25    58  58      6.950      0.904   -0.460   -0.333
+1476 303907.0 G27    90  90      7.527      0.909   -1.462   -0.159
+1476 303908.0 G02    18  18     -6.391      0.054    0.536   -0.690
+1476 303908.0 G04   115 115      6.149      1.192   -1.056   -0.531
+1476 303908.0 G07    24  24     -1.081     -0.081   -0.265   -0.718
+1476 303908.0 G13    57  57     -2.069      1.389    2.057   -0.790
+1476 303908.0 G16    29  29      3.168      1.704    1.071   -0.589
+1476 303908.0 G20    85  85      5.079      1.581   -0.060    0.675
+1476 303908.0 G23    25  25     -2.873      0.119   -1.833    0.403
+1476 303908.0 G25    58  58      6.951      0.903   -0.460   -0.333
+1476 303908.0 G27    90  90      7.527      0.909   -1.461   -0.158
+1476 303947.0 G02    18  18     -6.374      0.054    0.527   -0.687
+1476 303947.0 G04   115 115      6.149      1.191   -1.059   -0.533
+1476 303947.0 G07    24  24     -1.045     -0.082   -0.255   -0.721
+1476 303947.0 G13    57  57     -2.100      1.390    2.061   -0.783
+1476 303947.0 G16    29  29      3.191      1.703    1.071   -0.586
+1476 303947.0 G20    85  85      5.076      1.581   -0.071    0.676
+1476 303947.0 G23    25  25     -2.858      0.120   -1.844    0.400
+1476 303947.0 G25    58  58      6.947      0.903   -0.451   -0.325
+1476 303947.0 G27    90  90      7.505      0.905   -1.460   -0.150
+1476 303948.0 G02    18  18     -6.375      0.054    0.527   -0.686
+1476 303948.0 G04   115 115      6.148      1.191   -1.060   -0.534
+1476 303948.0 G07    24  24     -1.044     -0.082   -0.255   -0.721
+1476 303948.0 G13    57  57     -2.102      1.390    2.061   -0.782
+1476 303948.0 G16    29  29      3.190      1.703    1.070   -0.586
+1476 303948.0 G20    85  85      5.078      1.581   -0.071    0.675
+1476 303948.0 G23    25  25     -2.856      0.119   -1.844    0.399
+1476 303948.0 G25    58  58      6.947      0.903   -0.451   -0.325
+1476 303948.0 G27    90  90      7.506      0.904   -1.459   -0.151
+1476 303949.0 G02    18  18     -6.376      0.055    0.527   -0.686
+1476 303949.0 G04   115 115      6.148      1.191   -1.059   -0.534
+1476 303949.0 G07    24  24     -1.043     -0.081   -0.255   -0.721
+1476 303949.0 G13    57  57     -2.103      1.390    2.061   -0.782
+1476 303949.0 G16    29  29      3.190      1.703    1.070   -0.586
+1476 303949.0 G20    85  85      5.079      1.582   -0.071    0.676
+1476 303949.0 G23    25  25     -2.854      0.119   -1.844    0.400
+1476 303949.0 G25    58  58      6.946      0.903   -0.450   -0.324
+1476 303949.0 G27    90  90      7.506      0.904   -1.460   -0.151
+1476 303950.0 G02    18  18     -6.377      0.054    0.526   -0.687
+1476 303950.0 G04   115 115      6.149      1.191   -1.060   -0.534
+1476 303950.0 G07    24  24     -1.043     -0.082   -0.255   -0.722
+1476 303950.0 G13    57  57     -2.104      1.390    2.061   -0.782
+1476 303950.0 G16    29  29      3.190      1.703    1.070   -0.586
+1476 303950.0 G20    85  85      5.079      1.581   -0.072    0.675
+1476 303950.0 G23    25  25     -2.852      0.119   -1.845    0.399
+1476 303950.0 G25    58  58      6.945      0.904   -0.450   -0.324
+1476 303950.0 G27    90  90      7.507      0.904   -1.459   -0.150
+1476 303951.0 G02    18  18     -6.378      0.054    0.527   -0.686
+1476 303951.0 G04   115 115      6.151      1.191   -1.060   -0.534
+1476 303951.0 G07    24  24     -1.046     -0.081   -0.254   -0.722
+1476 303951.0 G13    57  57     -2.106      1.390    2.061   -0.782
+1476 303951.0 G16    29  29      3.192      1.703    1.070   -0.586
+1476 303951.0 G20    85  85      5.081      1.582   -0.072    0.676
+1476 303951.0 G23    25  25     -2.851      0.119   -1.844    0.399
+1476 303951.0 G25    58  58      6.944      0.903   -0.451   -0.323
+1476 303951.0 G27    90  90      7.508      0.904   -1.460   -0.150
+1476 303952.0 G02    18  18     -6.379      0.054    0.526   -0.687
+1476 303952.0 G04   115 115      6.153      1.192   -1.060   -0.534
+1476 303952.0 G07    24  24     -1.045     -0.082   -0.255   -0.722
+1476 303952.0 G13    57  57     -2.107      1.390    2.062   -0.782
+1476 303952.0 G16    29  29      3.192      1.703    1.070   -0.586
+1476 303952.0 G20    85  85      5.081      1.581   -0.072    0.676
+1476 303952.0 G23    25  25     -2.848      0.119   -1.845    0.399
+1476 303952.0 G25    58  58      6.942      0.903   -0.450   -0.324
+1476 303952.0 G27    90  90      7.508      0.904   -1.459   -0.150
Index: /trunk/clock_and_orbit/CLCK4_080423.txt
===================================================================
--- /trunk/clock_and_orbit/CLCK4_080423.txt	(revision 956)
+++ /trunk/clock_and_orbit/CLCK4_080423.txt	(revision 956)
@@ -0,0 +1,28 @@
+im Anhang finden Sie die Aufzeichnung von www.igs-ip.net/CLCK4 für etwa 1.5
+Stunden. Es handelt sich um den Zeitraum 08-04-23 10:57:20 bis etwa 08-04-23
+12:26:48. In den 9
+Spalten findet sich die Information:
+
+1. GPS-Woche
+2. Sekunde der GPS-Woche
+3. PRN
+4. IODC
+5. IODE
+6. clock-Corr[m]
+7. radial-Corr[m]
+8. along-track-Corr[m]
+9. out-of-plane-Corr[m]
+
+Auszug aus der Datei:
+
+1476 298631.0 G01    51  51     -6.968      0.570   -0.791    0.056
+1476 298631.0 G04   114 114      4.299      1.224   -1.114   -0.399
+1476 298631.0 G11     3   3      4.533      1.530   -0.479   -0.088
+1476 298631.0 G13    56  56     -4.364      1.414    1.432   -1.260
+1476 298631.0 G17    70  70     -1.062      0.029   -1.777   -0.979
+1476 298631.0 G20    84  84      3.043      1.561    0.153   -0.136
+1476 298631.0 G23    24  24     -3.962      0.155   -1.096    0.449
+1476 298631.0 G25    49  49      5.367      1.069   -1.236   -0.805
+1476 298631.0 G31    66  66      1.343      0.055    0.507    0.609
+1476 298631.0 G32    58  58     -6.484      0.966   -0.683    0.383
+...
Index: /trunk/clock_and_orbit/clock_orbit_rtcm.c
===================================================================
--- /trunk/clock_and_orbit/clock_orbit_rtcm.c	(revision 956)
+++ /trunk/clock_and_orbit/clock_orbit_rtcm.c	(revision 956)
@@ -0,0 +1,683 @@
+/* Programheader
+
+        Name:           clock_orbit_rtcm.c
+        Project:        RTCM3
+        Version:        $Id$
+        Authors:        Dirk Stöcker
+        Description:    state space approach for RTCM3
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include <stdint.h>
+#include "clock_orbit_rtcm.h"
+
+static uint32_t CRC24(long size, const unsigned char *buf)
+{
+  uint32_t crc = 0;
+  int i;
+
+  while(size--)
+  {
+    crc ^= (*buf++) << (16);
+    for(i = 0; i < 8; i++)
+    {
+      crc <<= 1;
+      if(crc & 0x1000000)
+        crc ^= 0x01864cfb;
+    }
+  }
+  return crc;
+}
+
+/* NOTE: These defines are interlinked with below functions and directly modify
+the values. This may not be optimized in terms of final program code size but
+should be optimized in terms of speed.
+
+modified variables are:
+- everything defined in STARTDATA (only use ressize outside of the defines,
+  others are private)
+- buffer
+- size
+*/
+
+#ifndef NOENCODE
+#define STOREBITS \
+  while(numbits >= 8) \
+  { \
+    if(!size) return 0; \
+    *(buffer++) = bitbuffer>>(numbits-8); \
+    numbits -= 8; \
+    ++ressize; \
+    --size; \
+  }
+
+#define ADDBITS(a, b) \
+  { \
+    bitbuffer = (bitbuffer<<(a))|((b)&((1<<a)-1)); \
+    numbits += (a); \
+    STOREBITS \
+  }
+
+#define STARTDATA \
+  size_t ressize=0; \
+  char *blockstart; \
+  int numbits; \
+  uint64_t bitbuffer=0;
+
+#define INITBLOCK \
+  numbits = 0; \
+  blockstart = buffer; \
+  ADDBITS(8, 0xD3) \
+  ADDBITS(6, 0) \
+  ADDBITS(10, 0)
+
+#define ENDBLOCK \
+  if(numbits) { ADDBITS((8-numbits), 0) } \
+  { \
+    int len = buffer-blockstart-3; \
+    blockstart[1] |= len>>8; \
+    blockstart[2] = len; \
+    len = CRC24(len+3, (const unsigned char *) blockstart); \
+    ADDBITS(24, len) \
+  }
+
+#define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(b*c))
+
+#define DEBUGSCALEADDBITS(n, a, b, c) \
+  { \
+    int64_t x = b*c, z; \
+    uint64_t y; \
+    y = (x&((1<<a)-1)); \
+    z = ((int64_t)(y<<(64-a)))>>(64-a); \
+    fprintf(stderr, "Type " # n " val %19.15f*%11.1f %16llX %16llX %16llX %s\n", \
+    c, b, x, y, z, x != z ? "OVERFLOW" : "OK"); \
+  } \
+  SCALEADDBITS(a,b,c)
+
+/* standard values */
+#define T_MESSAGE_NUMBER(a)              ADDBITS(12, a) /* DF002 */
+#define T_RESERVED6                      ADDBITS(6, 0)  /* DF001 */
+#define T_GPS_SATELLITE_ID(a)            ADDBITS(6, a)  /* DF068 */
+#define T_GPS_IODE(a)                    ADDBITS(8, a)  /* DF071 */
+#define T_GLONASS_IOD(a)                 ADDBITS(8, a)  /* DF237 */
+
+/* defined values */
+#define T_MULTIPLE_MESSAGE_INDICATOR(a)  ADDBITS(1, a)
+#define T_GPS_EPOCH_TIME(a)              ADDBITS(20, a)
+#define T_GLONASS_EPOCH_TIME(a)          ADDBITS(17, a)
+#define T_GLONASS_SATELLITE_ID(a)        ADDBITS(6, a)
+#define T_NO_OF_SATELLITES(a)            ADDBITS(5, a)
+#define T_SATELLITE_REFERENCE_POINT(a)   ADDBITS(1, a)
+#define T_SATELLITE_REFERENCE_DATUM(a)   ADDBITS(1, a)
+#define T_NO_OF_CODE_BIASES(a)           ADDBITS(5, a)
+#define T_GPS_CODE_TYPE(a)               ADDBITS(5, a)
+#define T_GLONASS_CODE_TYPE(a)           ADDBITS(5, a)
+
+/* yet undefined values */
+#define T_DELTA_RADIAL(a)                DEBUGSCALEADDBITS(dr, 20, 1000.0, a)
+#define T_DELTA_ALONG_TRACK(a)           DEBUGSCALEADDBITS(da, 20, 1000.0, a)
+#define T_DELTA_CROSS_TRACK(a)           DEBUGSCALEADDBITS(dc, 20, 1000.0, a)
+#define T_DELTA_DOT_RADIAL(a)            DEBUGSCALEADDBITS(Dr, 20, 100000.0, a)
+#define T_DELTA_DOT_ALONG_TRACK(a)       DEBUGSCALEADDBITS(Dr, 20, 100000.0, a)
+#define T_DELTA_DOT_CROSS_TRACK(a)       DEBUGSCALEADDBITS(Dr, 20, 100000.0, a)
+#define T_DELTA_DOT_DOT_RADIAL(a)        DEBUGSCALEADDBITS(DR, 20, 5000000.0, a)
+#define T_DELTA_DOT_DOT_ALONG_TRACK(a)   DEBUGSCALEADDBITS(DA, 20, 5000000.0, a)
+#define T_DELTA_DOT_DOT_CROSS_TRACK(a)   DEBUGSCALEADDBITS(DC, 20, 5000000.0, a)
+#define T_DELTA_A0(a)                    DEBUGSCALEADDBITS(A0, 20, 1000.0, a)
+#define T_DELTA_A1(a)                    DEBUGSCALEADDBITS(A1, 20, 100000.0, a)
+#define T_DELTA_A2(a)                    DEBUGSCALEADDBITS(A2, 20, 5000000.0, a)
+#define T_CODE_BIAS(a)                   DEBUGSCALEADDBITS(CB, 20, 100.0, a)
+
+size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
+int moremessagesfollow, char *buffer, size_t size)
+{
+  int gpsor=0, gpscl=0, gpsco=0, gloor=0, glocl=0, gloco=0, mmi, i;
+  STARTDATA
+
+  if(co->NumberOfGPSSat && co->OrbitDataSupplied
+  && (type == COTYPE_AUTO || type == COTYPE_GPSORBIT))
+    gpsor = 1;
+  if(co->NumberOfGPSSat && co->ClockDataSupplied
+  && (type == COTYPE_AUTO || type == COTYPE_GPSCLOCK))
+    gpscl = 1;
+  if(co->NumberOfGPSSat && co->ClockDataSupplied && co->OrbitDataSupplied
+  && (type == COTYPE_AUTO || type == COTYPE_GPSCOMBINED))
+  {
+    gpsco = 1; gpsor = 0; gpscl = 0;
+  }
+  if(co->NumberOfGLONASSSat && co->OrbitDataSupplied
+  && (type == COTYPE_AUTO || type == COTYPE_GLONASSORBIT))
+    gloor = 1;
+  if(co->NumberOfGLONASSSat && co->ClockDataSupplied
+  && (type == COTYPE_AUTO || type == COTYPE_GLONASSCLOCK))
+    glocl = 1;
+  if(co->NumberOfGLONASSSat && co->ClockDataSupplied && co->OrbitDataSupplied
+  && (type == COTYPE_AUTO || type == COTYPE_GLONASSCOMBINED))
+  {
+    gloco = 1; gloor = 0; glocl = 0;
+  }
+
+  mmi = gpsor+gpscl+gpsco+gloor+glocl+gloco; /* required for multimessage */
+  if(!moremessagesfollow) --mmi;
+
+  if(gpsor)
+  {
+    INITBLOCK
+    T_MESSAGE_NUMBER(COTYPE_GPSORBIT)
+    T_GPS_EPOCH_TIME(co->GPSEpochTime)
+    T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
+    --mmi;
+    T_RESERVED6
+    T_NO_OF_SATELLITES(co->NumberOfGPSSat)
+    for(i = 0; i < co->NumberOfGPSSat; ++i)
+    {
+      T_GPS_SATELLITE_ID(co->Sat[i].ID)
+      T_GPS_IODE(co->Sat[i].IOD)
+      T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
+      T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
+      T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
+      T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
+      T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
+      T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
+      T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
+      T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
+      T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
+      T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
+      T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
+    }
+    ENDBLOCK
+  }
+  if(gpscl)
+  {
+    INITBLOCK
+    T_MESSAGE_NUMBER(COTYPE_GPSCLOCK)
+    T_GPS_EPOCH_TIME(co->GPSEpochTime)
+    T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
+    --mmi;
+    T_RESERVED6
+    T_NO_OF_SATELLITES(co->NumberOfGPSSat)
+    for(i = 0; i < co->NumberOfGPSSat; ++i)
+    {
+      T_GPS_SATELLITE_ID(co->Sat[i].ID)
+      T_GPS_IODE(co->Sat[i].IOD)
+      T_DELTA_A0(co->Sat[i].Clock.DeltaA0)
+      T_DELTA_A1(co->Sat[i].Clock.DeltaA1)
+      T_DELTA_A2(co->Sat[i].Clock.DeltaA2)
+    }
+    ENDBLOCK
+  }
+  if(gpsco)
+  {
+    INITBLOCK
+    T_MESSAGE_NUMBER(COTYPE_GPSCOMBINED)
+    T_GPS_EPOCH_TIME(co->GPSEpochTime)
+    T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
+    --mmi;
+    T_RESERVED6
+    T_NO_OF_SATELLITES(co->NumberOfGPSSat)
+    for(i = 0; i < co->NumberOfGPSSat; ++i)
+    {
+      T_GPS_SATELLITE_ID(co->Sat[i].ID)
+      T_GPS_IODE(co->Sat[i].IOD)
+      T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
+      T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
+      T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
+      T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
+      T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
+      T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
+      T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
+      T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
+      T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
+      T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
+      T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
+      T_DELTA_A0(co->Sat[i].Clock.DeltaA0)
+      T_DELTA_A1(co->Sat[i].Clock.DeltaA1)
+      T_DELTA_A2(co->Sat[i].Clock.DeltaA2)
+    }
+    ENDBLOCK
+  }
+  if(gloor)
+  {
+    INITBLOCK
+    T_MESSAGE_NUMBER(COTYPE_GLONASSORBIT)
+    T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
+    T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
+    --mmi;
+    T_RESERVED6
+    T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
+    for(i = CLOCKORBIT_NUMGPS;
+    i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
+    {
+      T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
+      T_GLONASS_IOD(co->Sat[i].IOD)
+      T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
+      T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
+      T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
+      T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
+      T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
+      T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
+      T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
+      T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
+      T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
+      T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
+      T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
+    }
+    ENDBLOCK
+  }
+  if(glocl)
+  {
+    INITBLOCK
+    T_MESSAGE_NUMBER(COTYPE_GLONASSCLOCK)
+    T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
+    T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
+    --mmi;
+    T_RESERVED6
+    T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
+    for(i = CLOCKORBIT_NUMGPS;
+    i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
+    {
+      T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
+      T_GLONASS_IOD(co->Sat[i].IOD)
+      T_DELTA_A0(co->Sat[i].Clock.DeltaA0)
+      T_DELTA_A1(co->Sat[i].Clock.DeltaA1)
+      T_DELTA_A2(co->Sat[i].Clock.DeltaA2)
+    }
+    ENDBLOCK
+  }
+  if(gloco)
+  {
+    INITBLOCK
+    T_MESSAGE_NUMBER(COTYPE_GLONASSCOMBINED)
+    T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
+    T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
+    --mmi;
+    T_RESERVED6
+    T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
+    for(i = CLOCKORBIT_NUMGPS;
+    i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
+    {
+      T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
+      T_GLONASS_IOD(co->Sat[i].IOD)
+      T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
+      T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
+      T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
+      T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
+      T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
+      T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
+      T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
+      T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
+      T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
+      T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
+      T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
+      T_DELTA_A0(co->Sat[i].Clock.DeltaA0)
+      T_DELTA_A1(co->Sat[i].Clock.DeltaA1)
+      T_DELTA_A2(co->Sat[i].Clock.DeltaA2)
+    }
+    ENDBLOCK
+  }
+
+  return ressize;
+}
+
+size_t MakeBias(const struct Bias *b, enum BiasType type,
+int moremessagesfollow, char *buffer, size_t size)
+{
+  int gps, glo, mmi, i, j;
+  STARTDATA
+
+  if(b->NumberOfGPSSat && (type == BTYPE_AUTO || type == BTYPE_GPS))
+    gps = 1;
+  if(b->NumberOfGLONASSSat && (type == BTYPE_AUTO || type == BTYPE_GLONASS))
+    glo = 1;
+
+  mmi = gps+glo; /* required for multimessage */
+  if(!moremessagesfollow) --mmi;
+
+  if(gps)
+  {
+    INITBLOCK
+    T_MESSAGE_NUMBER(BTYPE_GPS)
+    T_GPS_EPOCH_TIME(b->GPSEpochTime)
+    T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
+    --mmi;
+    T_RESERVED6
+    T_NO_OF_SATELLITES(b->NumberOfGPSSat)
+    for(i = 0; i < b->NumberOfGPSSat; ++i)
+    {
+      T_GPS_SATELLITE_ID(b->Sat[i].ID)
+      T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
+      for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
+      {
+        T_GPS_CODE_TYPE(b->Sat[i].Biases[j].Type)
+        T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
+      }
+    }
+    ENDBLOCK
+  }
+  if(glo)
+  {
+    INITBLOCK
+    T_MESSAGE_NUMBER(BTYPE_GLONASS)
+    T_GPS_EPOCH_TIME(b->GLONASSEpochTime)
+    T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
+    --mmi;
+    T_RESERVED6
+    T_NO_OF_SATELLITES(b->NumberOfGLONASSSat)
+    for(i = CLOCKORBIT_NUMGPS;
+    i < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat; ++i)
+    {
+      T_GLONASS_SATELLITE_ID(b->Sat[i].ID)
+      T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
+      for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
+      {
+        T_GLONASS_CODE_TYPE(b->Sat[i].Biases[j].Type)
+        T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
+      }
+    }
+    ENDBLOCK
+  }
+
+  return ressize;
+}
+#endif /* NOENCODE */
+
+#ifndef NODECODE
+
+#define DECODESTART \
+  int numbits=0; \
+  uint64_t bitbuffer=0;
+
+#define LOADBITS(a) \
+{ \
+  while((a) > numbits) \
+  { \
+    if(!size--) return GCOBR_SHORTBUFFER; \
+    bitbuffer = (bitbuffer<<8)|((unsigned char)*(buffer++)); \
+    numbits += 8; \
+  } \
+}
+
+/* extract bits from data stream
+   b = variable to store result, a = number of bits */
+#define GETBITS(b, a) \
+{ \
+  LOADBITS(a) \
+  b = (bitbuffer<<(64-numbits))>>(64-(a)); \
+  numbits -= (a); \
+}
+
+/* extract signed floating value from data stream
+   b = variable to store result, a = number of bits */
+#define GETFLOATSIGN(b, a, c) \
+{ \
+  LOADBITS(a) \
+  b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
+  numbits -= (a); \
+}
+
+#define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
+
+/* standard values */
+#define G_HEADER(a)                      GETBITS(a,8)
+#define G_RESERVEDH(a)                   GETBITS(a,6)
+#define G_SIZE(a)                        GETBITS(a, 10)
+#define G_MESSAGE_NUMBER(a)              GETBITS(a, 12) /* DF002 */
+#define G_RESERVED6                      SKIPBITS(6)    /* DF001 */
+#define G_GPS_SATELLITE_ID(a)            {int temp; GETBITS(temp, 6) \
+ if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;}  /* DF068 */
+#define G_GPS_IODE(a)                    GETBITS(a, 8)  /* DF071 */
+#define G_GLONASS_IOD(a)                 GETBITS(a, 8)  /* DF237 */
+
+/* defined values */
+#define G_MULTIPLE_MESSAGE_INDICATOR(a)  GETBITS(a, 1)
+#define G_GPS_EPOCH_TIME(a, b)           {int temp; GETBITS(temp, 20) \
+ if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
+#define G_GLONASS_EPOCH_TIME(a, b)       {int temp; GETBITS(temp, 17) \
+ if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
+#define G_GLONASS_SATELLITE_ID(a)        {int temp; GETBITS(temp, 6) \
+ if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;}
+#define G_NO_OF_SATELLITES(a)            {int temp; GETBITS(temp, 5) \
+ if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;}
+#define G_SATELLITE_REFERENCE_POINT(a)   GETBITS(a, 1)
+#define G_SATELLITE_REFERENCE_DATUM(a)   GETBITS(a, 1)
+#define G_NO_OF_CODE_BIASES(a)           GETBITS(a, 5)
+#define G_GPS_CODE_TYPE(a)               GETBITS(a, 5)
+#define G_GLONASS_CODE_TYPE(a)           GETBITS(a, 5)
+
+/* yet undefined values */
+#define G_DELTA_RADIAL(a)                GETFLOATSIGN(a, 20, 1/1000.0)
+#define G_DELTA_ALONG_TRACK(a)           GETFLOATSIGN(a, 20, 1/1000.0)
+#define G_DELTA_CROSS_TRACK(a)           GETFLOATSIGN(a, 20, 1/1000.0)
+#define G_DELTA_DOT_RADIAL(a)            GETFLOATSIGN(a, 20, 1/100000.0)
+#define G_DELTA_DOT_ALONG_TRACK(a)       GETFLOATSIGN(a, 20, 1/100000.0)
+#define G_DELTA_DOT_CROSS_TRACK(a)       GETFLOATSIGN(a, 20, 1/100000.0)
+#define G_DELTA_DOT_DOT_RADIAL(a)        GETFLOATSIGN(a, 20, 1/5000000.0)
+#define G_DELTA_DOT_DOT_ALONG_TRACK(a)   GETFLOATSIGN(a, 20, 1/5000000.0)
+#define G_DELTA_DOT_DOT_CROSS_TRACK(a)   GETFLOATSIGN(a, 20, 1/5000000.0)
+#define G_DELTA_A0(a)                    GETFLOATSIGN(a, 20, 1/1000.0)
+#define G_DELTA_A1(a)                    GETFLOATSIGN(a, 20, 1/100000.0)
+#define G_DELTA_A2(a)                    GETFLOATSIGN(a, 20, 1/5000000.0)
+#define G_CODE_BIAS(a)                   GETFLOATSIGN(a, 20, 1/100.0)
+
+enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b,
+const char *buffer, size_t size, int *bytesused)
+{
+  int type, mmi=0, i, j, h, rs, sizeofrtcmblock;
+  const char *blockstart = buffer;
+  DECODESTART
+
+  if(size < 7)
+    return GCOBR_SHORTBUFFER;
+
+  G_HEADER(h)
+  G_RESERVEDH(rs)
+  G_SIZE(sizeofrtcmblock);
+
+  if((unsigned char)h != 0xD3 || rs)
+    return GCOBR_UNKNOWNDATA;
+  if(size < sizeofrtcmblock + 3) /* 3 header bytes already removed */
+    return GCOBR_MESSAGEEXCEEDSBUFFER;
+  if(CRC24(sizeofrtcmblock+3, (const unsigned char *) blockstart) !=
+  ((((unsigned char)buffer[sizeofrtcmblock])<<16)|
+   (((unsigned char)buffer[sizeofrtcmblock+1])<<8)|
+   (((unsigned char)buffer[sizeofrtcmblock+2]))))
+    return GCOBR_CRCMISMATCH;
+
+  G_MESSAGE_NUMBER(type)
+  switch(type)
+  {
+  case COTYPE_GPSORBIT:
+    if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
+    G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
+    G_MULTIPLE_MESSAGE_INDICATOR(mmi)
+    G_RESERVED6
+    G_NO_OF_SATELLITES(co->NumberOfGPSSat)
+    if(co->OrbitDataSupplied)
+      return GCOBR_DATAMISMATCH;
+    co->OrbitDataSupplied = 1;
+    for(i = 0; i < co->NumberOfGPSSat; ++i)
+    {
+      G_GPS_SATELLITE_ID(co->Sat[i].ID)
+      G_GPS_IODE(co->Sat[i].IOD)
+      G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
+      G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
+      G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
+      G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
+      G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
+      G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
+      G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
+      G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
+      G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
+      G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
+      G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
+    }
+    break;
+  case COTYPE_GPSCLOCK:
+    if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
+    G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
+    G_MULTIPLE_MESSAGE_INDICATOR(mmi)
+    G_RESERVED6
+    G_NO_OF_SATELLITES(co->NumberOfGPSSat)
+    if(co->ClockDataSupplied)
+      return GCOBR_DATAMISMATCH;
+    co->ClockDataSupplied = 1;
+    for(i = 0; i < co->NumberOfGPSSat; ++i)
+    {
+      G_GPS_SATELLITE_ID(co->Sat[i].ID)
+      G_GPS_IODE(co->Sat[i].IOD)
+      G_DELTA_A0(co->Sat[i].Clock.DeltaA0)
+      G_DELTA_A1(co->Sat[i].Clock.DeltaA1)
+      G_DELTA_A2(co->Sat[i].Clock.DeltaA2)
+    }
+    break;
+  case COTYPE_GPSCOMBINED:
+    if(!co) return -5;
+    G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
+    G_MULTIPLE_MESSAGE_INDICATOR(mmi)
+    G_RESERVED6
+    G_NO_OF_SATELLITES(co->NumberOfGPSSat)
+    if(co->ClockDataSupplied || co->OrbitDataSupplied)
+      return GCOBR_DATAMISMATCH;
+    co->OrbitDataSupplied = 1;
+    co->ClockDataSupplied = 1;
+    for(i = 0; i < co->NumberOfGPSSat; ++i)
+    {
+      G_GPS_SATELLITE_ID(co->Sat[i].ID)
+      G_GPS_IODE(co->Sat[i].IOD)
+      G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
+      G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
+      G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
+      G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
+      G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
+      G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
+      G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
+      G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
+      G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
+      G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
+      G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
+      G_DELTA_A0(co->Sat[i].Clock.DeltaA0)
+      G_DELTA_A1(co->Sat[i].Clock.DeltaA1)
+      G_DELTA_A2(co->Sat[i].Clock.DeltaA2)
+    }
+    break;
+  case COTYPE_GLONASSORBIT:
+    if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
+    G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
+    G_MULTIPLE_MESSAGE_INDICATOR(mmi)
+    G_RESERVED6
+    G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
+    if(co->OrbitDataSupplied)
+      return GCOBR_DATAMISMATCH;
+    co->OrbitDataSupplied = 1;
+    for(i = CLOCKORBIT_NUMGPS;
+    i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
+    {
+      G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
+      G_GLONASS_IOD(co->Sat[i].IOD)
+      G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
+      G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
+      G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
+      G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
+      G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
+      G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
+      G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
+      G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
+      G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
+      G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
+      G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
+    }
+    break;
+  case COTYPE_GLONASSCLOCK:
+    if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
+    G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
+    G_MULTIPLE_MESSAGE_INDICATOR(mmi)
+    G_RESERVED6
+    G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
+    if(co->ClockDataSupplied)
+      return GCOBR_DATAMISMATCH;
+    co->ClockDataSupplied = 1;
+    for(i = CLOCKORBIT_NUMGPS;
+    i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
+    {
+      G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
+      G_GLONASS_IOD(co->Sat[i].IOD)
+      G_DELTA_A0(co->Sat[i].Clock.DeltaA0)
+      G_DELTA_A1(co->Sat[i].Clock.DeltaA1)
+      G_DELTA_A2(co->Sat[i].Clock.DeltaA2)
+    }
+    break;
+  case COTYPE_GLONASSCOMBINED:
+    if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
+    G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
+    G_MULTIPLE_MESSAGE_INDICATOR(mmi)
+    G_RESERVED6
+    G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
+    if(co->ClockDataSupplied || co->OrbitDataSupplied)
+      return GCOBR_DATAMISMATCH;
+    co->OrbitDataSupplied = 1;
+    co->ClockDataSupplied = 1;
+    for(i = CLOCKORBIT_NUMGPS;
+    i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
+    {
+      G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
+      G_GLONASS_IOD(co->Sat[i].IOD)
+      G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
+      G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
+      G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
+      G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
+      G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
+      G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
+      G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
+      G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
+      G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
+      G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
+      G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
+      G_DELTA_A0(co->Sat[i].Clock.DeltaA0)
+      G_DELTA_A1(co->Sat[i].Clock.DeltaA1)
+      G_DELTA_A2(co->Sat[i].Clock.DeltaA2)
+    }
+    break;
+  case BTYPE_GPS:
+    if(!b) return GCOBR_NOBIASPARAMETER;
+    G_GPS_EPOCH_TIME(b->GPSEpochTime, co->NumberOfGPSSat)
+    G_MULTIPLE_MESSAGE_INDICATOR(mmi)
+    G_RESERVED6
+    G_NO_OF_SATELLITES(b->NumberOfGPSSat)
+    for(i = 0; i < b->NumberOfGPSSat; ++i)
+    {
+      G_GPS_SATELLITE_ID(b->Sat[i].ID)
+      G_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
+      for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
+      {
+        G_GPS_CODE_TYPE(b->Sat[i].Biases[j].Type)
+        G_CODE_BIAS(b->Sat[i].Biases[j].Bias)
+      }
+    }
+    break;
+  case BTYPE_GLONASS:
+    if(!b) return GCOBR_NOBIASPARAMETER;
+    G_GPS_EPOCH_TIME(b->GLONASSEpochTime, co->NumberOfGLONASSSat)
+    G_MULTIPLE_MESSAGE_INDICATOR(mmi)
+    G_RESERVED6
+    G_NO_OF_SATELLITES(b->NumberOfGLONASSSat)
+    for(i = CLOCKORBIT_NUMGPS;
+    i < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat; ++i)
+    {
+      G_GLONASS_SATELLITE_ID(b->Sat[i].ID)
+      G_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
+      for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
+      {
+        G_GLONASS_CODE_TYPE(b->Sat[i].Biases[j].Type)
+        G_CODE_BIAS(b->Sat[i].Biases[j].Bias)
+      }
+    }
+    break;
+  default:
+    return GCOBR_UNKNOWNTYPE;
+  }
+  if(bytesused)
+    *bytesused = sizeofrtcmblock+6;
+  return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
+}
+#endif /* NODECODE */
Index: /trunk/clock_and_orbit/clock_orbit_rtcm.h
===================================================================
--- /trunk/clock_and_orbit/clock_orbit_rtcm.h	(revision 956)
+++ /trunk/clock_and_orbit/clock_orbit_rtcm.h	(revision 956)
@@ -0,0 +1,131 @@
+#ifndef RTCM3_CLOCK_ORBIT_RTCM_H
+#define RTCM3_CLOCK_ORBIT_RTCM_H
+
+/* Programheader
+
+        Name:           clock_orbit_rtcm.h
+        Project:        RTCM3
+        Version:        $Id$
+        Authors:        Dirk Stöcker
+        Description:    state space approach for RTCM3
+*/
+
+#include <string.h>
+
+enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 };
+enum SatelliteReferencePoint { POINT_IONOFREE=0, POINT_CENTER=1 };
+enum ClockOrbitType { COTYPE_GPSORBIT=4050, COTYPE_GPSCLOCK=4051,
+     COTYPE_GLONASSORBIT=4053, COTYPE_GLONASSCLOCK=4054,
+     COTYPE_GPSCOMBINED=4056, COTYPE_GLONASSCOMBINED=4057,
+     COTYPE_AUTO=0 };
+enum BiasType { BTYPE_GPS=4052, BTYPE_GLONASS=4055, BTYPE_AUTO = 0 };
+
+enum COR_CONSTANTS {
+  CLOCKORBIT_BUFFERSIZE=2048,
+  CLOCKORBIT_NUMGPS=32,
+  CLOCKORBIT_NUMGLONASS=24,
+  CLOCKORBIT_NUMBIAS=10
+};
+
+enum CodeType {
+  CODETYPEGPS_L1_CA          = 0,
+  CODETYPEGPS_L1_P           = 1,
+  CODETYPEGPS_L1_Z           = 2,
+  /* ... */
+
+  CODETYPEGLONASS_L1_CA      = 0,
+  CODETYPEGLONASS_L1_P       = 1,
+  CODETYPEGLONASS_L2_CA      = 2,
+  CODETYPEGLONASS_L2_P       = 3,
+};
+
+/* GLONASS data is stored with offset CLOCKORBIT_NUMGPS in the data structures.
+So first GLONASS satellite is at xxx->Sat[CLOCKORBIT_NUMGPS], first
+GPS satellite is xxx->Sat[0]. */
+
+struct ClockOrbit
+{
+  int GPSEpochTime;                 /* 0 .. 604799 s */
+  int GLONASSEpochTime;             /* 0 .. 86399 s (86400 for leap second) */
+  int NumberOfGPSSat;               /* 0 .. 32 */
+  int NumberOfGLONASSSat;           /* 0 .. 24 */
+  int ClockDataSupplied;            /* boolean */
+  int OrbitDataSupplied;            /* boolean */
+  enum SatelliteReferencePoint SatRefPoint;
+  enum SatelliteReferenceDatum SatRefDatum;
+  struct SatData {
+    int ID; /* GPS or GLONASS */
+    int IOD; /* GPS or GLONASS */
+    struct OrbitPart
+    {
+      double DeltaRadial;           /* m */
+      double DeltaAlongTrack;       /* m */
+      double DeltaCrossTrack;       /* m */
+      double DotDeltaRadial;        /* m/s */
+      double DotDeltaAlongTrack;    /* m/s */
+      double DotDeltaCrossTrack;    /* m/s */
+      double DotDotDeltaRadial;     /* m/ss */
+      double DotDotDeltaAlongTrack; /* m/ss */
+      double DotDotDeltaCrossTrack; /* m/ss */
+    } Orbit;
+    struct ClockPart
+    {
+      double DeltaA0;               /* m */
+      double DeltaA1;               /* m/s */
+      double DeltaA2;               /* m/ss */
+    } Clock;
+  } Sat[CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS];
+};
+
+struct Bias
+{
+  int GPSEpochTime;                 /* 0 .. 604799 s */
+  int GLONASSEpochTime;             /* 0 .. 86399 s (86400 for leap second) */
+  int NumberOfGPSSat;               /* 0 .. 32 */
+  int NumberOfGLONASSSat;           /* 0 .. 24 */
+  struct BiasSat
+  {
+    int ID; /* GPS or GLONASS */
+    int NumberOfCodeBiases;
+    struct CodeBias
+    {
+      enum CodeType Type;
+      float         Bias;           /* m */
+    } Biases[CLOCKORBIT_NUMBIAS];
+  } Sat[CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS];
+};
+
+/* return size of resulting data or 0 in case of an error */
+size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
+       int moremessagesfollow, char *buffer, size_t size);
+size_t MakeBias(const struct Bias *b, enum BiasType type,
+       int moremessagesfollow, char *buffer, size_t size);
+
+enum GCOB_RETURN {
+  /* all well */
+  GCOBR_MESSAGEFOLLOWS = 1,
+  GCOBR_OK = 0,
+  /* unknown data, a warning */
+  GCOBR_UNKNOWNTYPE = -1,
+  GCOBR_UNKNOWNDATA = -2,
+  GCOBR_CRCMISMATCH = -3,
+  /* failed to do the work */
+  GCOBR_NOCLOCKORBITPARAMETER = -10,
+  GCOBR_NOBIASPARAMETER = -11,
+  /* data mismatch - data in storage does not match new data */
+  GCOBR_TIMEMISMATCH = -20,
+  GCOBR_DATAMISMATCH = -21,
+  /* not enough data - can decode the block completely */
+  GCOBR_SHORTBUFFER = -30,
+  GCOBR_MISSINGBITS = -31,
+  GCOBR_MESSAGEEXCEEDSBUFFER = -32
+};
+
+/* NOTE: When an error message has been emitted, the output structures may have been modified. Make a copy of the previous variant before calling the
+function to have a clean state. */
+
+/* buffer should point to a RTCM3 block */
+enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b,
+       const char *buffer, size_t size, int *bytesused);
+
+#endif /* RTCM3_CLOCK_ORBIT_RTCM_H */
Index: /trunk/clock_and_orbit/readco.c
===================================================================
--- /trunk/clock_and_orbit/readco.c	(revision 956)
+++ /trunk/clock_and_orbit/readco.c	(revision 956)
@@ -0,0 +1,79 @@
+#include "clock_orbit_rtcm.h"
+#include "clock_orbit_rtcm.c"
+
+#include <stdio.h>
+
+/* prototype, don't use any of this code in a final application */
+
+struct ClockOrbit co;
+double lasttow = -1.0;
+
+int main(void)
+{
+  char buffer[4096];
+  char obuffer[CLOCKORBIT_BUFFERSIZE];
+
+  while(gets(buffer))
+  {
+    char type;
+    int week, prn, iodc, iode;
+    double tow, clock, radial, along, outofplane;
+    int num = sscanf(buffer, "%d %lf %c%d %d %d %lf %lf %lf %lf\n", &week,
+    &tow, &type, &prn, &iodc, &iode, &clock, &radial, &along, &outofplane);
+    if(num == 10)
+    {
+      struct SatData *sd;
+      if(lasttow != tow) /* create block */
+      {
+        if(lasttow >= 0)
+        {
+          int l = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
+          if(!l) fprintf(stderr, "BUILD ERROR\n");
+          else
+          {
+            int nl, ns;
+            struct ClockOrbit c;
+
+//            fwrite(obuffer, l, 1, stdout);
+            memset(&c, 0, sizeof(c));
+            nl = GetClockOrbitBias(&c, 0, obuffer, l, &ns);
+            if(nl < 0) fprintf(stderr, "EXTRACT ERROR %d\n", nl);
+            else if(nl > 0) fprintf(stderr, "MULTIBLOCK UNSUPPORTED IN TEST\n");
+            else if(ns != l) fprintf(stderr, "SIZE MISMATCH (%d/%d)\n", ns,l);
+            else
+            {
+              int i;
+              for(i = 0; i < c.NumberOfGPSSat; ++i)
+              {
+                printf("%d G%d %d %f %f %f %f\n", c.GPSEpochTime,
+                c.Sat[i].ID, co.Sat[i].IOD, c.Sat[i].Clock.DeltaA0,
+                c.Sat[i].Orbit.DeltaRadial, c.Sat[i].Orbit.DeltaAlongTrack,
+                c.Sat[i].Orbit.DeltaCrossTrack);
+              }
+            }
+          }
+        }
+        memset(&co, 0, sizeof(co));
+        lasttow = tow;
+        co.GPSEpochTime = (int)tow;
+        /* co.GLONASSEpochTime = 0; */
+        co.ClockDataSupplied = 1;
+        co.OrbitDataSupplied = 1;
+        co.SatRefPoint = DATUM_ITRF;
+        co.SatRefDatum = POINT_IONOFREE;
+      }
+
+      sd = co.Sat + co.NumberOfGPSSat;
+      sd->ID = prn;
+      sd->IOD = iode;
+      sd->Clock.DeltaA0 = clock;
+      sd->Orbit.DeltaRadial = radial;
+      sd->Orbit.DeltaAlongTrack = along;
+      sd->Orbit.DeltaCrossTrack = outofplane;
+    printf("%d %d/%f %c %d %d %d %f %f %f %f\n",num, week, tow, type, prn,
+      iodc, iode, clock, radial, along, outofplane);
+      ++co.NumberOfGPSSat;
+    }
+  }
+  return 0;
+}
