/src/gpsd/gpsd-3.27.6~dev/drivers/driver_nmea0183.c

Source
/*
 * Driver for NMEA 0183 protocol, aka IEC 61162-1
 * There are many versions of NMEA 0183.
 *
 * IEC 61162-1:1995
 * IEC 61162-1:2000
 * IEC 61162-1:2007
 * NMEA 4.00 aligns with IEC 61162-1:2010
 * NMEA 4.10 aligns with IEC 61162-1:2016
 *
 * Sadly, the protocol is proprietary and not documented publicly.
 * So every firmware seems to have a different opinion on how
 * to implement the messages.
 *
 * This file is Copyright by the GPSD project
 * SPDX-License-Identifier: BSD-2-clause
 */

#include "../include/gpsd_config.h"  // must be before all includes

#include <ctype.h>       // for isdigit()
#include <float.h>       // for FLT_EVAL_METHOD
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <string.h>
#include <stdarg.h>
#include <time.h>

#include "../include/gpsd.h"
#include "../include/strfuncs.h"

#include "../include/timespec.h"

/* hex2uchar() -- convert a signgle hex char to an insigned char
 *
 * Return: 0 on error
 *         The converted char
 */
static unsigned char hex2uchar(unsigned char hex) {

    if ('0' <= hex &&
        '9' >= hex) {
        return hex - '0';
    }
    if ('A' <= hex &&
        'F' >= hex) {
        return hex - 'A' + 10;
    }
    if ('a' <= hex &&
        'f' >= hex) {
        return hex - 'a' + 10;
    }
    // fail
    return 0;
}

// $SNRSTAAT insstatus
static const struct vlist_t vsnrstat_insstatus[] = {
    {-1, "Failure"},
    {0, "Disabled"},
    {1, "Init started"},
    {2, "Known inst angle"},
    {3, "Init OK"},
    {0, NULL},
};

// $SNRSTAAT odostatus
static const struct vlist_t vsnrstat_odostatus[] = {
    {-1, "Failure"},
    {0, "Disabled"},
    {1, "Init started"},
    {2, "Known scale"},
    {3, "Init OK"},
    {0, NULL},
};

// $SNRSTAAT InstallState
static const struct vlist_t vsnrstat_InstallState[] = {
    {-1, "Failure"},
    {0, "In progress"},
    {1, "Weak Sats"},
    {2, "Need Acc"},
    {3, "Low Speed"},
    {0, NULL},
};

// $SNRSTAAT mapstat
static const struct vlist_t vsnrstat_mapstat[] = {
    {-2, "Abnormal"},
    {-1, "Unconfigured"},
    {0, "No info"},
    {1, "Unapplied"},
    {1, "OK"},
    {0, NULL},
};

/**************************************************************************
 *
 * Parser helpers begin here
 *
 **************************************************************************/

/* Allow avoiding long double intermediate values.
 *
 * On platforms with 0 != FLT_EVAL_METHOD intermediate values may be kept
 * as long doubles.  Some 32-bit OpenBSD and 32-bit Debian have
 * FLT_EVAL_METHOD == 2.  FreeBSD 13,0 has FLT_EVAL_METHOD == -1.  Various
 * cc options (-mfpmath=387, -mno-sse, etc.) can also change FLT_EVAL_METHOD
 * from 0.
 *
 * Although (long double) may in principle more accurate then (double), it
 * can cause slight differences that lead to regression failures.  In
 * other cases (long double) and (double) are the same, thus no effect.
 * Storing values in volatile variables forces the exact size requested.
 * Where the volatile declaration is unnecessary (and absent), such extra
 * intermediate variables are normally optimized out.
 */

#if !defined(FLT_EVAL_METHOD) || 0 != FLT_EVAL_METHOD
#define FLT_VOLATILE volatile
#else
#define FLT_VOLATILE
#endif   // FLT_EVAL_METHOD

/* Common lat/lon decoding for do_lat_lon
 *
 * This version avoids the use of modf(), which can be slow and also suffers
 * from exactness problems.  The integer minutes are first extracted and
 * corrected for the improper degree scaling, using integer arithmetic.
 * Then the fractional minutes are added as a double, and the result is scaled
 * to degrees, using multiply which is faster than divide.
 *
 * Forcing the intermediate minutes value to a double is sufficient to
 * avoid regression problems with FLT_EVAL_METHOD>=2.
 */
static inline double decode_lat_or_lon(const char *field)
{
    long degrees, minutes;
    FLT_VOLATILE double full_minutes;
    char *cp;

    // Get integer "minutes"
    minutes = strtol(field, &cp, 10);
    // Must have decimal point
    if ('.' != *cp) {
        return NAN;
    }
    // Extract degrees (scaled by 100)
    degrees = minutes / 100;
    // Rescale degrees to normal factor of 60
    minutes -= degrees * (100 - 60);
    // Add fractional minutes
    full_minutes = minutes + safe_atof(cp);
    // Scale to degrees & return
    return full_minutes * (1.0 / 60.0);
}

/* process a pair of latitude/longitude fields starting at field index BEGIN
 * The input fields look like this:
 *     field[0]: 4404.1237962
 *     field[1]: N
 *     field[2]: 12118.8472460
 *     field[3]: W
 * input format of lat/lon is NMEA style  DDDMM.mmmmmmm
 * yes, 7 digits of precision past the decimal point from survey grade GPS
 *
 * Ignoring the complications ellipsoids add:
 *   1 minute latitude = 1853 m
 *   0.001 minute latitude = 1.853 m
 *   0.000001 minute latitude = 0.001853 m = 1.853 mm
 *   0.0000001 minute latitude = 0.0001853 m = 0.1853 mm
 *
 * return: 0 == OK, non zero is failure.
 */
static int do_lat_lon(char *field[], struct gps_fix_t *out)
{
    double lon;
    double lat;

    if ('\0' == field[0][0] ||
        '\0' == field[1][0] ||
        '\0' == field[2][0] ||
        '\0' == field[3][0]) {
        return 1;
    }

    lat = decode_lat_or_lon(field[0]);
    if ('S' == field[1][0])
        lat = -lat;

    lon = decode_lat_or_lon(field[2]);
    if ('W' == field[3][0])
        lon = -lon;

    if (0 == isfinite(lat) ||
        0 == isfinite(lon)) {
        return 2;
    }

    out->latitude = lat;
    out->longitude = lon;
    return 0;
}

// decode for FAA Mode indicator.  NMEA 4+
static const struct clist_t c_faa_mode[] = {
    {'A', "Autonomous"},
    {'C', "Caution"},        // Quectel Querk
    {'D', "Differential"},
    {'E', "Estimated"},      // dead reckoning)
    {'F', "Float RTK"},
    {'M', "Manual Input."},  // surveyed)
    {'N', "Data Not Valid"},
    {'0', "Unk"},            // Skytraq??
    {'P', "Precise"},        // (NMEA 4+)
    {'R', "Integer RTK"},
    {'S', "Simulated"},
    {'U', "Unsafe"},         // Quectel querk
    {'V', "Invalid"},        // ??
    {'\0', NULL}
};

/* process an FAA mode character
 * As used in $GPRMC (field 13) and similar.
 * return status as in session->newdata.status
 */
static int faa_mode(char mode)
{
    int newstatus = STATUS_GPS;

    switch (mode) {
    case '\0':  // missing
        FALLTHROUGH
    case 'O':  // Skytraq ??
        FALLTHROUGH
    case 'V':   // Invalid
        newstatus = STATUS_UNK;
        break;
    case 'A':   // Autonomous
        FALLTHROUGH
    default:
        newstatus = STATUS_GPS;
        break;
    case 'D':   // Differential
        newstatus = STATUS_DGPS;
        break;
    case 'E':   // Estimated dead reckoning
        newstatus = STATUS_DR;
        break;
    case 'F':   // Float RTK
        newstatus = STATUS_RTK_FLT;
        break;
    case 'M':   // manual input.  Interpret as surveyed to better match GGA
        newstatus = STATUS_TIME;
        break;
    case 'N':   // Data Not Valid
        // already handled, for paranoia sake also here
        newstatus = STATUS_UNK;
        break;
    case 'P':   // Precise (NMEA 4+)
        newstatus = STATUS_DGPS;    // sort of DGPS
        break;
    case 'R':   // fixed RTK
        newstatus = STATUS_RTK_FIX;
        break;
    case 'S':   // simulator
        newstatus = STATUS_SIM;
        break;
    }
    return newstatus;
}

/**************************************************************************
 *
 * Scary timestamp fudging begins here
 *
 * Four sentences, GGA and GLL and RMC and ZDA, contain timestamps.
 * GGA/GLL/RMC timestamps look like hhmmss.ss, with the trailing .ss,
 * or .sss, part optional.
 * RMC has a date field, in the format ddmmyy.  ZDA has separate fields
 * for day/month/year, with a 4-digit year.  This means that for RMC we
 * must supply a century and for GGA and GLL we must supply a century,
 * year, and day.  We get the missing data from a previous RMC or ZDA;
 * century in RMC is supplied from the daemon's context (initialized at
 * startup time) if there has been no previous ZDA.
 *
 **************************************************************************/

#define DD(s)   ((int)((s)[0]-'0')*10+(int)((s)[1]-'0'))

/* decode supplied ddmmyy, but no century part, into *date
 *
 * return: 0 == OK,  greater than zero on failure
 */
static int decode_ddmmyy(struct tm *date, const char *ddmmyy,
                         struct gps_device_t *session)
{
    int mon;
    int mday;
    int year;
    unsigned i;    // NetBSD complains about signed array index

    if (NULL == ddmmyy ||
        '\0' == ddmmyy[0]) {
        return 1;
    }
    for (i = 0; i < 6; i++) {
        // NetBSD 6 wants the cast
        if (0 == isdigit((int)ddmmyy[i])) {
            // catches NUL and non-digits
            // Telit HE910 can set year to "-1" (1999 - 2000)
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "NMEA0183: merge_ddmmyy(%s), malformed date\n",  ddmmyy);
            return 2;
        }
    }
    // check for termination
    if ('\0' != ddmmyy[6]) {
        // missing NUL
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: merge_ddmmyy(%s), malformed date\n",  ddmmyy);
        return 3;
    }

    // should be no defects left to segfault DD()
    mday = DD(ddmmyy);
    mon = DD(ddmmyy + 2);
    year = DD(ddmmyy + 4);

    // check for century wrap, so 1968 < year < 2069
    if (69 > year) {
        year += 100;
    }

    if (!IN(1, mon, 12)) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: merge_ddmmyy(%s), malformed month\n",  ddmmyy);
        return 4;
    }  // else
    if (!IN(1, mday, 31)) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: merge_ddmmyy(%s), malformed day\n",  ddmmyy);
        return 5;
    }  // else

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: merge_ddmmyy(%s) sets year %d\n",
             ddmmyy, year);
    date->tm_year = year;
    date->tm_mon = mon - 1;
    date->tm_mday = mday;
    // FIXME: check fractional time!

    GPSD_LOG(LOG_RAW, &session->context->errout,
             "NMEA0183: merge_ddmmyy(%s) %d %d %d\n",
             ddmmyy, date->tm_mon, date->tm_mday, date->tm_year);
    return 0;
}

/* sentence supplied ddmmyy, but no century part
 * iff valid, merge into session_>nmea.date
 *
 * return: 0 == OK,  greater than zero on failure
 */
static int merge_ddmmyy(const char *ddmmyy, struct gps_device_t *session)
{
    struct tm date = {0};
    int retcode;

    retcode = decode_ddmmyy(&date, ddmmyy, session);
    if (0 != retcode) {
        // leave session->nmea untouched.
        return retcode;
    }
    // check for century wrap ??
    // Good time, merge it.
    session->nmea.date.tm_mday = date.tm_mday;
    session->nmea.date.tm_mon = date.tm_mon;
    session->nmea.date.tm_year = date.tm_year;
    return 0;
}

/* decode an hhmmss.ss string into struct tm data and nsecs
 *
 * return: 0 == OK,  otherwise failure
 */
static int decode_hhmmss(struct tm *date, long *nsec, const char *hhmmss,
                         struct gps_device_t *session)
{
    int old_hour = date->tm_hour;
    unsigned i;

    if (NULL == hhmmss ||
        '\0' == hhmmss[0]) {
        return 1;
    }
    for (i = 0; i < 6; i++) {
        // NetBSD 6 wants the cast
        if (0 == isdigit((int)hhmmss[i])) {
            // catches NUL and non-digits
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "NMEA0183: decode_hhmmss(%s), malformed time\n",  hhmmss);
            return 2;
        }
    }
    // don't check for termination, might have fractional seconds

    date->tm_hour = DD(hhmmss);
    if (date->tm_hour < old_hour) {  // midnight wrap
        // really??
        date->tm_mday++;
    }
    date->tm_min = DD(hhmmss + 2);
    date->tm_sec = DD(hhmmss + 4);

    if ('.' == hhmmss[6] &&
        // NetBSD 6 wants the cast
        0 != isdigit((int)hhmmss[7])) {
        // codacy hates strlen()
        int sublen = strnlen(hhmmss + 7, 20);
        i = atoi(hhmmss + 7);
        *nsec = (long)i * (long)pow(10.0, 9 - sublen);
    } else {
        *nsec = 0;
    }
    GPSD_LOG(LOG_RAW, &session->context->errout,
             "NMEA0183: decode_hhmmss(%s) %d %d %d %09ld\n",
             hhmmss,
             date->tm_hour, date->tm_min, date->tm_sec, *nsec);

    return 0;
}

/* decode an hhmmss UTC time
 * if valid, merge into:
 *      session->nmea.date
 *      session->nmea.subseconds
 *
 * return: 0 == OK,  greater than zero on failure
 */
static int merge_hhmmss(const char *hhmmss, struct gps_device_t *session)
{
    struct tm date = {0};
    timespec_t ts = {0};
    int retcode;

    retcode = decode_hhmmss(&date, &ts.tv_nsec, hhmmss, session);
    if (0 != retcode) {
        // leave session->nmea untouched.
        return retcode;
    }
    // Good time, merge it.
    session->nmea.date.tm_hour = date.tm_hour;
    session->nmea.date.tm_min = date.tm_min;
    session->nmea.date.tm_sec = date.tm_sec;
    session->nmea.subseconds.tv_sec = 0;
    session->nmea.subseconds.tv_nsec = ts.tv_nsec;

    return 0;
}

/* register_fractional_time()
 * "fractional time" is a struct timespec of seconds since midnight
 * used to try to detect epoch changes as NMEA comes in.
 * tag is field[0]
 * *fld is "hhmmss.ss"
 */
static void register_fractional_time(const char *tag, const char *fld,
                                     struct gps_device_t *session)
{
    struct tm date = {0};
    struct timespec ts = {0};
    char ts_buf[TIMESPEC_LEN];

    if (0 != decode_hhmmss(&date, &ts.tv_nsec, fld, session)) {
        // invalid time
        return;
    }

    ts.tv_sec = date.tm_hour * 3600 + date.tm_min * 60 + date.tm_sec;

    session->nmea.last_frac_time = session->nmea.this_frac_time;
    session->nmea.this_frac_time = ts;
    session->nmea.latch_frac_time = true;
    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: %s: registers fractional time %s\n",
             tag,
             timespec_str(&session->nmea.this_frac_time, ts_buf,
                          sizeof(ts_buf)));
}

/* Table to convert nmea sigid to ubx sigid (row index for nmea gnssid and
 * column index for nmea sigid).
 * 99 means unknown conversion.
 * Note: not all dcumented, some deduced by comparing UBX and NMEA.
 */
#define NMEA_GNSSIDS 7
#define NMEA_SIGIDS 12
static const unsigned char nmea_to_ubx_table[NMEA_GNSSIDS][NMEA_SIGIDS] = {
        {0, 0, 99, 99, 99, 4, 3, 6, 7, 99, 99, 99},       // Unknown assume GPS
        {0, 4, 99, 99, 99, 4, 3, 6, 7, 99, 99, 99},       // GPS
        {0, 0, 99, 2, 99, 99, 99, 99, 99, 99, 99, 99},    // GLONASS
        // Quectel uses sigid 6 for L1-A ?
        {0, 3, 5, 99, 10, 8, 0, 4, 99, 99, 99, 99},       // Galileo
        // BeiDou B could be UBX 2 or 3
        {0, 0, 2, 5, 0, 7, 99, 99, 4, 99, 99, 2},         // BeiDou
        {0, 0, 99, 99, 1, 4, 5, 8, 9, 99, 99, 99},        // QZSS
        {0, 0, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99}};  // IRNSS (NavIC)

// convert NMEA sigid to ublox sigid
static unsigned char nmea_sigid_to_ubx(struct gps_device_t *session,
                                       unsigned char nmea_gnssid,
                                       unsigned char nmea_sigid)
{
    unsigned char ubx_sigid = 0;

    if ((NMEA_GNSSIDS > nmea_gnssid) &&
        (NMEA_SIGIDS > nmea_sigid)) {
        ubx_sigid = nmea_to_ubx_table[nmea_gnssid][nmea_sigid];
        if (99 == ubx_sigid) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "NMEA0183: Unknown map nmea_gnssid:sigid %u:%d\n",
                     nmea_gnssid, nmea_sigid);
            ubx_sigid = 0;
        }
    } else {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: Unknown nmea_sigid %u with nmea_gnssid %u\n",
                 nmea_sigid, nmea_gnssid);
    }

    return ubx_sigid;
}

/* Deal with range-mapping attempts to use IDs 1-32 by Beidou, etc.
 *
 * See struct satellite_t in gps.h for ubx and nmea gnssid and svid mappings
 *
 * char *talker              -- NMEA talker string
 * int nmea_satnum           -- NMEA (All ver) satellite number (kinda the PRN)
 * int nmea_gnssid           -- NMEA 4.10 gnssid, if known, otherwise zero
 * unsigned char *ubx_gnssid -- returned u-blox gnssid
 * unsigned char *ubx_svid   -- returned u-blox gnssid
 *
 * Return the NMEA 2.x to 4.0 extended PRN
 */
static int nmeaid_to_prn(char *talker, int nmea_satnum,
                         int nmea_gnssid,
                         gnssid_t *ubx_gnssid,
                         unsigned char *ubx_svid)
{
    /*
     * According to https://github.com/mvglasow/satstat/wiki/NMEA-IDs
     * and u-blox documentation.
     * NMEA IDs can be roughly divided into the following ranges:
     *
     *   1..32:  GPS
     *   33..64: Various SBAS systems (EGNOS, WAAS, SDCM, GAGAN, MSAS)
     *   65..96: GLONASS
     *   101..136: Quectel Querk, (not NMEA), seems to be Galileo
     *   152..158: Various SBAS systems (EGNOS, WAAS, SDCM, GAGAN, MSAS)
     *   173..182: IMES
     *   193..202: QZSS   (u-blox extended 4.10)
     *   201..264: BeiDou (not NMEA, not u-blox?) Quectel Querk.
     *   301..336: Galileo
     *   401..437: BeiDou
     *   null: GLONASS unused
     *   500-509: NavIC (IRNSS)  NOT STANDARD!
     *   901..918: NavIC (IRNSS), ALLYSTAR
     *
     * The issue is what to do when GPSes from these different systems
     * fight for IDs in the  1-32 range, as in this pair of Beidou sentences
     *
     * $BDGSV,2,1,07,01,00,000,45,02,13,089,35,03,00,000,37,04,00,000,42*6E
     * $BDGSV,2,2,07,05,27,090,,13,19,016,,11,07,147,*5E
     *
     * Because the PRNs are only used for generating a satellite
     * chart, mistakes here aren't dangerous.  The code will record
     * and use multiple sats with the same ID in one skyview; in
     * effect, they're recorded by the order in which they occur
     * rather than by PRN.
     */
    int nmea2_prn = nmea_satnum;

    *ubx_gnssid = GNSSID_GPS;   // default to ubx_gnssid is GPS
    *ubx_svid = 0;              // default to unknown ubx_svid

    if (1 > nmea_satnum) {
        // uh, oh...
        nmea2_prn = 0;
    } else if (0 < nmea_gnssid) {
        // this switch handles case where nmea_gnssid is known
        switch (nmea_gnssid) {
        case 1:
            if (33 > nmea_satnum) {
                // 1 = GPS       1-32
                *ubx_gnssid = GNSSID_GPS;
                *ubx_svid = nmea_satnum;
            } else if (65 > nmea_satnum) {
                // 1 = SBAS      33-64
                *ubx_gnssid = GNSSID_SBAS;
                *ubx_svid = nmea_satnum + 87;
            } else if (137 > nmea_satnum) {
                // 3 = Galileo, 101-136, NOT NMEA.  Quectel Querk
                *ubx_gnssid = GNSSID_GAL;
                *ubx_svid = nmea_satnum - 100;
            } else if (152 > nmea_satnum) {
                // Huh?
                *ubx_gnssid = GNSSID_GPS;
                *ubx_svid = 0;
                nmea2_prn = 0;
            } else if (158 > nmea_satnum) {
                // 1 = SBAS      152-158
                *ubx_gnssid = GNSSID_SBAS;
                *ubx_svid = nmea_satnum;
            } else if (193 > nmea_satnum) {
                // Huh?
                *ubx_gnssid = GNSSID_GPS;
                *ubx_svid = 0;
                nmea2_prn = 0;
            } else if (200 > nmea_satnum) {
                // 1 = QZSS      193-197
                // undocumented u-blox goes to 199
                *ubx_gnssid = GNSSID_QZSS;
                *ubx_svid = nmea_satnum - 192;
            } else if (265 > nmea_satnum) {
                // 3 = BeiDor, 201-264, NOT NMEA.  Quectel Querk
                *ubx_gnssid = GNSSID_BD;
                *ubx_svid = nmea_satnum - 200;
            } else {
                // Huh?
                *ubx_gnssid = GNSSID_GPS;
                *ubx_svid = 0;
                nmea2_prn = 0;
            }
            break;
        case 2:
            //  2 = GLONASS   65-96, nul
            *ubx_gnssid = GNSSID_GLO;
            if (64 > nmea_satnum) {
                // NMEA svid 1 - 64
                *ubx_svid = nmea_satnum;
            } else {
                /* Jackson Labs Micro JLT, Quectel Querk, SiRF, Skytrak,
                 * u-blox quirk: GLONASS are  65 to 96 */
                *ubx_svid = nmea_satnum - 64;
            }
            nmea2_prn = 64 + *ubx_svid;
            break;
        case 3:
            //  3 = Galileo   1-36
            *ubx_gnssid = GNSSID_GAL;
            if (100 > nmea_satnum) {
                // NMEA
                *ubx_svid = nmea_satnum;
            } else if (100 < nmea_satnum &&
                       200 > nmea_satnum) {
                // Quectel Querk, NOT NMEA, 101 - 199
                *ubx_svid = nmea_satnum - 100;
            } else if (300 < nmea_satnum &&
                       400 > nmea_satnum) {
                // Jackson Labs quirk, NOT NMEA, 301 - 399
                *ubx_svid = nmea_satnum - 300;
            }
            nmea2_prn = 300 + *ubx_svid;    // 301 - 399
            break;
        case 4:
            //  4 - BeiDou    1-37
            *ubx_gnssid = GNSSID_BD;
            if (100 > nmea_satnum) {
                // NMEA 1 - 99
                *ubx_svid = nmea_satnum;
            } else if (200 < nmea_satnum &&
                       300 > nmea_satnum) {
                // Quectel Querk, NOT NMEA, 201 - 299
                *ubx_svid = nmea_satnum - 200;
            } else if (400 < nmea_satnum &&
                       500 > nmea_satnum) {
                // Jackson Labs quirk, NOT NMEA, 401 - 499
                *ubx_svid = nmea_satnum - 400;
            }
            // put it at 400+ where NMEA 4.11 wants it
            nmea2_prn = 400 + *ubx_svid;
            break;
        case 5:
            //  5 - QZSS, 1 - 10, NMEA 4.11
            *ubx_gnssid = GNSSID_QZSS;
            if (100 > nmea_satnum) {
                // NMEA 1 - 99
                *ubx_svid = nmea_satnum;
            } else {
                // Telit quirk, not NMEA 193 - 199
                *ubx_svid = nmea_satnum - 192;
            }

            // put it at 193 to 199 where NMEA 4.11 wants it
            // huh?  space for only 7?
            nmea2_prn = 192 + *ubx_svid;
            break;
        case 6:
            //  6 - NavIC (IRNSS)    1-15
            *ubx_gnssid = GNSSID_IRNSS;
            *ubx_svid = nmea_satnum;
            nmea2_prn = nmea_satnum + 500;  // This is wrong...
            break;
        default:
            // unknown
            // x = IMES                Not defined by NMEA 4.10
            nmea2_prn = 0;
            break;
        }

    /* left with NMEA 2.x to NMEA 4.0 satnums
     * use talker ID to disambiguate */
    } else if (32 >= nmea_satnum) {
        *ubx_svid = nmea_satnum;
        switch (talker[0]) {
        case 'G':
            switch (talker[1]) {
            case 'A':
                // Galileo
                nmea2_prn = 300 + nmea_satnum;
                *ubx_gnssid = GNSSID_GAL;
                break;
            case 'B':
                // map Beidou IDs 1..37 to 401..437
                *ubx_gnssid = GNSSID_BD;
                nmea2_prn = 400 + nmea_satnum;
                break;
            case 'I':
                // map NavIC (IRNSS) IDs 1..10 to 500 - 509, not NMEA
                *ubx_gnssid = GNSSID_IRNSS;
                nmea2_prn = 500 + nmea_satnum;
                break;
            case 'L':
                // GLONASS GL doesn't seem to do this, better safe than sorry
                nmea2_prn = 64 + nmea_satnum;
                *ubx_gnssid = GNSSID_GLO;
                break;
            case 'Q':
                // GQ, QZSS, 1 - 10
                nmea2_prn = 192 + nmea_satnum;
                *ubx_gnssid = GNSSID_QZSS;
                break;
            case 'N':
                // all of them, but only GPS is 0 < PRN < 33
                FALLTHROUGH
            case 'P':
                // GPS,SBAS,QZSS, but only GPS is 0 < PRN < 33
                FALLTHROUGH
            default:
                // WTF?
                break;
            }  // else ??
            break;
        case 'B':
            if ('D' == talker[1]) {
                // map Beidou IDs
                nmea2_prn = 400 + nmea_satnum;
                *ubx_gnssid = GNSSID_BD;
            }  // else ??
            break;
        case 'P':
            // Quectel EC25 & EC21 use PQxxx for BeiDou
            if ('Q' == talker[1]) {
                // map Beidou IDs
                nmea2_prn = 400 + nmea_satnum;
                *ubx_gnssid = GNSSID_BD;
            }  // else ??
            break;
        case 'Q':
            if ('Z' == talker[1]) {
                // QZSS
                nmea2_prn = 192 + nmea_satnum;
                *ubx_gnssid = GNSSID_QZSS;
            }  // else ?
            break;
        default:
            // huh?
            break;
        }
    } else if (64 >= nmea_satnum) {
        // NMEA-ID (33..64) to SBAS PRN 120-151.
        // SBAS
        *ubx_gnssid = GNSSID_SBAS;
        *ubx_svid = 87 + nmea_satnum;
    } else if (96 >= nmea_satnum) {
        // GLONASS 65..96
        *ubx_gnssid = GNSSID_GLO;
        *ubx_svid = nmea_satnum - 64;
    } else if (120 > nmea_satnum) {
        // Huh?
        *ubx_gnssid = GNSSID_GPS;
        *ubx_svid = 0;
        nmea2_prn = 0;
    } else if (158 >= nmea_satnum) {
        // SBAS 120..158
        *ubx_gnssid = GNSSID_SBAS;
        *ubx_svid = nmea_satnum;
    } else if (173 > nmea_satnum) {
        // Huh?
        *ubx_gnssid = GNSSID_GPS;
        *ubx_svid = 0;
        nmea2_prn = 0;
    } else if (182 >= nmea_satnum) {
        // IMES 173..182
        *ubx_gnssid = GNSSID_IMES;
        *ubx_svid = nmea_satnum - 172;
    } else if (193 > nmea_satnum) {
        // Huh?
        *ubx_gnssid = GNSSID_GPS;
        *ubx_svid = 0;
        nmea2_prn = 0;
    } else if (197 >= nmea_satnum) {
        // QZSS 193..197
        // undocumented u-blox goes to 199
        *ubx_gnssid = GNSSID_QZSS;
        *ubx_svid = nmea_satnum - 192;
    } else if (201 > nmea_satnum) {
        // Huh?
        *ubx_gnssid = GNSSID_GPS;
        *ubx_svid = 0;
        nmea2_prn = 0;
    } else if (237 >= nmea_satnum) {
        // BeiDou, non-standard, some SiRF put BeiDou 201-237
        // $GBGSV,2,2,05,209,07,033,*62
        *ubx_gnssid = GNSSID_BD;
        *ubx_svid = nmea_satnum - 200;
        nmea2_prn += 200;           // move up to 400 where NMEA 2.x wants it.
    } else if (301 > nmea_satnum) {
        // Huh?
        *ubx_gnssid = GNSSID_GPS;
        *ubx_svid = 0;
        nmea2_prn = 0;
    } else if (356 >= nmea_satnum) {
        // Galileo 301..356
        *ubx_gnssid = GNSSID_GAL;
        *ubx_svid = nmea_satnum - 300;
    } else if (401 > nmea_satnum) {
        // Huh?
        *ubx_gnssid = GNSSID_GPS;
        *ubx_svid = 0;
        nmea2_prn = 0;
    } else if (437 >= nmea_satnum) {
        // BeiDou
        *ubx_gnssid = GNSSID_BD;
        *ubx_svid = nmea_satnum - 400;
    } else if (499 >= nmea_satnum) {
        // 438 to 500??
        *ubx_gnssid = GNSSID_GPS;
        *ubx_svid = 0;
        nmea2_prn = 0;
    } else if (518 >= nmea_satnum) {
        // NavIC (IRNSS) IDs 1..18 to 510 - 509, not NMEA
        *ubx_gnssid = GNSSID_IRNSS;
        *ubx_svid = nmea_satnum - 500;
    } else if (900 >= nmea_satnum) {
        // 438 to 900??
        *ubx_gnssid = GNSSID_GPS;
        *ubx_svid = 0;
        nmea2_prn = 0;
    } else if (918 >= nmea_satnum) {
        // 900 to 918 NavIC (IRNSS), per ALLYSTAR (NMEA?)
        *ubx_gnssid = GNSSID_IRNSS;
        *ubx_svid = nmea_satnum - 900;
    } else {
        // greater than 437 Huh?
        *ubx_gnssid = GNSSID_GPS;
        *ubx_svid = 0;
        nmea2_prn = 0;
    }

    return nmea2_prn;
}

/**************************************************************************
 *
 * NMEA sentence handling begins here
 *
 **************************************************************************/

static gps_mask_t processACCURACY(unsigned count UNUSED, char *field[],
                                  struct gps_device_t *session)
{
    /*
     * $GPACCURACY,961.2*04
     *
     * ACCURACY,x.x*hh<cr><lf>
     *
     * The only data field is "accuracy".
     * The MT3333 manual just says "The smaller the number is, the be better"
     */
    gps_mask_t mask = ONLINE_SET;

    if ('\0' == field[1][0]) {
        // no data
        return mask;
    }

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: $GPACCURACY: %10s.\n", field[1]);
    return mask;
}

// BWC - Bearing and Distance to Waypoint - Great Circle
static gps_mask_t processBWC(unsigned count, char *field[],
                             struct gps_device_t *session)
{
    /*
     * GPBWC,220516,5130.02,N,00046.34,W,213.8,T,218.0,M,0004.6,N,EGLM*11
     *
     * 1. UTC Time, hh is hours, mm is minutes, ss.ss is seconds
     * 2. Waypoint Latitude
     * 3. N = North, S = South
     * 4. Waypoint Longitude
     * 5. E = East, W = West
     * 6. Bearing, degrees True
     * 7. T = True
     * 8. Bearing, degrees Magnetic
     * 9. M = Magnetic
     * 10. Distance, Nautical Miles
     * 11. N = Nautical Miles
     * 12. Waypoint ID
     * 13. FAA mode indicator (NMEA 2.3 and later, optional)
     * 14. Checksum
     *
     * Parse this just to get the time, to help the cycle ender
     */
    gps_mask_t mask = ONLINE_SET;

    if ('\0' != field[1][0]) {
        if (0 == merge_hhmmss(field[1], session)) {
            if (0 == session->nmea.date.tm_year) {
                GPSD_LOG(LOG_WARN, &session->context->errout,
                         "NMEA0183: can't use BWC time until after ZDA or RMC"
                         " has supplied a year.\n");
            } else {
                mask = TIME_SET;
            }
        }
    }
    if (14 <= count) {
        // NMEA 2.3 and later
        session->newdata.status = faa_mode(field[13][0]);
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: BWC: hhmmss=%s status %d faa mode %s(%s)\n",
             field[1], session->newdata.status,
             field[13], char2str(field[13][0], c_faa_mode));
    return mask;
}

static gps_mask_t processDBT(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $SDDBT,7.7,f,2.3,M,1.3,F*05
     * 1) Depth below sounder in feet
     * 2) Fixed value 'f' indicating feet
     * 3) Depth below sounder in meters
     * 4) Fixed value 'M' indicating meters
     * 5) Depth below sounder in fathoms
     * 6) Fixed value 'F' indicating fathoms
     * 7) Checksum.
     *
     * In real-world sensors, sometimes not all three conversions are reported.
     */
    gps_mask_t mask = ONLINE_SET;

    if ('\0' != field[3][0]) {
        session->newdata.depth = safe_atof(field[3]);
        mask |= (ALTITUDE_SET);
    } else if ('\0' != field[1][0]) {
        session->newdata.depth = safe_atof(field[1]) * FEET_TO_METERS;
        mask |= (ALTITUDE_SET);
    } else if ('\0' != field[5][0]) {
        session->newdata.depth = safe_atof(field[5]) * FATHOMS_TO_METERS;
        mask |= (ALTITUDE_SET);
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: %s mode %d, depth %lf.\n",
             field[0],
             session->newdata.mode,
             session->newdata.depth);
    return mask;
}

static gps_mask_t processDPT(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $--DPT,x.x,x.x,x.x*hh<CR><LF>
     * 1) Depth below sounder in meters
     * 2) (+) Offset between sounder and waterline in meters
     *    (-) Offset between sounder and keel in meters
     * 3) Maximum range scale
     * 4) Checksum.
     *
     * $SDDBT and $SDDPT should agree, but often don't.
     *
     */
    double offset;
    gps_mask_t mask = ONLINE_SET;

    if ('\0' == field[1][0]) {
        // no depth
        return mask;
    }
    session->newdata.depth = safe_atof(field[1]);
    offset = safe_atof(field[2]);
    if (0.0 > offset) {
        // adjust to get depth from keel
        session->newdata.depth -= offset;
    }
    mask |= ALTITUDE_SET;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: %s depth %.1f offset %s max %s\n",
             field[0],
             session->newdata.depth, field[2], field[3]);
    return mask;
}

/* NMEA Map Datum
 *
 * FIXME: seems to happen after cycle ender, so nothing happens...
 */
static gps_mask_t processDTM(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $GPDTM,W84,C*52
     * $GPDTM,xxx,x,xx.xxxx,x,xx.xxxx,x,,xxx*hh<CR><LF>
     * 1    = Local datum code (xxx):
     *          W84 – WGS84
     *          W72 – WGS72
     *          S85 – SGS85
     *          P90 – PE90
     *          999 – User defined
     *          IHO datum code
     * 2     = Local datum sub code (x)
     * 3     = Latitude offset in minutes (xx.xxxx)
     * 4     = Latitude offset mark (N: +, S: -) (x)
     * 5     = Longitude offset in minutes (xx.xxxx)
     * 6     = Longitude offset mark (E: +, W: -) (x)
     * 7     = Altitude offset in meters. Always null
     * 8     = Datum (xxx):
     *          W84 – WGS84
     *          W72 – WGS72
     *          S85 – SGS85
     *          P90 – PE90
     *          999 – User defined
     *          IHO datum code
     * 9    = checksum
     */
    unsigned i;
    static struct
    {
        char *code;
        char *name;
    } codes[] = {
        {"W84", "WGS84"},
        {"W72", "WGS72"},
        {"S85", "SGS85"},
        {"P90", "PE90"},
        {"999", "User Defined"},
        {"", ""},
    };

    gps_mask_t mask = ONLINE_SET;

    if ('\0' == field[1][0]) {
        return mask;
    }

    for (i = 0; ; i++) {
        if ('\0' == codes[i].code[0]) {
            // not found
            strlcpy(session->newdata.datum, field[1],
                    sizeof(session->newdata.datum));
            break;
        }
        if (0 ==strcmp(codes[i].code, field[1])) {
            strlcpy(session->newdata.datum, codes[i].name,
                    sizeof(session->newdata.datum));
            break;
        }
    }

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: xxDTM: datum=%.40s\n",
             session->newdata.datum);
    return mask;
}

// NMEA 3.0 Estimated Position Error
static gps_mask_t processGBS(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $GPGBS,082941.00,2.4,1.5,3.9,25,,-43.7,27.5*65
     *  1) UTC time of the fix associated with this sentence (hhmmss.ss)
     *  2) Expected error in latitude (meters)
     *  3) Expected error in longitude (meters)
     *  4) Expected error in altitude (meters)
     *  5) PRN of most likely failed satellite
     *  6) Probability of missed detection for most likely failed satellite
     *  7) Estimate of bias in meters on most likely failed satellite
     *  8) Standard deviation of bias estimate
     *  9) NMEA 4.1 GNSS ID
     * 10) NMEA 4.1 Signal ID
     *     Checksum
     *
     * Fields 2, 3 and 4 are one standard deviation.
     */
    gps_mask_t mask = ONLINE_SET;

    // register fractional time for end-of-cycle detection
    register_fractional_time(field[0], field[1], session);

    // check that we're associated with the current fix
    if (session->nmea.date.tm_hour == DD(field[1]) &&
        session->nmea.date.tm_min == DD(field[1] + 2) &&
        session->nmea.date.tm_sec == DD(field[1] + 4)) {
        // FIXME: check fractional time!
        session->newdata.epy = safe_atof(field[2]);
        session->newdata.epx = safe_atof(field[3]);
        session->newdata.epv = safe_atof(field[4]);
        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "NMEA0183: GBS: epx=%.2f epy=%.2f epv=%.2f\n",
                 session->newdata.epx,
                 session->newdata.epy,
                 session->newdata.epv);
        mask = HERR_SET | VERR_SET;
    } else {
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: second in $GPGBS error estimates doesn't match.\n");
    }
    return mask;
}

// Global Positioning System Fix Data
static gps_mask_t processGGA(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * GGA,123519,4807.038,N,01131.324,E,1,08,0.9,545.4,M,46.9,M, , *42
     * 1     123519       Fix taken at 12:35:19 UTC
     * 2,3   4807.038,N   Latitude 48 deg 07.038' N
     * 4,5   01131.324,E  Longitude 11 deg 31.324' E
     * 6     1            Fix quality:
     *                     0 = invalid,
     *                     1 = GPS,
     *                         u-blox may use 1 for Estimated
     *                     2 = DGPS,
     *                     3 = PPS (Precise Position Service),
     *                     4 = RTK (Real Time Kinematic) with fixed integers,
     *                     5 = Float RTK,
     *                     6 = Estimated,
     *                     7 = Manual,
     *                     8 = Simulator
     * 7     08           Number of satellites in use
     * 8     0.9          Horizontal dilution of position
     * 9,10  545.4,M      Altitude, Meters MSL
     * 11,12 46.9,M       Height of geoid (mean sea level) above WGS84
     *                    ellipsoid, in Meters
     * 13    33           time in seconds since last DGPS update
     *                    usually empty
     * 14    1023         DGPS station ID number (0000-1023)
     *                    usually empty
     *
     * Some GPS, like the SiRFstarV in NMEA mode, send both GPGSA and
     * GLGPSA with identical data.
     */
    gps_mask_t mask = ONLINE_SET;
    int newstatus;
    char last_last_gga_talker = session->nmea.last_gga_talker;
    int fix;              // a.k.a Quality flag
    session->nmea.last_gga_talker = field[0][1];

    if ('\0' == field[6][0]) {
        /* no data is no data, assume no fix
         * the test/daemon/myguide-3100.log shows lat/lon/alt but
         * no status, and related RMC shows no fix. */
        fix = -1;
    } else {
        fix = atoi(field[6]);
    }
    // Jackson Labs Micro JLT uses nonstadard fix flag, not handled
    switch (fix) {
    case 0:     // no fix
        newstatus = STATUS_UNK;
        if ('\0' == field[1][0]) {
            /* No time available. That breaks cycle end detector
             * Force report to bypass cycle detector and get report out.
             * To handle Querks (Quectel) like this:
             *  $GPGGA,,,,,,0,,,,,,,,*66
             */
            memset(&session->nmea.date, 0, sizeof(session->nmea.date));
            session->cycle_end_reliable = false;
            mask |= REPORT_IS | TIME_SET;
        }
        break;
    case 1:
        // could be 2D, 3D, GNSSDR
        newstatus = STATUS_GPS;
        break;
    case 2:     // differential
        newstatus = STATUS_DGPS;
        break;
    case 3:
        // GPS PPS, fix valid, could be 2D, 3D, GNSSDR
        newstatus = STATUS_PPS_FIX;
        break;
    case 4:     // RTK integer
        newstatus = STATUS_RTK_FIX;
        break;
    case 5:     // RTK float
        newstatus = STATUS_RTK_FLT;
        break;
    case 6:
        // dead reckoning, could be valid or invalid
        newstatus = STATUS_DR;
        break;
    case 7:
        // manual input, surveyed
        newstatus = STATUS_TIME;
        break;
    case 8:
        /* simulated mode
         * Garmin GPSMAP and Gecko sends an 8, but undocumented why */
        newstatus = STATUS_SIM;
        break;
    case -1:
        FALLTHROUGH
    default:
        newstatus = -1;
        break;
    }
    if (0 <= newstatus) {
        session->newdata.status = newstatus;
        mask = STATUS_SET;
    }
    /*
     * There are some receivers (the Trimble Placer 450 is an example) that
     * don't ship a GSA with mode 1 when they lose satellite lock. Instead
     * they just keep reporting GGA and GSA on subsequent cycles with the
     * timestamp not advancing and a bogus mode.
     *
     * On the assumption that GGA is only issued once per cycle we can
     * detect this here (it would be nicer to do it on GSA but GSA has
     * no timestamp).
     *
     * SiRFstarV breaks this assumption, sending GGA with different
     * talker IDs.
     */
    if ('\0' != last_last_gga_talker &&
        last_last_gga_talker != session->nmea.last_gga_talker) {
        // skip the time check
        session->nmea.latch_mode = 0;
    } else {
        session->nmea.latch_mode = strncmp(field[1],
                          session->nmea.last_gga_timestamp,
                          sizeof(session->nmea.last_gga_timestamp))==0;
    }

    if (session->nmea.latch_mode) {
        session->newdata.status = STATUS_UNK;
        session->newdata.mode = MODE_NO_FIX;
        mask |= MODE_SET | STATUS_SET;
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: xxGGA: latch mode\n");
    } else {
        (void)strlcpy(session->nmea.last_gga_timestamp, field[1],
                      sizeof(session->nmea.last_gga_timestamp));
    }

    /* satellites_visible is used as an accumulator in xxGSV
     * so if we set it here we break xxGSV
     * Some GPS, like SiRFstarV NMEA, report per GNSS used
     * counts in GPGGA and GLGGA.
     */
    session->nmea.gga_sats_used = atoi(field[7]);

    if ('\0' == field[1][0]) {
        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "NMEA0183: GGA time missing.\n");
    } else if (0 == merge_hhmmss(field[1], session)) {
        register_fractional_time(field[0], field[1], session);
        if (0 == session->nmea.date.tm_year) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "NMEA0183: can't use GGA time until after ZDA or RMC"
                     " has supplied a year.\n");
        } else {
            mask |= TIME_SET;
        }
    }

    if (0 == do_lat_lon(&field[2], &session->newdata)) {
        session->newdata.mode = MODE_2D;
        mask |= LATLON_SET;
        if ('\0' != field[11][0]) {
            session->newdata.geoid_sep = safe_atof(field[11]);
        } else {
            session->newdata.geoid_sep = wgs84_separation(
                session->newdata.latitude, session->newdata.longitude);
        }
        /*
         * SiRF chipsets up to version 2.2 report a null altitude field.
         * See <http://www.sirf.com/Downloads/Technical/apnt0033.pdf>.
         * If we see this, force mode to 2D at most.
         */
        if ('\0' != field[9][0]) {
            // altitude is MSL
            session->newdata.altMSL = safe_atof(field[9]);
            // Let gpsd_error_model() deal with altHAE
            mask |= ALTITUDE_SET;
            /*
             * This is a bit dodgy.  Technically we shouldn't set the mode
             * bit until we see GSA.  But it may be later in the cycle,
             * some devices like the FV-18 don't send it by default, and
             * elsewhere in the code we want to be able to test for the
             * presence of a valid fix with mode > MODE_NO_FIX.
             *
             * Use gga_sats_used; as double check on MODE_3D
             */
            if (4 <= session->nmea.gga_sats_used) {
                session->newdata.mode = MODE_3D;
            }
        }
        /* the next test works when we only see GPGGA or GNGGA, but
         * not GPGGA, BDGGA, etc.  As some constellations may see no
         * sats, and others do.
         * For some receivers, like the bn-9015, this is the only
         * way to know fix mode.  It reports lat/lon/alt and no
         * sats used. */
        if (3 > session->nmea.gga_sats_used &&
            'G' == field[0][0] &&
            ('P' == field[0][1] ||
             'N' == field[0][1])) {
            // G[NP]GGA and not enough sats used for a fix.
            session->newdata.mode = MODE_NO_FIX;
        }
    } else {
        session->newdata.mode = MODE_NO_FIX;
    }
    mask |= MODE_SET;

    // BT-451 sends 99.99 for invalid DOPs
    // Jackson Labs send 99.00 for invalid DOPs
    // Skytraq send 0.00 for invalid DOPs
    if ('\0' != field[8][0]) {
        double hdop;
        hdop = safe_atof(field[8]);
        if (IN(0.01, hdop, 89.99)) {
            // why not to newdata?
            session->gpsdata.dop.hdop = hdop;
            mask |= DOP_SET;
        }
    }

    // get DGPS stuff
    if ('\0' != field[13][0] &&
        '\0' != field[14][0]) {
        // both, or neither
        double age;
        int station;

        age = safe_atof(field[13]);
        station = atoi(field[14]);
        if (0.09 < age ||
            0 < station) {
            // ignore both zeros
            session->newdata.dgps_age = age;
            session->newdata.dgps_station = station;
        }
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: GGA: hhmmss=%s lat=%.2f lon=%.2f altMSL=%.2f "
             "mode=%d status=%d\n",
             field[1],
             session->newdata.latitude,
             session->newdata.longitude,
             session->newdata.altMSL,
             session->newdata.mode,
             session->newdata.status);
    return mask;
}

// Geographic position - Latitude, Longitude
static gps_mask_t processGLL(unsigned count, char *field[],
                             struct gps_device_t *session)
{
    /* Introduced in NMEA 3.0.
     *
     * $GPGLL,4916.45,N,12311.12,W,225444,A,A*5C
     *
     * 1,2: 4916.46,N    Latitude 49 deg. 16.45 min. North
     * 3,4: 12311.12,W   Longitude 123 deg. 11.12 min. West
     * 5:   225444       Fix taken at 22:54:44 UTC
     * 6:   A            Data valid
     * 7:   A            Autonomous mode
     * 8:   *5C          Mandatory NMEA checksum
     *
     * 1,2 Latitude, N (North) or S (South)
     * 3,4 Longitude, E (East) or W (West)
     * 5 UTC of position
     * 6 A = Active, V = Invalid data
     * 7 Mode Indicator
     *    See faa_mode() for possible mode values.
     *
     * I found a note at <http://www.secoh.ru/windows/gps/nmfqexep.txt>
     * indicating that the Garmin 65 does not return time and status.
     * SiRF chipsets don't return the Mode Indicator.
     * This code copes gracefully with both quirks.
     *
     * Unless you care about the FAA indicator, this sentence supplies nothing
     * that GPRMC doesn't already.  But at least two (Garmin GPS 48 and
     * Magellan Triton 400) actually ship updates in GLL that aren't redundant.
     *
     */
    char *status = field[7];
    gps_mask_t mask = ONLINE_SET;

    if (field[5][0] != '\0') {
        if (0 == merge_hhmmss(field[5], session)) {
            register_fractional_time(field[0], field[5], session);
            if (0 == session->nmea.date.tm_year) {
                GPSD_LOG(LOG_WARN, &session->context->errout,
                         "NMEA0183: can't use GLL time until after ZDA or RMC"
                         " has supplied a year.\n");
            } else {
                mask = TIME_SET;
            }
        }
    }
    if ('\0' == field[6][0] ||
        'V' == field[6][0]) {
        // Invalid
        session->newdata.status = STATUS_UNK;
        session->newdata.mode = MODE_NO_FIX;
    } else if ('A' == field[6][0] &&
        (count < 8 || *status != 'N') &&
        0 == do_lat_lon(&field[1], &session->newdata)) {
        int newstatus;

        mask |= LATLON_SET;

        newstatus = STATUS_GPS;
        if (8 <= count) {
            newstatus = faa_mode(*status);
        }
        /*
         * This is a bit dodgy.  Technically we shouldn't set the mode
         * bit until we see GSA, or similar.  But it may be later in the
         * cycle, some devices like the FV-18 don't send it by default,
         * and elsewhere in the code we want to be able to test for the
         * presence of a valid fix with mode > MODE_NO_FIX.
         */
        if (0 != isfinite(session->gpsdata.fix.altHAE) ||
            0 != isfinite(session->gpsdata.fix.altMSL)) {
            session->newdata.mode = MODE_3D;
        } else if (3 < session->gpsdata.satellites_used) {
            // 4 sats used means 3D
            session->newdata.mode = MODE_3D;
        } else if (MODE_2D > session->gpsdata.fix.mode ||
                   (0 == isfinite(session->oldfix.altHAE) &&
                    0 == isfinite(session->oldfix.altMSL))) {
            session->newdata.mode = MODE_2D;
        }
        session->newdata.status = newstatus;
    } else {
        session->newdata.status = STATUS_UNK;
        session->newdata.mode = MODE_NO_FIX;
    }
    mask |= STATUS_SET | MODE_SET;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: GLL: hhmmss=%s lat=%.2f lon=%.2f mode=%d status=%d "
             "faa mode %s(%s)\n",
             field[5],
             session->newdata.latitude,
             session->newdata.longitude,
             session->newdata.mode,
             session->newdata.status,
             field[7], char2str(field[7][0], c_faa_mode));
    return mask;
}

// Geographic position - Latitude, Longitude, and more
static gps_mask_t processGNS(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /* Introduced in NMEA 4.0?
     *
     * This mostly duplicates RMC, except for the multi GNSS mode
     * indicator.
     *
     * Example.  Ignore the line break.
     * $GPGNS,224749.00,3333.4268304,N,11153.3538273,W,D,19,0.6,406.110,
     *        -26.294,6.0,0138,S,*6A
     *
     * 1:  224749.00     UTC HHMMSS.SS.  22:47:49.00
     * 2:  3333.4268304  Latitude DDMM.MMMMM. 33 deg. 33.4268304 min
     * 3:  N             Latitude North
     * 4:  12311.12      Longitude 111 deg. 53.3538273 min
     * 5:  W             Longitude West
     * 6:  D             FAA mode indicator
     *                     see faa_mode() for possible mode values
     *                     May be one to six characters.
     *                       Char 1 = GPS
     *                       Char 2 = GLONASS
     *                       Char 3 = Galileo
     *                       Char 4 = BDS
     *                       Char 5 = QZSS
     *                       Char 6 = NavIC (IRNSS)
     * 7:  19           Number of Satellites used in solution
     * 8:  0.6          HDOP
     * 9:  406110       MSL Altitude in meters
     * 10: -26.294      Geoid separation in meters
     * 11: 6.0          Age of differential corrections, in seconds
     * 12: 0138         Differential reference station ID
     * 13: S            NMEA 4.1+ Navigation status
     *                   S = Safe
     *                   C = Caution
     *                   U = Unsafe
     *                   V = Not valid for navigation
     * 8:   *6A          Mandatory NMEA checksum
     *
     */
    int newstatus;
    gps_mask_t mask = ONLINE_SET;

    if ('\0' != field[1][0]) {
        if (0 == merge_hhmmss(field[1], session)) {
            register_fractional_time(field[0], field[1], session);
            if (0 == session->nmea.date.tm_year) {
                GPSD_LOG(LOG_WARN, &session->context->errout,
                         "NMEA0183: can't use GNS time until after ZDA or RMC"
                         " has supplied a year.\n");
            } else {
                mask = TIME_SET;
            }
        }
    }

    /* FAA mode: not valid, ignore
     * Yes, in 2019 a GLONASS only fix may be valid, but not worth
     * the confusion */
    if ('\0' == field[6][0] ||      // FAA mode: missing
        'N' == field[6][0]) {       // FAA mode: not valid
        session->newdata.mode = MODE_NO_FIX;
        mask |= MODE_SET;
        return mask;
    }
    /* navigation status, assume S=safe and C=caution are OK
     * can be missing on valid fix */
    if ('U' == field[13][0] ||      // Unsafe
        'V' == field[13][0]) {      // not valid
        return mask;
    }

    session->nmea.gga_sats_used = atoi(field[7]);

    if (0 == do_lat_lon(&field[2], &session->newdata)) {
        mask |= LATLON_SET;
        session->newdata.mode = MODE_2D;

        if ('\0' != field[9][0]) {
            // altitude is MSL
            session->newdata.altMSL = safe_atof(field[9]);
            if (0 != isfinite(session->newdata.altMSL)) {
                mask |= ALTITUDE_SET;
                if (3 < session->nmea.gga_sats_used) {
                    // more than 3 sats used means 3D
                    session->newdata.mode = MODE_3D;
                }
            }
            // only need geoid_sep if in 3D mode
            if ('\0' != field[10][0]) {
                session->newdata.geoid_sep = safe_atof(field[10]);
            }
            // Let gpsd_error_model() deal with geoid_sep and altHAE
        }
    } else {
        session->newdata.mode = MODE_NO_FIX;
        mask |= MODE_SET;
    }

    if ('\0' != field[8][0]) {
        session->gpsdata.dop.hdop = safe_atof(field[8]);
        mask |= DOP_SET;
    }

    // we ignore all but the leading mode indicator.
    newstatus = faa_mode(field[6][0]);

    session->newdata.status = newstatus;
    mask |= MODE_SET | STATUS_SET;

    // get DGPS stuff
    if ('\0' != field[11][0] &&
        '\0' != field[12][0]) {
        // both, or neither
        session->newdata.dgps_age = safe_atof(field[11]);
        session->newdata.dgps_station = atoi(field[12]);
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: GNS: hhmmss=%s lat=%.2f lon=%.2f mode=%d status=%d "
             "faa mode %s(%s)\n",
             field[1],
             session->newdata.latitude,
             session->newdata.longitude,
             session->newdata.mode,
             session->newdata.status,
             field[6], char2str(field[6][0], c_faa_mode));
    return mask;
}

// GNSS Range residuals
static gps_mask_t processGRS(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /* In NMEA 3.01
     *
     * Example:
     * $GPGRS,150119.000,1,-0.33,-2.59,3.03,-0.09,-2.98,7.12,-15.6,17.0,,,,*5A
     *
     * 1:  150119.000    UTC HHMMSS.SS
     * 2:  1             Mode: 0 == original, 1 == recomputed
     * 3:  -0.33         range residual in meters sat 1
     * 4:  -2.59         range residual sat 2
     * [...]
     * n:   *5A          Mandatory NMEA checksum
     *
     */
    int mode;
    gps_mask_t mask = ONLINE_SET;

    if ('\0' == field[1][0] ||
        0 != merge_hhmmss(field[1], session)) {
        // bad time
        return mask;
    }

    mode = atoi(field[2]);
    if (1 != mode &&
        2 != mode) {
        // bad mode
        return mask;
    }

    // FIXME: partial decode.  How to match sat numbers up with GSA?

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: %s: mode %d count %d\n",
             field[0], mode, count);
    return mask;
}

// GPS DOP and Active Satellites
static gps_mask_t processGSA(unsigned count, char *field[],
                             struct gps_device_t *session)
{
#define GSA_TALKER      field[0][1]
    /*
     * eg1. $GPGSA,A,3,,,,,,16,18,,22,24,,,3.6,2.1,2.2*3C
     * eg2. $GPGSA,A,3,19,28,14,18,27,22,31,39,,,,,1.7,1.0,1.3*35
     * NMEA 4.10: $GNGSA,A,3,13,12,22,19,08,21,,,,,,,1.05,0.64,0.83,4*0B
     * 1    = Mode:
     *         M=Manual, forced to operate in 2D or 3D
     *         A=Automatic, 3D/2D
     * 2    = Mode:
     *         1=Fix not available,
     *         2=2D,
     *         3=3D
     *         E=Dead Reckonig (Antaris)
     * 3-14 (or 24!) = satellite PRNs used in position fix (null unused)
     * 15   = PDOP
     * 16   = HDOP
     * 17   = VDOP
     *  -- -- --
     * 18   - NMEA 4.10+ GNSS System ID, u-blox extended, Quectel $PQ
     *             0 = QZSS (Trimble only)
     *             1 = GPS
     *             2 = GLONASS
     *             3 = Galileo
     *             4 = BeiDou
     *             5 = QZSS
     *             6 - NavIC (IRNSS)
     *  -- OR --
     * 18     SiRF TriG puts a floating point number here.
     *  -- -- --
     *
     * Not all documentation specifies the number of PRN fields, it
     * may be variable.  Most doc that specifies says 12 PRNs.
     *
     * The Navior-24 CH-4701 outputs 30 fields, 24 PRNs!
     * GPGSA,A,3,27,23,13,07,25,,,,,,,,,,,,,,,,,,,,07.9,06.0,05.2
     *
     * The Skytraq S2525F8-BD-RTK output both GPGSA and BDGSA in the
     * same cycle:
     * $GPGSA,A,3,23,31,22,16,03,07,,,,,,,1.8,1.1,1.4*3E
     * $BDGSA,A,3,214,,,,,,,,,,,,1.8,1.1,1.4*18
     * These need to be combined like GPGSV and BDGSV
     *
     * The SiRF-TriG, found in their Atlas VI SoC,  uses field 18 for
     * something other than the NMEA gnss ID:
     * $GPGSA,A,3,25,32,12,14,,,,,,,,,2.1,1.1,1.8,1.2*39
     * $BDGSA,A,3,02,03,04,,,,,,,,,,2.1,1.1,1.8,1.2*2D
     *
     * Some GPS emit GNGSA.  So far we have not seen a GPS emit GNGSA
     * and then another flavor of xxGSA
     *
     * Some Skytraq will emit all GPS in one GNGSA, Then follow with
     * another GNGSA with the BeiDou birds.
     *
     * SEANEXX, SiRFstarIV, and others also do it twice in one cycle:
     * $GNGSA,A,3,31,26,21,,,,,,,,,,3.77,2.55,2.77*1A
     * $GNGSA,A,3,75,86,87,,,,,,,,,,3.77,2.55,2.77*1C
     * seems like the first is GNSS and the second GLONASS
     *
     * u-blox 9 outputs one per GNSS on each cycle.  Note the
     * extra last parameter which is NMEA gnssid:
     * $GNGSA,A,3,13,16,21,15,10,29,27,20,,,,,1.05,0.64,0.83,1*03
     * $GNGSA,A,3,82,66,81,,,,,,,,,,1.05,0.64,0.83,2*0C
     * $GNGSA,A,3,07,12,33,,,,,,,,,,1.05,0.64,0.83,3*0A
     * $GNGSA,A,3,13,12,22,19,08,21,,,,,,,1.05,0.64,0.83,4*0B
     * Also note the NMEA 4.0 GLONASS PRN (82) in an NMEA 4.1
     * sentence.
     *
     * Another Quectel Querk.  Note the extra field on the end.
     *   System ID, 4 = BeiDou, 5 = QZSS
     *
     * $PQGSA,A,3,12,,,,,,,,,,,,1.2,0.9,0.9,4*3C
     * $PQGSA,A,3,,,,,,,,,,,,,1.2,0.9,0.9,5*3E
     * NMEA 4.11 says they should use $BDGSA and $GQGSA
     */
    gps_mask_t mask = ONLINE_SET;
    char last_last_gsa_talker = session->nmea.last_gsa_talker;
    int nmea_gnssid = 0;

    /*
     * One chipset called the i.Trek M3 issues GPGSA lines that look like
     * this: "$GPGSA,A,1,,,,*32" when it has no fix.  This is broken
     * in at least two ways: it's got the wrong number of fields, and
     * it claims to be a valid sentence (A flag) when it isn't.
     * Alarmingly, it's possible this error may be generic to SiRFstarIII.
     */
    if (session->nmea.latch_mode) {
        // last GGA had a non-advancing timestamp; don't trust this GSA
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: %s: non-advancing timestamp\n", field[0]);
        // FIXME: return here?
    } else {
        unsigned i;

        i = atoi(field[2]);
        /*
         * The first arm of this conditional ignores dead-reckoning
         * fixes from an Antaris chipset. which returns E in field 2
         * for a dead-reckoning estimate.  Fix by Andreas Stricker.
         */
        if (1 <= i &&
            3 >= i) {
            session->newdata.mode = i;
            mask = MODE_SET;

            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "NMEA0183: %s sets mode %d\n",
                     field[0], session->newdata.mode);
        }

#if 0   // debug
        GPSD_LOG(LOG_SHOUT, &session->context->errout,
                 "NMEA0183: %s: count %d \n", field[0], count);
#endif  // debug
        if (19 < count) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "NMEA0183: %s: count %d too long!\n", field[0], count);
        } else {
            double dop;

            // Just ignore the last fields of the Navior CH-4701

            // BT-451 sends 99.99 for invalid DOPs
            // Jackson Labs send 99.00 for invalid DOPs
            // Skytraq send 0.00 for invalid DOPs
            if ('\0' != field[15][0]) {
                dop = safe_atof(field[15]);
                if (IN(0.01, dop, 89.99)) {
                    session->gpsdata.dop.pdop = dop;
                    mask |= DOP_SET;
                }
            }
            if ('\0' != field[16][0]) {
                dop = safe_atof(field[16]);
                if (IN(0.01, dop, 89.99)) {
                    session->gpsdata.dop.hdop = dop;
                    mask |= DOP_SET;
                }
            }
            if ('\0' != field[17][0]) {
                dop = safe_atof(field[17]);
                if (IN(0.01, dop, 89.99)) {
                    session->gpsdata.dop.vdop = dop;
                    mask |= DOP_SET;
                }
            }
            if (19 == count &&
                '\0' != field[18][0]) {
                if (NULL != strchr(field[18], '.')) {
                    // SiRF TriG puts a floating point in field 18
                    GPSD_LOG(LOG_WARN, &session->context->errout,
                             "NMEA0183: %s: illegal field 18 (%s)!\n",
                             field[0], field[18]);
                } else {
                    // get the NMEA 4.10, or $PQGSA, system ID
                    nmea_gnssid = atoi(field[18]);
                }
            }
        }
        /*
         * might have gone from GPGSA to GLGSA/BDGSA
         * or GNGSA to GNGSA
         * or GNGSA to PQGSA
         * in which case accumulate
         */
        // FIXME: maybe on clear on first GPGSA?
        if ('\0' == session->nmea.last_gsa_talker ||
            (GSA_TALKER == session->nmea.last_gsa_talker &&
             'N' != GSA_TALKER &&
             'Q' != GSA_TALKER) ) {
            session->gpsdata.satellites_used = 0;
            memset(session->nmea.sats_used, 0, sizeof(session->nmea.sats_used));
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "NMEA0183: %s: clear sats_used\n", field[0]);
        }
        session->nmea.last_gsa_talker = GSA_TALKER;

        /* figure out which constellation(s) this GSA is for by looking
         * at the talker ID. */
        switch (session->nmea.last_gsa_talker) {
        case 'A':
            // GA Galileo
            nmea_gnssid = 3;
            session->nmea.seen_gagsa = true;
            break;
        case 'B':
            // GB BeiDou
            FALLTHROUGH
        case 'D':
            // BD BeiDou
            nmea_gnssid = 4;
            session->nmea.seen_bdgsa = true;
            break;
        case 'I':
            // GI IRNSS
            nmea_gnssid = 6;
            session->nmea.seen_gigsa = true;
            break;
        case 'L':
            // GL GLONASS
            nmea_gnssid = 2;
            session->nmea.seen_glgsa = true;
            break;
        case 'N':
            // GN GNSS
            session->nmea.seen_gngsa = true;
            // field 18 is the NMEA gnssid in 4.10 and up.
            // nmea_gnssid set above
            break;
        case 'P':
            // GP GPS
            session->nmea.seen_gpgsa = true;
            nmea_gnssid = 1;
            break;
        case 'Q':
            // Quectel EC25 & EC21 use PQGSA for QZSS and GLONASS
            if ('P' == field[0][0] &&
                0 != nmea_gnssid) {
                /* Quectel EC25 & EC21 use PQGSV for BeiDou or QZSS
                 * nmea_gnssid set above.  What about seen?
                 */
                break;
            }
            FALLTHROUGH
        case 'Z':        // QZ QZSS
            // NMEA 4.11 GQGSA for QZSS
            nmea_gnssid = 5;
            session->nmea.seen_qzgsa = true;
            break;
        }

        /* The magic 6 here is the tag, two mode fields, and three DOP fields.
         * Maybe 7, NMEA 4.10+, also has gnssid field. */
        for (i = 0; i < count - 6; i++) {
            int prn;
            int n;
            int nmea_satnum;            // almost svid...
            gnssid_t ubx_gnssid;        // UNUSED
            unsigned char ubx_svid;     // UNUSED

            // skip empty fields, otherwise empty becomes prn=200
            if ('\0' == field[i + 3][0]) {
                continue;
            }
            if (NULL != strchr(field[i + 3], '.')) {
                // found a float, must be PDOP, done.
                break;
            }
            nmea_satnum = atoi(field[i + 3]);
            if (1 > nmea_satnum ||
                600 < nmea_satnum) {
                continue;
            }
            prn = nmeaid_to_prn(field[0], nmea_satnum, nmea_gnssid,
                                &ubx_gnssid, &ubx_svid);

#if 0       // debug
            GPSD_LOG(LOG_SHOUT, &session->context->errout,
                     "NMEA0183: %s PRN %d nmea_gnssid %d "
                     "nmea_satnum %d ubx_gnssid %d ubx_svid %d count %d \n",
                     field[0], prn, nmea_gnssid, nmea_satnum, ubx_gnssid,
                     ubx_svid, count);
#endif      //  debug

            if (0 >= prn) {
                // huh?
                continue;
            }
            // check first BEFORE over-writing memory
            if (MAXCHANNELS < session->gpsdata.satellites_used) {
                /* This should never happen as xxGSA is limited to 12,
                 * except for the Navior-24 CH-4701.
                 * But it could happen with multiple GSA per cycle */
                GPSD_LOG(LOG_ERROR, &session->context->errout,
                         "NMEA0183: %s used > MAXCHANNELS!\n", field[0]);
                break;
            }
            /* check for duplicate.
             * Often GPS in both $GPGSA and $GNGSA, for example Quectel. */
            for (n = 0; n < MAXCHANNELS; n++) {
                if ( 0 == session->nmea.sats_used[n]) {
                    // unused slot, use it.
                    session->nmea.sats_used[n] = (unsigned short)prn;
                    session->gpsdata.satellites_used = n + 1;
                    break;
                }
                if (session->nmea.sats_used[n] == (unsigned short)prn) {
                    // Duplicate!
                    break;
                }
            }
        }
        mask |= USED_IS;
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: %s: mode=%d used=%d pdop=%.2f hdop=%.2f "
                 "vdop=%.2f nmea_gnssid %d\n",
                 field[0], session->newdata.mode,
                 session->gpsdata.satellites_used,
                 session->gpsdata.dop.pdop,
                 session->gpsdata.dop.hdop,
                 session->gpsdata.dop.vdop, nmea_gnssid);
    }
    // assumes GLGSA or BDGSA, if present, is emitted directly after the GPGSA
    if ((session->nmea.seen_bdgsa ||
         session->nmea.seen_gagsa ||
         session->nmea.seen_gigsa ||
         session->nmea.seen_glgsa ||
         session->nmea.seen_gngsa ||
         session->nmea.seen_qzgsa) &&
         GSA_TALKER == 'P') {
        mask = ONLINE_SET;
    } else if ('N' != last_last_gsa_talker &&
               'N' == GSA_TALKER) {
        /* first of two GNGSA
         * if mode == 1 some GPS only output 1 GNGSA, so ship mode always */
        mask =  ONLINE_SET | MODE_SET;
    }

    // cast for 32/64 compatibility
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: %s: count %d visible %d used %d mask %#llx\n",
             field[0], count, session->gpsdata.satellites_visible,
             session->gpsdata.satellites_used,
             (long long unsigned)mask);
    return mask;
#undef GSA_TALKER
}

// GST - GPS Pseudorange Noise Statistics
static gps_mask_t processGST(unsigned count, char *field[],
                             struct gps_device_t *session)
{
    /*
     * GST,hhmmss.ss,x,x,x,x,x,x,x,*hh
     * 1 UTC time of associated GGA fix
     * 2 Total RMS standard deviation of ranges inputs to the nav solution
     * 3 Standard deviation (meters) of semi-major axis of error ellipse
     * 4 Standard deviation (meters) of semi-minor axis of error ellipse
     * 5 Orientation of semi-major axis of error ellipse (true north degrees)
     * 6 Standard deviation (meters) of latitude error
     * 7 Standard deviation (meters) of longitude error
     * 8 Standard deviation (meters) of altitude error
     * 9 Checksum
     */
    struct tm date = {0};
    timespec_t ts;
    int ret;
    char ts_buf[TIMESPEC_LEN];
    gps_mask_t mask = ONLINE_SET;

    if (9 > count) {
      return mask;
    }

    // since it is NOT current time, do not register_fractional_time()
    // compute start of today
    if (0 < session->nmea.date.tm_year) {
        // Do not bother if no current year
        memset(&date, 0, sizeof(date));
        date.tm_year = session->nmea.date.tm_year;
        date.tm_mon = session->nmea.date.tm_mon;
        date.tm_mday = session->nmea.date.tm_mday;

        /* note this is not full UTC, just HHMMSS.ss
         * this is not the current time,
         * it references another GPA of the same stamp. So do not set
         * any time stamps with it */
        ret = decode_hhmmss(&date, &ts.tv_nsec, field[1], session);
    } else {
        ret = 1;
    }
    if (0 == ret) {
        // convert to timespec_t , tv_nsec already set
        session->gpsdata.gst.utctime.tv_sec = mkgmtime(&date);
        session->gpsdata.gst.utctime.tv_nsec = ts.tv_nsec;
    } else {
        // no idea of UTC time now
        session->gpsdata.gst.utctime.tv_sec = 0;
        session->gpsdata.gst.utctime.tv_nsec = 0;
    }
    session->gpsdata.gst.rms_deviation       = safe_atof(field[2]);
    session->gpsdata.gst.smajor_deviation    = safe_atof(field[3]);
    session->gpsdata.gst.sminor_deviation    = safe_atof(field[4]);
    session->gpsdata.gst.smajor_orientation  = safe_atof(field[5]);
    session->gpsdata.gst.lat_err_deviation   = safe_atof(field[6]);
    session->gpsdata.gst.lon_err_deviation   = safe_atof(field[7]);
    session->gpsdata.gst.alt_err_deviation   = safe_atof(field[8]);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: GST: utc = %s, rms = %.2f, maj = %.2f, min = %.2f,"
             " ori = %.2f, lat = %.2f, lon = %.2f, alt = %.2f\n",
             timespec_str(&session->gpsdata.gst.utctime, ts_buf,
                          sizeof(ts_buf)),
             session->gpsdata.gst.rms_deviation,
             session->gpsdata.gst.smajor_deviation,
             session->gpsdata.gst.sminor_deviation,
             session->gpsdata.gst.smajor_orientation,
             session->gpsdata.gst.lat_err_deviation,
             session->gpsdata.gst.lon_err_deviation,
             session->gpsdata.gst.alt_err_deviation);

    mask = GST_SET | ONLINE_SET;
    return mask;
}

// xxGSV -  GPS Satellites in View
static gps_mask_t processGSV(unsigned count, char *field[],
                             struct gps_device_t *session)
{
#define GSV_TALKER      field[0][1]
    /*
     * GSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75
     *  1) 2           Number of sentences for full data
     *  2) 1           Sentence 1 of 2
     *  3) 08          Total number of satellites in view
     *  4) 01          Satellite PRN number
     *  5) 40          Elevation, degrees
     *  6) 083         Azimuth, degrees
     *  7) 46          Signal-to-noise ratio in decibels
     * <repeat for up to 4 satellites per sentence>
     *   m - 1)        NMEA 4.10 Signal Id (optional), hexadecimal
     *                 Quecktel Querk: 0 for "All Signa;s".
     *   m=n-1)        Quectel Querk: System ID (optional)
     *                     4 = BeiDou, 5 = QZSS
     *   n)            checksum
     *
     * NMEA 4.1+:
     * $GAGSV,3,1,09,02,00,179,,04,09,321,,07,11,134,11,11,10,227,,7*7F
     * after the satellite block, before the checksum, new field:
     *             NMEA Signal ID, depends on constellation.
     &             see include/gps.h
     *
     * Quectel Querk:
     * $PQGSV,4,2,15,09,16,120,,10,26,049,,16,07,123,,19,34,212,,0,4*62
     * after the Signal ID, before the checksum, new field:
     *             System ID
     *             4 = BeiDou
     *             5 = QZSS
     *
     * Can occur with talker IDs:
     *   BD (Beidou),
     *   GA (Galileo),
     *   GB (Beidou),
     *   GI (IRNSS),
     *   GL (GLONASS),
     *   GN (GLONASS, any combination GNSS),
     *   GP (GPS, SBAS, QZSS),
     *   GQ (QZSS).
     *   PQ (QZSS). Quectel Querk. BeiDou or QZSS
     *   QZ (QZSS).
     *
     * As of April 2019:
     *    no gpsd regressions have GNGSV
     *    every xxGSV cycle starts with GPGSV
     *    xxGSV cycles may be spread over several xxRMC cycles
     *
     * GL may be (incorrectly) used when GSVs are mixed containing
     * GLONASS, GN may be (incorrectly) used when GSVs contain GLONASS
     * only.  Usage is inconsistent.
     *
     * In the GLONASS version sat IDs run from 65-96 (NMEA0183
     * standardizes this). At least two GPSes, the BU-353 GLONASS and
     * the u-blox NEO-M8N, emit a GPGSV set followed by a GLGSV set.
     * We have also seen two GPSes, the Skytraq S2525F8-BD-RTK and a
     * SiRF-IV variant, that emit GPGSV followed by BDGSV. We need to
     * combine these.
     *
     * The following shows how the Skytraq S2525F8-BD-RTK output both
     * GPGSV and BDGSV in the same cycle:
     * $GPGSV,4,1,13,23,66,310,29,03,65,186,33,26,43,081,27,16,41,124,38*78
     * $GPGSV,4,2,13,51,37,160,38,04,37,066,25,09,34,291,07,22,26,156,37*77
     * $GPGSV,4,3,13,06,19,301,,31,17,052,20,193,11,307,,07,11,232,27*4F
     * $GPGSV,4,4,13,01,03,202,30*4A
     * $BDGSV,1,1,02,214,55,153,40,208,01,299,*67
     *
     * The driver automatically adapts to either case, but it takes until the
     * second cycle (usually 10 seconds from device connect) for it to
     * learn to expect BDGSV or GLGSV.
     *
     * Some GPS (Garmin 17N) spread the xxGSV over several cycles.  So
     * cycles, or cycle time, can not be used to determine start of
     * xxGSV cycle.
     *
     * NMEA 4.1 adds a signal-ID field just before the checksum. First
     * seen in May 2015 on a u-blox M8.  It can output 2 sets of GPGSV
     * in one cycle, one for L1C and the other for L2C.
     *
     * Once again, Quectel is Querky.  They added the $PQGSV sentence
     * to handle what NMEA 4.11 says should be in the $BDGSV and $GQGSV
     * sentences.  $PQGSV adds a new field just before the checksum for the
     * System ID. This field is set to 4 for BeiDou, or 5 for QZSS.  The EG25
     * output can look like this:
     *
     * $GLGSV,2,1,08,78,37,039,22,79,53,317,21,69,56,275,20,88,23,077,18,1*7A
     * $GLGSV,2,2,08,87,11,030,17,68,37,195,21,70,11,331,,81,13,129,,1*79
     * $PQGSV,4,1,15,02,20,116,,03,,,,05,34,137,,07,05,046,,0,4*58
     * $PQGSV,4,2,15,09,16,120,,10,26,049,,16,07,123,,19,34,212,,0,4*62
     * $PQGSV,4,3,15,20,03,174,,21,05,324,,22,37,281,,27,28,085,,0,4*65
     * $PQGSV,4,4,15,28,07,039,,29,,,,30,23,143,,0,4*67
     * $GAGSV,1,1,02,04,53,296,,09,05,322,,7*71
     * $GPGSV,3,1,10,13,80,247,17,14,47,043,19,15,48,295,20,17,48,108,17,1*62
     * $GPGSV,3,2,10,19,36,151,18,30,32,087,18,05,14,230,,07,03,098,,1*65
     * $GPGSV,3,3,10,12,00,234,,24,13,295,,1*69
     *
     * Skytraq PX1172RH_DS can output GPGSV, GLGSV, GAGSV and GBGSV all in
     * same epoch.  And each of those repeated for different signals
     * (L1C/L2C/etc.)
     */

    unsigned n;
    unsigned recnum;
    unsigned char  nmea_sigid = 0;
    int nmea_gnssid = 0;
    unsigned char  ubx_sigid = 0;
    int sane = 0;

    if (3 >= count) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: %s, malformed - fieldcount %d <= 3\n",
                 field[0], count);
        gpsd_zero_satellites(&session->gpsdata);
        return ONLINE_SET;
    }
    session->nmea.await = atoi(field[1]);
    if (1 > session->nmea.await ||
        10 < session->nmea.await) {
        // numbeof sentences is either 0, or too many
        session->nmea.await = 0;
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: %s: bad number of sentences %d\n",
                 field[0], session->nmea.await);
        gpsd_zero_satellites(&session->gpsdata);
        return ONLINE_SET;
    }
    session->nmea.part = atoi(field[2]);
    if (1 > session->nmea.part ||
        session->nmea.await < session->nmea.part) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: %s: bad part %d of %d\n",
                 field[0], session->nmea.part, session->nmea.await);
        gpsd_zero_satellites(&session->gpsdata);
        return ONLINE_SET;
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: %s: part %s of %s, last_gsv_talker '%#x' "
             " last_gsv_sigid %u\n",
             field[0], field[2], field[1],
             session->nmea.last_gsv_talker,
             session->nmea.last_gsv_sigid);

    /*
     * This check used to be !=0, but we have loosen it a little to let by
     * NMEA 4.1 GSVs with an extra signal-ID field at the end.  Then loosen
     * some more for Quectel  Querky $PQGSV.
     */
    switch (count % 4) {
    case 0:
        // normal, pre-NMEA 4.10
        break;
    case 1:
        // NMEA 4.10, and later, get the signal ID
        nmea_sigid = hex2uchar(field[count - 1][0]);
        break;
    case 2:
        // Quectel Querk. $PQGSV, get the signal ID, and system ID
        nmea_sigid = hex2uchar(field[count - 2][0]);
        nmea_gnssid = atoi(field[count - 1]);
        if (4 > nmea_gnssid ||
            5 < nmea_gnssid) {
            // Quectel says only 4 or 5
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "NMEA0183: %sm invalid nmea_gnssid %d\n",
                     field[0], nmea_gnssid);
            return ONLINE_SET;
        }
        break;
    default:
        // bad count
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: malformed %s - fieldcount(%d)\n",
                 field[0], count);
        gpsd_zero_satellites(&session->gpsdata);
        return ONLINE_SET;
    }

    if (1 == session->nmea.part) {
        /*
         * might have gone from GPGSV to GLGSV/BDGSV/QZGSV,
         * in which case accumulate
         *
         * NMEA 4.1 might have gone from GPGVS,sigid=x to GPGSV,sigid=y
         *
         * Quectel EG25 can go GLGSV, PQGSV, GAGSV, GPGSV, in one cycle.
         *
         * session->nmea.last_gsv_talker is zero at cycle start
         */
        if ('\0' == session->nmea.last_gsv_talker) {
            // Assume all xxGSV in same epoch.  Clear at 1st in eopoch.
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "NMEA0183: %s: new part %d, last_gsv_talker '%#x', "
                     "zeroing\n",
                     field[0],
                     session->nmea.part,
                     session->nmea.last_gsv_talker);
            gpsd_zero_satellites(&session->gpsdata);
        }
    }

    session->nmea.last_gsv_talker = GSV_TALKER;
    switch (GSV_TALKER) {
    case 'A':        // GA Galileo
        nmea_gnssid = 3;
        // Quectel LC79D can have sigid 6 (L1-A) and 1 (E5a)
        session->nmea.seen_gagsv = true;
        break;
    case 'B':        // GB BeiDou
        FALLTHROUGH
    case 'D':        // BD BeiDou
        nmea_gnssid = 4;
        session->nmea.seen_bdgsv = true;
        break;
    case 'I':        // GI IRNSS
        nmea_gnssid = 6;
        session->nmea.seen_gigsv = true;
        break;
    case 'L':        // GL GLONASS
        nmea_gnssid = 2;
        session->nmea.seen_glgsv = true;
        break;
    case 'N':        // GN GNSS
        session->nmea.seen_gngsv = true;
        break;
    case 'P':        // GP GPS
        session->nmea.seen_gpgsv = true;
        break;
    case 'Q':        // $GQ, and $PQ (Quectel Querk) QZSS
        if ('P' == field[0][0] &&
            0 != nmea_gnssid) {
            /* Quectel EC25 & EC21 use PQGSV for BeiDou or QZSS
             * 4 = BeiDou, 5 = QZSS
             * nmea_gnssid set above, what about seen?
             */
            if (4 == nmea_gnssid) {
                session->nmea.seen_bdgsv = true;
            } else if (5 == nmea_gnssid) {
                session->nmea.seen_qzgsv = true;
            } else {
                GPSD_LOG(LOG_WARN, &session->context->errout,
                         "NMEA0183: %s: invalid nmea_gnssid %d\n",
                         field[0], nmea_gnssid);
                return ONLINE_SET;
            }
            break;
        }
        // else $GQ
        FALLTHROUGH
    case 'Z':        // QZ QZSS
        nmea_gnssid = 5;
        session->nmea.seen_qzgsv = true;
        break;
    default:
        // uh, what?
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: %s: unknown nmea_gnssid %d\n",
                 field[0], nmea_gnssid);
        break;
    }

    // If NMEA 4.10, or later,then, or Quectel
    if (0 != nmea_sigid) {
        // get ubx sig_id from nmea_gnssid, nmea_sigid, get from talker ID
        ubx_sigid = nmea_sigid_to_ubx(session, nmea_gnssid, nmea_sigid);
    }
    session->nmea.last_gsv_sigid = ubx_sigid;  // UNUSED

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: %s: part %d of %d nmea_gnssid %d nmea_sigid %d "
             "ubx_sigid %d\n",
             field[0], session->nmea.part, session->nmea.await,
             nmea_gnssid, nmea_sigid, ubx_sigid);

    for (recnum = 1; recnum < count / 4; recnum++) {
        struct satellite_t *sp;
        int nmea_svid;
        unsigned fldnum = recnum * 4;

        // Quectel querk: EL and AZ, but no PRN...
        if ('\0' == field[fldnum][0]) {
            continue;
        }
        // mtk-3301 has PRN and ss, but no az or el
        nmea_svid = atoi(field[fldnum]);
        if (0 == nmea_svid) {
            // skip bogus fields
            GPSD_LOG(LOG_SHOUT, &session->context->errout,
                     "NMEA0183: %s bad svid %d\n",
                     field[0], nmea_svid);
            continue;
        }

        if (MAXCHANNELS <= session->gpsdata.satellites_visible) {
            GPSD_LOG(LOG_ERROR, &session->context->errout,
                     "NMEA0183: %s: error - too many satellites [%d]!\n",
                     field[0], session->gpsdata.satellites_visible);
            gpsd_zero_satellites(&session->gpsdata);
            break;
        }
        sp = &session->gpsdata.skyview[session->gpsdata.satellites_visible];
        sp->PRN = (short)nmeaid_to_prn(field[0], nmea_svid, nmea_gnssid,
                                       &sp->gnssid, &sp->svid);

        // both al/az, or neither. ericsson-gru04 can report only el!
        if ('\0' != field[fldnum + 1][0] &&
            '\0' != field[fldnum + 2][0]) {
            int el = atoi(field[fldnum + 1]);
            int az = atoi(field[fldnum + 2]);
            if (90 >= abs(el)) {
                sp->elevation = (double)el;
            }
            if (360 == az) {
                az = 0;
            }
            if (360 > az ||
                0 <= az) {
                sp->azimuth = (double)az;
            }
        }
        if ('\0' != field[fldnum + 3][0]) {
            int ss = atoi(field[fldnum + 3]);
            sp->ss = (double)ss;
        }
        sp->used = false;
        sp->sigid = ubx_sigid;

        /* sadly NMEA 4.1 does not tell us which sigid (L1, L2) is
         * used.  So if the ss is zero, do not mark used */
        if (0 < sp->PRN &&
            0 < sp->ss) {
            for (n = 0; n < MAXCHANNELS; n++) {
                if (session->nmea.sats_used[n] == (unsigned short)sp->PRN) {
                    sp->used = true;
                    break;
                }
            }
        }
#if 0   // debug
        GPSD_LOG(LOG_SHOUT, &session->context->errout,
                 "NMEA0183: %s nmea_gnssid %d nmea_satnum %d ubx_gnssid %d "
                 "ubx_svid %d nmea2_prn %d az %.1f el %.1f used %d\n",
                 field[0], nmea_gnssid, nmea_svid, sp->gnssid, sp->svid,
                 sp->PRN, sp->elevation, sp->azimuth, sp->used);
#endif  // debug

        /*
         * Incrementing this unconditionally falls afoul of chipsets like
         * the Motorola Oncore GT+ that emit empty fields at the end of the
         * last sentence in a GPGSV set if the number of satellites is not
         * a multiple of 4.
         */
        session->gpsdata.satellites_visible++;
    }

#if 0    // debug code
    GPSD_LOG(LOG_SHOUT, &session->context->errout,
        "NMEA0183: %s: vis %d bdgsv %d gagsv %d gigsv %d glgsv %d "
        "gngsv %d qpgsv %d qzgsv %d\n",
        field[0],
        session->gpsdata.satellites_visible,
        session->nmea.seen_bdgsv,
        session->nmea.seen_gagsv,
        session->nmea.seen_gigsv,
        session->nmea.seen_glgsv,
        session->nmea.seen_gngsv,
        session->nmea.seen_gpgsv,
        session->nmea.seen_qzgsv);
#endif  // debug

#if 0
    /*
     * Alas, we can't sanity check field counts when there are multiple sat
     * pictures, because the visible member counts *all* satellites - you
     * get a bad result on the second and later SV spans.  Note, this code
     * assumes that if any of the special sat pics occur they come right
     * after a stock GPGSV one.
     *
     * FIXME: Add per-talker totals so we can do this check properly.
     */
    if (!(session->nmea.seen_bdgsv ||
          session->nmea.seen_gagsv ||
          session->nmea.seen_gigsv ||
          session->nmea.seen_glgsv ||
          session->nmea.seen_gngsv ||
          session->nmea.seen_qzgsv)) {
        if (session->nmea.part == session->nmea.await
                && atoi(field[3]) != session->gpsdata.satellites_visible) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "NMEA0183: %s field 3 value of %d != actual count %d\n",
                     field[0], atoi(field[3]),
                     session->gpsdata.satellites_visible);
        }
    }
#endif    // FIXME

    // not valid data until we've seen a complete set of parts
    if (session->nmea.part < session->nmea.await) {
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: %s: Partial satellite data (%d of %d).\n",
                 field[0], session->nmea.part, session->nmea.await);
        session->nmea.gsx_more = true;
        return ONLINE_SET;
    }
    session->nmea.gsx_more = false;
    if (MAXCHANNELS < session->gpsdata.satellites_visible) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                "NMEA0183: %s too many satellites %d\n", field[0],
                 session->gpsdata.satellites_visible);
        session->gpsdata.satellites_visible = MAXCHANNELS;
    }
    /*
     * This sanity check catches an odd behavior of SiRFstarII receivers.
     * When they can't see any satellites at all (like, inside a
     * building) they sometimes cough up a hairball in the form of a
     * GSV packet with all the azimuth entries 0 (but nonzero
     * elevations).  This behavior was observed under SiRF firmware
     * revision 231.000.000_A2.
     */
    sane = 0;
    for (n = 0; n < (unsigned)session->gpsdata.satellites_visible; n++) {
        if (0 != session->gpsdata.skyview[n].azimuth) {
            sane = 1;
            break;
        }
    }

    if (0 == sane) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: %s: Satellite data no good (%d of %d).\n",
                 field[0], session->nmea.part, session->nmea.await);
        gpsd_zero_satellites(&session->gpsdata);
        return ONLINE_SET;
    }

    session->gpsdata.skyview_time.tv_sec = 0;
    session->gpsdata.skyview_time.tv_nsec = 0;
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: %s: Satellite data OK (%d of %d).\n",
             field[0], session->nmea.part, session->nmea.await);

    /* assumes GLGSV or BDGSV group, if present, is emitted after the GPGSV
     * An assumption that Quectel breaks;  The EG25 can send in one epoch:
     * $GLGSV, $PQGSV, $GAGSV, then $GPGSV! */
    if ((session->nmea.seen_bdgsv ||
         session->nmea.seen_gagsv ||
         session->nmea.seen_gigsv ||
         session->nmea.seen_glgsv ||
         session->nmea.seen_gngsv ||
         session->nmea.seen_qzgsv) &&
        ('P' == GSV_TALKER &&
         'P' != session->nmea.end_gsv_talker)) {
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: %s: not end talker %d\n",
                 field[0], session->nmea.end_gsv_talker);
        return ONLINE_SET;
    }

#if 0   // debug code
    {
        char ts_buf[TIMESPEC_LEN];
        char ts_buf1[TIMESPEC_LEN];
        GPSD_LOG(LOG_SHOUT, &session->context->errout,
            "NMEA0183: %s: set skyview_time %s frac_time %s\n",
            field[0],
            timespec_str(&session->gpsdata.skyview_time, ts_buf,
                         sizeof(ts_buf)),
            timespec_str(&session->nmea.this_frac_time, ts_buf1,
                         sizeof(ts_buf1)));
    }
#endif  // debug

    return SATELLITE_SET;
#undef GSV_TALKER
}

/*
 * Unicore $GYOACC  MEMS Sensor DAta
 * Note: Invalid sender: $GY
 */
static gps_mask_t processGYOACC(unsigned count UNUSED, char *field[],
                                struct gps_device_t *session)
{
    /*
     * $GYOACC,050624,002133.10,0.004634,0.000273,0.004348,100,-4.666065,
     *    -3.466573,7.960348,100,31,0,100,0*02
     */
    gps_mask_t mask = ONLINE_SET;
    double gyroX = safe_atof(field[3]);       // deg/s
    double gyroY = safe_atof(field[4]);       // deg/s
    double gyroZ = safe_atof(field[5]);       // deg/s
    unsigned gyroPeriod = atoi(field[6]);     // period in ms
    double accX = safe_atof(field[7]);        // m/s^2
    double accY = safe_atof(field[8]);        // m/s^2
    double accZ = safe_atof(field[9]);        // m/s^2
    unsigned accPeriod = atoi(field[10]);     // period in ms
    int temp = atoi(field[11]);               // temperature C
    unsigned speed = atoi(field[12]);         // pulses
    unsigned pulsePeriod = atoi(field[13]);   // period in ms
    unsigned fwd = atoi(field[14]);           // 0 == forward, 1 == reverse
    struct tm date = {0};
    timespec_t ts = {0};

    // Not at the same rate at the GNSS epoch. So do not use session->nmea
    if (0 == decode_hhmmss(&date, &ts.tv_nsec, field[2], session) &&
        0 == decode_ddmmyy(&date, field[1], session)) {

        session->gpsdata.attitude.mtime.tv_sec = mkgmtime(&date);
        session->gpsdata.attitude.mtime.tv_nsec = ts.tv_nsec;
    } else {
        session->gpsdata.attitude.mtime.tv_sec = 0;
        session->gpsdata.attitude.mtime.tv_nsec = 0;
    }

    session->gpsdata.attitude.gyro_x = gyroX;
    session->gpsdata.attitude.gyro_y = gyroY;
    session->gpsdata.attitude.gyro_z = gyroZ;
    session->gpsdata.attitude.acc_x = accX;
    session->gpsdata.attitude.acc_y = accY;
    session->gpsdata.attitude.acc_z = accZ;
    mask |= ATTITUDE_SET;

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: $GYOACC time %lld.%09lld "
             "gyro X %.6f Y %.6f Z %.6f per %u "
             "acc X %.6f Y %.6f Z %.6f per %u "
             "temp %d speed %u per %u fwd %u\n",
             (long long)session->gpsdata.attitude.mtime.tv_sec,
             (long long)session->gpsdata.attitude.mtime.tv_nsec,
             gyroX, gyroY, gyroZ, gyroPeriod,
             accX, accY, accZ, accPeriod,
             temp, speed, pulsePeriod, fwd);
    return mask;
}

static gps_mask_t processHDG(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     *  $SDHDG,234.6,,,1.3,E*34
     *
     *  $--HDG,h.h,d.d,a,v.v,a*hh<CR><LF>
     *  Magnetic sensor heading, degrees
     *  Magnetic deviation, degrees E/W
     *  Magnetic variation, degrees, E/W
     *
     *  1. To obtain Magnetic Heading:
     *  Add Easterly deviation (E) to Magnetic Sensor Reading
     *  Subtract Westerly deviation (W) from Magnetic Sensor Reading
     *  2. To obtain True Heading:
     *  Add Easterly variation (E) to Magnetic Heading
     *  Subtract Westerly variation (W) from Magnetic Heading
     *  3. Variation and deviation fields shall be null fields if unknown.
     */

    gps_mask_t mask = ONLINE_SET;
    double sensor_heading;
    double magnetic_deviation;

    if ('\0' == field[1][0]) {
        // no data
        return mask;
    }
    sensor_heading = safe_atof(field[1]);
    if ((0.0 > sensor_heading) ||
        (360.0 < sensor_heading)) {
        // bad data */
        return mask;
    }
    magnetic_deviation = safe_atof(field[2]);
    if ((0.0 > magnetic_deviation) ||
        (360.0 < magnetic_deviation)) {
        // bad data
        return mask;
    }
    switch (field[2][0]) {
    case 'E':
        sensor_heading += magnetic_deviation;
        break;
    case 'W':
        sensor_heading += magnetic_deviation;
        break;
    default:
        // ignore
        break;
    }

    // good data
    session->newdata.magnetic_track = sensor_heading;
    mask |= MAGNETIC_TRACK_SET;

    // get magnetic variation
    if ('\0' != field[3][0] &&
        '\0' != field[4][0]) {
        session->newdata.magnetic_var = safe_atof(field[3]);

        switch (field[4][0]) {
        case 'E':
            // no change
            mask |= MAGNETIC_TRACK_SET;
            break;
        case 'W':
            session->newdata.magnetic_var = -session->newdata.magnetic_var;
            mask |= MAGNETIC_TRACK_SET;
            break;
        default:
            // huh?
            session->newdata.magnetic_var = NAN;
            break;
        }
    }


    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: $SDHDG heading %lf var %.1f\n",
             session->newdata.magnetic_track,
             session->newdata.magnetic_var);
    return mask;
}

/* precessHDM() - process magnetic headingxxHDM messages
 *
 * Deprecated by NMEA in 2008
 */
static gps_mask_t processHDM(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $APHDM,218.634,M*39
     *
     * 1) Magnetic heading
     * 2) M == Magnetic
     * )  checksum
     *
     */
    gps_mask_t mask = ONLINE_SET;

    if ('\0' == field[1][0]) {
        // no data
        return mask;
    }

    // assume good data
    session->gpsdata.attitude.mheading = safe_atof(field[1]);
    mask |= ATTITUDE_SET;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: $xxHDM: Magnetic heading %f\n",
             session->gpsdata.attitude.mheading);
    return mask;
}

static gps_mask_t processHDT(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $HEHDT,341.8,T*21
     *
     * $xxHDT,x.x*hh<cr><lf>
     *
     * The only data field is true heading in degrees.
     * The following field is required to be 'T' indicating a true heading.
     * It is followed by a mandatory nmea_checksum.
     */
    gps_mask_t mask = ONLINE_SET;
    double heading;

    if ('\0' == field[1][0]) {
        // no data
        return mask;
    }
    heading = safe_atof(field[1]);
    if (0.0 > heading ||
        360.0 < heading) {
        // bad data
        return mask;
    }
    // True heading
    session->gpsdata.attitude.heading = heading;

    mask |= ATTITUDE_SET;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: $xxHDT heading %lf.\n",
             session->gpsdata.attitude.heading);
    return mask;
}

/* $INFO, Inertial Sense product info
 * Not a legal NMEA message name
 * https://docs.inertialsense.com/user-manual/com-protocol/nmea/#info
 */
static gps_mask_t processINFO(unsigned count UNUSED, char *field[],
                              struct gps_device_t *session)
{
    /*
     * $INFO,928404541,1.0.2.0,2.2.2.0,-377462659,2.0.0.0,-53643429,
     *    Inertial Sense Inc,2025-01-10,16:06:13.50,GPX -1,4,0, *7D
     *
     * 1  Serial number    Manufacturer serial number
     * 2  Hardware version Hardware version
     * 3  Firmware version Firmware version
     * 4  Build number     Firmware build number
     * 5  Protocol version Communications protocol version
     * 6  Repo revision    Repository revision number
     * 7  Manufacturer     Manufacturer name
     * 8  Build date       Build date
     * 9  Build time       Build time
     * 10 Add Info         Additional information
     * 11 Hardware         Hardware: 1=uINS, 2=EVB, 3=IMX, 4=GPX
     * 12 Reserved         Reserved for internal purpose.
     * 13 Build type       Build type:
     *  'a'=ALPHA, 'b'=BETA, 'c'=RELEASE CANDIDATE, 'r'=PRODUCTION RELEASE,
     *  'd'=debug, ' '= ????
     */

    // hardwaare
    static struct clist_t hardware[] = {
        {'1', "uISN"},
        {'2', "EVB"},
        {'3', "INX"},
        {'4', "GPX"},
        {'\0', NULL},
    };

    if ('\0' == session->subtype[0] &&
        !session->context->passive) {
        // first time seen, send init

        (void)nmea_send(session, "$STPC");   // stop all messages

        /* Enable all possible NMEA messages, at 1Hz
         * 1 PIMU, 2 PPIMU, 3 PRIMU, 4 PINS1, 5 PINS2
         * 6 PGPSP, 7 GGA, 8 GLL, 9 GSA, 10 RMC, 11 ZDA, 12 PASHR
         * 13 PSTRB, 14 INFO, 15 GSV, 16 VTG
         * there are many more...
         */
        (void)nmea_send(session,
                        "$ASCE,0,"    // Set current port
                        "1,0,"        // PIMU
                        "2,0,"        // PPIMU
                        "3,0,"        // PRIMU
                        "4,0,"        // PINS1
                        "5,0,"        // PINS2
                        "6,5,"        // PGPSP
                        "7,5,"        // GGA
                        "8,5,"        // GLL
                        "9,5,"        // GSA
                        "10,5,"       // RMC
                        "11,5,"       // ZDA
                        "12,5,"       // PASHR
                        "13,5,"       // PSTRB
                        "14,0,"       // INFO
                        "15,5,"       // GSV
                        "16,5,"       // VTG
                        "17,5,"       // ?
                        "18,5");      // ?
    }

    // save serial number
    strlcpy(session->gpsdata.dev.sernum, field[1],
            sizeof(session->gpsdata.dev.sernum));
    // save HW as subtype
    (void)snprintf(session->subtype, sizeof(session->subtype),
                   "%s-%.11s",
                   char2str(field[11][0], hardware), field[2]);
    // save FW Version as subtype1
    (void)snprintf(session->subtype1, sizeof(session->subtype1),
                   "FW %.11s",
                   field[3]);

    GPSD_LOG(LOG_WARN, &session->context->errout,
             "NMEA0183: INFO: serial %s subtype %s subtype1 %s\n",
             session->gpsdata.dev.sernum, session->subtype, session->subtype1);

    return ONLINE_SET;
}

static gps_mask_t processMTW(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /* Water temp in degrees C
     * $--MTW,x.x,C*hh<CR><LF>
     *
     * Fields in order:
     * 1. water temp degrees C
     * 2. C
     * *hh          mandatory nmea_checksum
     */
    gps_mask_t mask = ONLINE_SET;

    if ('\0' == field[1][0] ||
        'C' != field[2][0]) {
        // no temp
        return mask;
    }
    session->newdata.wtemp = safe_atof(field[1]);

    GPSD_LOG(LOG_PROG, &session->context->errout,
        "NMEA0183: %s temp %.1f C\n",
        field[0], session->newdata.wtemp);
    return mask;
}

static gps_mask_t processMWD(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * xxMWD - Wind direction and speed
     * $xxMWD,x.x,T,x.x,M,x.x,N,x.x,M*hh<cr><lf>
     * Fields in order:
     * 1. wind direction, 0 to 359, True
     * 2. T
     * 3. wind direction, 0 to 359, Magnetic
     * 4. M
     * 5. wind speed, knots
     * 6. N
     * 7. wind speed, meters/sec
     * 8. M
     * *hh          mandatory nmea_checksum
     */
    gps_mask_t mask = ONLINE_SET;

    session->newdata.wanglet = safe_atof(field[1]);
    session->newdata.wanglem = safe_atof(field[3]);
    session->newdata.wspeedt = safe_atof(field[7]);
    mask |= NAVDATA_SET;

    GPSD_LOG(LOG_DATA, &session->context->errout,
        "NMEA0183: xxMWD wanglet %.2f wanglem %.2f wspeedt %.2f\n",
        session->newdata.wanglet,
        session->newdata.wanglem,
        session->newdata.wspeedt);
    return mask;
}

static gps_mask_t processMWV(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * xxMWV - Wind speed and angle
     * $xxMWV,x.x,a,x.x,a,A*hh<cr><lf>
     * Fields in order:
     * 1. wind angle, 0 to 359, True
     * 2. R = Relative (apparent), T = Theoretical (calculated)
     *    Is T magnetic or true??
     * 3. wind speed
     * 4. wind speed units K/M/N/S
     * 6. A = Valid, V = invalid
     * *hh          mandatory nmea_checksum
     */
    gps_mask_t mask = ONLINE_SET;

    if (('R' == field[2][0]) &&
        ('N' == field[4][0]) &&
        ('A' == field[5][0])) {
        // relative, knots, and valid
        session->newdata.wangler = safe_atof(field[1]);
        session->newdata.wspeedr = safe_atof(field[3]) * KNOTS_TO_MPS;
        mask |= NAVDATA_SET;
    }

    GPSD_LOG(LOG_DATA, &session->context->errout,
        "NMEA0183: xxMWV wangler %.2f wspeedr %.2f\n",
        session->newdata.wangler,
        session->newdata.wspeedr);
    return mask;
}

// PAIRxxx is Airoha, spunoff from Mediatek

// PAIR001 -- ACK/NAK
static gps_mask_t processPAIR001(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    int reason;
    const char *reasons[] = {
        "Success",
        "In process, wait",
        "Failed",
        "Not supported",
        "Busy, try again.",
        "Unknown",             // gpsd only
    };

    // ACK / NACK
    reason = atoi(field[2]);
    if (4 == reason) {
        // ACK
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: PAIR001, ACK: %s\n", field[1]);
        return ONLINE_SET;
    }

    // else, NACK
    if (0 > reason ||
        4 < reason) {
        // WTF?
        reason = 5;
    }
    GPSD_LOG(LOG_WARN, &session->context->errout,
             "NMEA0183: PAIR NACK: %s, reason: %s\n",
             field[1], reasons[reason]);

    return ONLINE_SET;
}

// PAIR010 -- Request Aiding
static gps_mask_t processPAIR010(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    int type;
    const char *types[] = {
        "EPO data",
        "Time",
        "Location",
        "Unknown",             // gpsd only
    };

    int system;
    const char *systems[] = {
        "GPS",
        "GLONASS",
        "Galileo",
        "BDS",
        "QZSS",
        "Unknown",             // gpsd only
    };
    int wn;         // week number
    int tow;        // time of week

    type = atoi(field[1]);
    if (0 > type ||
        2 < type) {
        // WTF?
        type = 3;
    }
    system = atoi(field[2]);
    if (0 > system ||
        4 < system) {
        // WTF?
        system = 5;
    }
    wn = atoi(field[3]);
    tow = atoi(field[4]);
    GPSD_LOG(LOG_WARN, &session->context->errout,
             "NMEA0183: PAIR010: Need %s for %s.  WN %d TOW %d\n",
             types[type], systems[system], wn, tow);

    return ONLINE_SET;
}

// PDTINFO Unicore Product Information
static gps_mask_t processPDTINFO(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    (void)snprintf(session->subtype, sizeof(session->subtype),
                   "%s, %s, %s",
                   field[1], field[2], field[5]);
    // save SW and HW Version as subtype1
    (void)snprintf(session->subtype1, sizeof(session->subtype1),
                   "SW %s,HW %s",
                   field[4], field[3]);

    GPSD_LOG(LOG_WARN, &session->context->errout,
             "NMEA0183: PDTINFO: subtype %s subtype1 %s\n",
             session->subtype, session->subtype1);

    return ONLINE_SET;
}

/* Ashtech sentences take this format:
 * $PASHDR,type[,val[,val]]*CS
 * type is an alphabetic subsentence type
 *
 * Oxford Technical Solutions (OxTS) also uses the $PASHR sentence,
 * but with a very different sentence contents:
 * $PASHR,HHMMSS.SSS,HHH.HH,T,RRR.RR,PPP.PP,aaa.aa,r.rrr,p.ppp,h.hhh,Q1,Q2*CS
 *
 * so field 1 in ASHTECH is always alphabetic and numeric in OXTS
 *
 */
static gps_mask_t processPASHR(unsigned count UNUSED, char *field[],
                               struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    char ts_buf[TIMESPEC_LEN];

    if (0 == strcmp("ACK", field[1])) {
        // ACK
        GPSD_LOG(LOG_DATA, &session->context->errout, "NMEA0183: PASHR,ACK\n");
        return ONLINE_SET;
    } else if (0 == strcmp("MCA", field[1])) {
        // MCA, raw data
        GPSD_LOG(LOG_DATA, &session->context->errout, "NMEA0183: PASHR,MCA\n");
        return ONLINE_SET;
    } else if (0 == strcmp("NAK", field[1])) {
        // NAK
        GPSD_LOG(LOG_DATA, &session->context->errout, "NMEA0183: PASHR,NAK\n");
        return ONLINE_SET;
    } else if (0 == strcmp("PBN", field[1])) {
        // PBN, position data
        // FIXME: decode this for ECEF
        GPSD_LOG(LOG_DATA, &session->context->errout, "NMEA0183: PASHR,PBN\n");
        return ONLINE_SET;
    } else if (0 == strcmp("POS", field[1])) {  // 3D Position
        /* $PASHR,POS,
         *
         * 2: position type:
         *      0 = autonomous
         *      1 = position differentially corrected with RTCM code
         *      2 = position differentially corrected with CPD float solution
         *      3 = position is CPD fixed solution
         */
        mask |= MODE_SET | STATUS_SET | CLEAR_IS;
        if ('\0' == field[2][0]) {
            // empty first field means no 3D fix is available
            session->newdata.status = STATUS_UNK;
            session->newdata.mode = MODE_NO_FIX;
        } else {

            // if we make it this far, we at least have a 3D fix
            session->newdata.mode = MODE_3D;
            if (1 <= atoi(field[2]))
                session->newdata.status = STATUS_DGPS;
            else
                session->newdata.status = STATUS_GPS;

            session->nmea.gga_sats_used = atoi(field[3]);
            if (0 == merge_hhmmss(field[4], session)) {
                register_fractional_time(field[0], field[4], session);
                mask |= TIME_SET;
            }
            if (0 == do_lat_lon(&field[5], &session->newdata)) {
                mask |= LATLON_SET;
                if ('\0' != field[9][0]) {
                    // altitude is already WGS 84
                    session->newdata.altHAE = safe_atof(field[9]);
                    mask |= ALTITUDE_SET;
                }
            }
            session->newdata.track = safe_atof(field[11]);
            session->newdata.speed = safe_atof(field[12]) / MPS_TO_KPH;
            session->newdata.climb = safe_atof(field[13]);
            if ('\0' != field[14][0]) {
                session->gpsdata.dop.pdop = safe_atof(field[14]);
                mask |= DOP_SET;
            }
            if ('\0' != field[15][0]) {
                session->gpsdata.dop.hdop = safe_atof(field[15]);
                mask |= DOP_SET;
            }
            if ('\0' != field[16][0]) {
                session->gpsdata.dop.vdop = safe_atof(field[16]);
                mask |= DOP_SET;
            }
            if ('\0' != field[17][0]) {
                session->gpsdata.dop.tdop = safe_atof(field[17]);
                mask |= DOP_SET;
            }
            mask |= (SPEED_SET | TRACK_SET | CLIMB_SET);
            GPSD_LOG(LOG_DATA, &session->context->errout,
                     "NMEA0183: PASHR,POS: hhmmss=%s lat=%.2f lon=%.2f"
                     " altHAE=%.f"
                     " speed=%.2f track=%.2f climb=%.2f mode=%d status=%d"
                     " pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f used=%d\n",
                     field[4], session->newdata.latitude,
                     session->newdata.longitude, session->newdata.altHAE,
                     session->newdata.speed, session->newdata.track,
                     session->newdata.climb, session->newdata.mode,
                     session->newdata.status, session->gpsdata.dop.pdop,
                     session->gpsdata.dop.hdop, session->gpsdata.dop.vdop,
                     session->gpsdata.dop.tdop, session->nmea.gga_sats_used);
        }
    } else if (0 == strcmp("RID", field[1])) {  // Receiver ID
        (void)snprintf(session->subtype, sizeof(session->subtype) - 1,
                       "%s ver %s", field[2], field[3]);
        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "NMEA0183: PASHR,RID: subtype=%s mask={}\n",
                 session->subtype);
        return mask;
    } else if (0 == strcmp("SAT", field[1])) {  // Satellite Status
        struct satellite_t *sp;
        unsigned i;
        session->gpsdata.satellites_visible = atoi(field[2]);

        if (((NMEA_MAX_FLD - 15) / 5) < session->gpsdata.satellites_visible) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                    "NMEA0183: PASHR,SAT: too many satellites %d\n",
                     session->gpsdata.satellites_visible);
            session->gpsdata.satellites_visible = (NMEA_MAX_FLD - 15) / 5;
        }
        session->gpsdata.satellites_used = 0;
        sp = session->gpsdata.skyview;
        for (i = 0; i < session->gpsdata.satellites_visible; i++) {
            sp[i].PRN = (short)atoi(field[3 + i * 5 + 0]);
            sp[i].azimuth = (double)atoi(field[3 + i * 5 + 1]);
            sp[i].elevation = (double)atoi(field[3 + i * 5 + 2]);
            sp[i].ss = safe_atof(field[3 + i * 5 + 3]);
            sp[i].used = false;
            if ('U' == field[3 + i * 5 + 4][0]) {
                sp[i].used = true;
                session->gpsdata.satellites_used++;
            }
        }
        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "NMEA0183: PASHR,SAT: used=%d\n",
                 session->gpsdata.satellites_used);
        session->gpsdata.skyview_time.tv_sec = 0;
        session->gpsdata.skyview_time.tv_nsec = 0;
        mask |= SATELLITE_SET | USED_IS;

    } else if (0 == strcmp("T", field[3])) {   // Assume OxTS PASHR
        // FIXME: decode OxTS $PASHDR, time is wrong, breaks cycle order
        if (0 == merge_hhmmss(field[1], session)) {
            // register_fractional_time(field[0], field[1], session);
            // mask |= TIME_SET; confuses cycle order
        }
        // Assume true heading
        session->gpsdata.attitude.heading = safe_atof(field[2]);
        session->gpsdata.attitude.roll = safe_atof(field[4]);
        session->gpsdata.attitude.pitch = safe_atof(field[5]);
        // mask |= ATTITUDE_SET;  * confuses cycle order ??
        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "NMEA0183: PASHR (OxTS) time %s, heading %lf.\n",
                  timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)),
                  session->gpsdata.attitude.heading);
    }
    return mask;
}

/* Ericsson $PERC,FWsts - Firmware status
 * Firmware version and status information for timing modules
 *
 * $PERC,FWsts,<grp1>,<grp2>,<grp3>,<state>,<substatus>,<type>*XX
 *
 * Field 1: grp1 - Status group 1 (6 digits, format XXYYZZ)
 * Field 2: grp2 - Status group 2 (6 digits, format XXYYZZ)
 * Field 3: grp3 - Status group 3 (6 digits, format XXYYZZ)
 * Field 4: state - Firmware state (0-3)
 * Field 5: substatus - Sub-status code (0=normal, 1=0xD, 2=0xE)
 * Field 6: type - Type indicator
 *
 * Periodic sentence (~19s interval) providing firmware status details.
 * Status groups contain device-specific diagnostic information.
 */
static gps_mask_t processPERCFWsts(unsigned count UNUSED, char *field[],
                                   struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    int grp1, grp2, grp3, state, substatus, type;

    static const struct vlist_t vfwsts_type[] = {
        {0, "Normal"},
        {1, "Type 1"},
        {2, "Type 2"},
        {3, "Type 3"},
        {0, NULL},
    };

    // field[0]="PERC", field[1]="FWsts", data starts at field[2]
    grp1 = atoi(field[2]);
    grp2 = atoi(field[3]);
    grp3 = atoi(field[4]);
    state = atoi(field[5]);
    substatus = atoi(field[6]);
    type = atoi(field[7]);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PERC,FWsts: groups=%06d,%06d,%06d state=%d "
             "substatus=%d type=%s(%d)\n",
             grp1, grp2, grp3, state, substatus,
             val2str(type, vfwsts_type), type);

    return mask;
}

/* Ericsson $PERC,GPavp - Averaged position
 * Position-hold reference coordinates for timing modules
 *
 * $PERC,GPavp,<lat>,<lat_ns>,<lon>,<lon_ew>,<alt>,<alt_unit>*XX
 *
 * Field 1: lat - Latitude in ddmm.mmmm format
 * Field 2: lat_ns - Latitude hemisphere (N/S)
 * Field 3: lon - Longitude in dddmm.mmmm format
 * Field 4: lon_ew - Longitude hemisphere (E/W)
 * Field 5: alt - Altitude in meters
 * Field 6: alt_unit - Altitude units (M=meters)
 *
 * This sentence appears only in mode 2 (position-hold) and provides the
 * surveyed average position that the timing module uses as its reference.
 * Format matches standard NMEA position encoding.
 */
static gps_mask_t processPERCGPavp(unsigned count UNUSED, char *field[],
                                   struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    double lat, lon, alt;

    // field[0]="PERC", field[1]="GPavp", data starts at field[2]
    // Format: lat, lat_ns, lon, lon_ew, alt, alt_unit
    lat = decode_lat_or_lon(field[2]);
    if ('S' == field[3][0])
        lat = -lat;

    lon = decode_lat_or_lon(field[4]);
    if ('W' == field[5][0])
        lon = -lon;

    alt = safe_atof(field[6]);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PERC,GPavp: lat=%.6f lon=%.6f alt=%.1fm\n",
             lat, lon, alt);

    // Save surveyed/averaged position (position-hold reference)
    session->newdata.latitude = lat;
    session->newdata.longitude = lon;
    session->newdata.altHAE = alt;
    mask |= LATLON_SET | ALTITUDE_SET;

    return mask;
}

/* Ericsson $PERC,GPctr - Control/heartbeat
 * Periodic heartbeat and configuration status message for timing modules
 *
 * $PERC,GPctr,<direction>,<data>,<f3>,<f4>,<config_byte>,<f6>,<f7>*XX
 *
 * Field 1: direction - 'R'=Read response, 'V'=Value notification
 * Field 2: data - Configuration data (21 bytes per sentence)
 * Field 3-5: Additional config fields
 * Field 6: config_byte - Configuration byte
 * Field 7: Reserved
 *
 * Periodic sentence (~15s interval) serving as keepalive/heartbeat.
 * Provides configuration and status information.
 */
static gps_mask_t processPERCGPctr(unsigned count UNUSED, char *field[],
                                   struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    char direction;
    int config_byte = 0;

    // field[0]="PERC", field[1]="GPctr", data starts at field[2]
    direction = field[2][0];
    if (field[6][0] != '\0') {
        config_byte = atoi(field[6]);
    }

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PERC,GPctr: direction=%c data=%s config=%d\n",
             direction, field[3], config_byte);

    return mask;
}

/* Ericsson $PERC,GPdbg - Debug output
 * Satellite tracking debug and status counter for Ericsson timing modules
 *
 * Two variants based on type field:
 *
 * Type 1: Satellite tracking debug (4 messages per second when enabled)
 * $PERC,GPdbg,1,<page_count>,<page_num>,<sv_data>...*XX
 *
 * Pages 1-3: Up to 7 satellites per page in PPPSSXX format:
 *   PPP = PRN (3 digits)
 *   SS = SNR (2 digits)
 *   XX = Status (2 hex digits: 00=solid, 01=weak, 05=acquiring)
 *
 * Page 10: Timing/phase measurements with bitmask
 *   field[5] = Satellite bitmask (hex, e.g., 07FF = 11 sats)
 *   fields[6-19] = Timing/phase/frequency measurements
 *
 * Type 2: Status counter debug
 * $PERC,GPdbg,2,<counter>*XX
 *
 * Enabled via command: $PERC,GPdbg,1*43
 * Provides real-time satellite tracking status beyond standard GPGSV.
 */
static gps_mask_t processPERCGPdbg(unsigned count UNUSED, char *field[],
                                   struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    int type, page_count, page_num, i;

    // field[0]="PERC", field[1]="GPdbg", data starts at field[2]
    type = atoi(field[2]);

    if (type == 1) {
        // Satellite tracking debug
        page_count = atoi(field[3]);
        page_num = atoi(field[4]);

        if (page_num == 10) {
            // Page 10: Special format with timing/phase data
            // field[5]=bitmask (hex), field[6+]=timing fields
            GPSD_LOG(LOG_DATA, &session->context->errout,
                     "NMEA0183: PERC,GPdbg: type=1 page=%d/%d bitmask=%s "
                     "timing=[%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s]\n",
                     page_num, page_count, field[5],
                     field[6], field[7], field[8], field[9], field[10],
                     field[11], field[12], field[13], field[14], field[15],
                     field[16], field[17], field[18], field[19]);
        } else {
            // Pages 1-3: Satellite tracking data
            // Format: PRN(3)+SNR(2)+Status(2) = 7 digits per satellite
            // Count non-empty satellite fields
            int sv_count = 0;
            for (i = 5; i < NMEA_MAX_FLD && field[i][0] != '\0'; i++) {
                sv_count++;
            }

            GPSD_LOG(LOG_DATA, &session->context->errout,
                     "NMEA0183: PERC,GPdbg: type=1 page=%d/%d sv_count=%d\n",
                     page_num, page_count, sv_count);

            // Log individual satellites (up to 7 per page)
            // FIXME: save them in skyview[]
            for (i = 5; i < 5 + 7 && field[i][0] != '\0'; i++) {
                int prn = 0, snr = 0, status = 0;
                if (7 <= strnlen(field[i], 8)) {
                    // Parse PPPSSXX format
                    char prn_str[4], snr_str[3], status_str[3];

                    strlcpy(prn_str, field[i], sizeof(prn_str));
                    strlcpy(snr_str, field[i] + 3, sizeof(snr_str));
                    strlcpy(status_str, field[i] + 5, sizeof(status_str));

                    prn = atoi(prn_str);
                    snr = atoi(snr_str);
                    status = (int)strtol(status_str, NULL, 16);

                    GPSD_LOG(LOG_DATA, &session->context->errout,
                             "NMEA0183: PERC,GPdbg:   sv%d: PRN=%d SNR=%d "
                             "status=0x%02x\n",
                             i - 4, prn, snr, status);
                }
            }
        }
    } else if (type == 2) {
        // Status counter debug
        int counter = atoi(field[3]);
        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "NMEA0183: PERC,GPdbg: type=2 counter=%d\n",
                 counter);
    } else {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: PERC,GPdbg: unknown type=%d\n",
                 type);
    }

    // Debug data is logged but not stored in gps_data_t API structures.
    // Per-satellite tracking status and page 10 timing measurements

    // FIXME: store into satellite_t and skyview

    return mask;
}

/* Ericsson $PERC,GPppf - Position phase/frequency error
 * Oscillator discipline quality for timing modules
 *
 * $PERC,GPppf,<phase_error>,<freq_error>,<status>,<leap_sec>,<quality>*XX
 *
 * Field 1: phase_error - Phase error in nanoseconds (signed)
 * Field 2: freq_error - Frequency error in ppb (parts per billion, signed)
 * Field 3: status - Status indicator (1=holdover/acquiring, 0=GPS-disciplined)
 * Field 4: leap_sec - UTC-GPS leap second offset (e.g., 18 in 2026)
 * Field 5: quality - PPS quality indicator (0=locked, 1=good, 2=degraded)
 *
 * This sentence provides real-time oscillator discipline quality metrics.
 * Phase error indicates PPS timing offset, frequency error shows oscillator
 * stability relative to GPS reference. Leap seconds typically appear ~2.5
 * minutes after first fix.
 */
static gps_mask_t processPERCGPppf(unsigned count UNUSED, char *field[],
                                   struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    double phase_error, freq_error;
    int status, leap_sec, quality;

    // field[0]="PERC", field[1]="GPppf", data starts at field[2]
    phase_error = safe_atof(field[2]);
    freq_error = safe_atof(field[3]);
    status = atoi(field[4]);
    leap_sec = atoi(field[5]);
    quality = atoi(field[6]);

    // Note: Always populate oscillator data - distros configure builds
    // inconsistently. The oscillator field is part of the standard API.
    session->gpsdata.osc.running = true;
    session->gpsdata.osc.reference = true;
    session->gpsdata.osc.disciplined = (status == 0);
    session->gpsdata.osc.delta = (int)phase_error;
    mask |= OSCILLATOR_SET;

    // Store leap seconds (can be negative in the future!)
    session->gpsdata.leap_seconds = leap_sec;

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PERC,GPppf: phase=%.1fns freq=%.1fppb "
             "disciplined=%d leap=%d quality=%d\n",
             phase_error, freq_error, (status == 0), leap_sec, quality);

    return mask;
}

/* Ericsson $PERC,GPppr - Position pulse reference
 * GPS time reference and PPS quality for timing modules
 *
 * $PERC,GPppr,<tow_sec>,<gps_week>,<param>,<sv_count>,<pps_flag>,<reserved>*XX
 *
 * Field 1: tow_sec - GPS Time of Week in seconds (0-604799)
 * Field 2: gps_week - GPS week number
 * Field 3: param - Constant parameter (always 00050, likely cable delay in ns)
 * Field 4: sv_count - Number of satellites used in solution
 * Field 5: pps_flag - PPS quality indicator (0=OK/locked, 3=not locked)
 * Field 6: reserved - Reserved field (always 0)
 *
 * Critical timing sentence providing GPS time reference and PPS lock status.
 * The pps_flag field indicates whether PPS output is reliable.
 */
static gps_mask_t processPERCGPppr(unsigned count UNUSED, char *field[],
                                   struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    unsigned int tow_sec, gps_week, param, sv_count, pps_flag, reserved;
    timespec_t ts_tow;

    static const struct vlist_t vpercgpppr_pps[] = {
        {0, "locked"},
        {3, "unlocked"},
        {0, NULL},
    };

    // field[0]="PERC", field[1]="GPppr", data starts at field[2]
    tow_sec = atoi(field[2]);
    gps_week = atoi(field[3]);
    param = atoi(field[4]);
    sv_count = atoi(field[5]);
    pps_flag = atoi(field[6]);
    // field[7] is reserved (always 0)
    reserved = atoi(field[7]);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PERC,GPppr: week=%u tow=%u param=%u sats=%u "
             "pps_flag=%s reserved=%d(%u)\n",
             gps_week, tow_sec, param, sv_count,
             val2str(pps_flag, vpercgpppr_pps), pps_flag, reserved);

    // Convert GPS week + TOW to Unix timestamp
    ts_tow.tv_sec = tow_sec;
    ts_tow.tv_nsec = 0;
    session->newdata.time = gpsd_gpstime_resolv(session, gps_week, ts_tow);
    mask |= TIME_SET;

    // Save satellite count
    session->gpsdata.satellites_used = (int)sv_count;
    mask |= SATELLITE_SET;

    /* Cable delay parameter (constant 50ns on GRU 04??)
     * Logged for reference - no suitable API field for cable delay */
    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: Cable delay compensation: %u\n", param);

    // Save PPS lock status to oscillator structure
    // pps_flag: 0 = locked/OK, 3 = not locked
    if (0 == pps_flag) {
        session->gpsdata.osc.reference = true;
    } else {
        session->gpsdata.osc.reference = false;
    }
    mask |= OSCILLATOR_SET;

    return mask;
}

/* Ericsson $PERC,GPreh - Receiver health
 * Health status for timing modules
 *
 * $PERC,GPreh,<timestamp>,<health_code>*XX
 *
 * Field 1: timestamp - Time/date string
                        (format varies, often null "00:00:00 00/00/0000")
 * Field 2: health_code - Health status code (numeric)
 *
 * Periodic sentence (~19s interval) providing receiver health status.
 * Health code interpretation is device-specific.
 */
static gps_mask_t processPERCGPreh(unsigned count UNUSED, char *field[],
                                   struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    int health_code;

    // field[0]="PERC", field[1]="GPreh", data starts at field[2]
    health_code = atoi(field[3]);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PERC,GPreh: timestamp=%s health=%d\n",
             field[2], health_code);

    return mask;
}

/* Ericsson $PERC,GPsts - Receiver status
 * Timing module operating mode and constellation information
 *
 * $PERC,GPsts,<mode>,<survey_flag>,<constellation>,<capabilities>*XX
 *
 * Field 1: mode - Operating mode (0=acquiring, 1=survey, 2=position-hold)
 * Field 2: survey_flag - Survey status (0=position valid, 1=no position)
 * Field 3: constellation - Constellation configuration (2=GPS+GLONASS)
 * Field 4: capabilities - 18-digit capability bitmask "010011111111011111"
 *
 * Primary status sentence providing operating mode and system capabilities.
 */
static gps_mask_t processPERCGPsts(unsigned count UNUSED, char *field[],
                                   struct gps_device_t *session)
{
    int mode, survey_flag, constellation;
    gps_mask_t mask = ONLINE_SET;

    static const struct vlist_t vpercgpsts_mode[] = {
        {0, "Acquiring"},
        {1, "Survey"},
        {2, "Position-hold"},
        {3, "Overdetermined"},
        {4, "Manual"},
        {5, "3D-hold"},
        {0, NULL},
    };

    // field[0]="PERC", field[1]="GPsts", data starts at field[2]
    mode = atoi(field[2]);
    survey_flag = atoi(field[3]);
    constellation = atoi(field[4]);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PERC,GPsts: mode=%s(%d) survey_flag=%d "
             "constellation=%d capabilities=%s\n",
             val2str(mode, vpercgpsts_mode), mode, survey_flag,
             constellation, field[5]);

    /* Map receiver operating mode to fix status
     * Survey and Position-hold modes are timing receiver states */
    if (1 == mode ||
        2 == mode ||
        4 == mode) {
        // Survey, Position-hold, or Manual → timing mode
        session->newdata.status = STATUS_TIME;
        mask |= STATUS_SET;
    } else if (0 == mode) {
        // Acquiring → GPS fix mode
        session->newdata.status = STATUS_GPS;
        mask |= STATUS_SET;
    }
    // Modes 3 (Overdetermined) and 5 (3D-hold) not mapped

    return mask;
}

/* Ericsson $PERC,GPver - Receiver identification
 * Returns hardware model and serial number
 *
 * $PERC,GPver,<model>,<part_num>,<hw_rev>,<serial>*XX
 *
 * Field 1: model - "GRU 04 01" or "GRU 04 02"
 * Field 2: part_num - "NCD 901 65/1" or "NCD 901 78/1"
 * Field 3: hw_rev - Hardware revision (e.g., "R1E")
 * Field 4: serial - Serial number
 */
static gps_mask_t processPERCGPver(unsigned count UNUSED, char *field[],
                                   struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    char new_serial[32];
    char old_subtype[64];

    // field[0]="PERC", field[1]="GPver", data starts at field[2]
    // Save old subtype for comparison
    strlcpy(old_subtype, session->subtype, sizeof(old_subtype));
    strlcpy(new_serial, field[5], sizeof(new_serial));

    // Build subtype directly into session->subtype
    (void)snprintf(session->subtype, sizeof(session->subtype),
                   "%s %s %s",
                   field[2], field[3], field[4]);

    // Only log at high level if changed
    if (0 != strcmp(old_subtype, session->subtype) ||
        0 != strcmp(session->gpsdata.dev.sernum, new_serial)) {
        GPSD_LOG(LOG_INF, &session->context->errout,
                 "NMEA0183: PERC,GPver: new device %s serial %s\n",
                 session->subtype, new_serial);
        mask |= DEVICEID_SET;
    } else {
        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "NMEA0183: PERC,GPver: (unchanged)\n");
    }

    // Update serial number
    strlcpy(session->gpsdata.dev.sernum, new_serial,
            sizeof(session->gpsdata.dev.sernum));

    return mask;
}

/* Trimble $PTNLRNM - Receiver Navigation Mode
 * Navigation mode status for Trimble/Ericsson receivers
 *
 * $PTNLRNM,<mode>*XX
 *
 * Field 1: mode - Navigation mode status character
 *          A = Autonomous/Active
 *          D = Differential
 *          E = Estimated/Dead Reckoning
 *          N = Data not valid
 *
 * Periodic sentence providing receiver navigation mode status.
 * Typically outputs 'A' for autonomous operation.
 */
static gps_mask_t processPTNLRNM(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    char mode;

    static const struct vlist_t vptnlrnm_mode[] = {
        {'A', "Autonomous"},
        {'D', "Differential"},
        {'E', "Estimated"},
        {'N', "Invalid"},
        {0, NULL},
    };

    // field[0]="PTNLRNM", data starts at field[1]
    mode = field[1][0];

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PTNLRNM: navigation mode=%c (%s)\n",
             mode, val2str(mode, vptnlrnm_mode));

    // Map mode to GPS status
    switch (mode) {
    case 'A':
        session->newdata.status = STATUS_GPS;
        mask |= STATUS_SET;
        break;
    case 'D':
        session->newdata.status = STATUS_DGPS;
        mask |= STATUS_SET;
        break;
    case 'E':
        session->newdata.status = STATUS_DR;
        mask |= STATUS_SET;
        break;
    default:
        // N or unknown - no status set
        break;
    }

    return mask;
}

/* Trimble $PTNLRBA - Antenna status
 * Antenna connection health monitoring for Trimble/Ericsson receivers
 *
 * $PTNLRBA,<status>,<flag>*XX
 *
 * Field 1: status - Antenna status (1=OK, 0=fault)
 * Field 2: flag - Additional status flag
 *
 * Monitors antenna connection health. Important for timing applications
 * as antenna problems directly affect signal quality and position accuracy.
 */
static gps_mask_t processPTNLRBA(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    int status, flag;

    static const struct vlist_t vptnlrba_status[] = {
        {0, "Fault"},
        {1, "OK"},
        {0, NULL},
    };

    // field[0]="PTNLRBA", data starts at field[1]
    status = atoi(field[1]);
    flag = atoi(field[2]);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PTNLRBA: antenna_status=%s(%d) flag=%d\n",
             val2str(status, vptnlrba_status), status, flag);

    // Save antenna status to fix structure
    if (1 == status) {
        session->newdata.ant_stat = ANT_OK;
    } else {
        // Status 0 = Fault (type unknown, map to generic fault)
        session->newdata.ant_stat = ANT_SHORT;
        mask |= ERROR_SET;
    }

    return mask;
}

/* Trimble $PTNLRTP - Receiver temperature
 * Internal temperature monitoring for Trimble/Ericsson receivers
 *
 * $PTNLRTP,T,<temp>,<precision>*XX
 *
 * Field 1: type - Always 'T' for temperature
 * Field 2: temp - Temperature in degrees Celsius
 * Field 3: precision - Temperature measurement precision/accuracy
 *
 * Monitors receiver internal temperature. Useful for thermal stability
 * analysis in timing applications. Observed range: 30-40°C typical.
 */
static gps_mask_t processPTNLRTP(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    double temp, precision;
    char type;

    // field[0]="PTNLRTP", data starts at field[1]
    type = field[1][0];
    temp = safe_atof(field[2]);
    precision = safe_atof(field[3]);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PTNLRTP: type=%c temp=%.2f°C precision=%.1f\n",
             type, temp, precision);

    // Store temperature in gps_fix_t.temp field.  What temperature is it?
    session->newdata.temp = temp;
    // No specific mask for temperature - aux data included in fix

    return mask;
}

/* Trimble $PTNLRXO - Crystal oscillator status
 * Oscillator lock and frequency offset for Trimble/Ericsson receivers
 *
 * $PTNLRXO,<status>,<offset>*XX
 *
 * Field 1: status - Oscillator lock status (1=locked, 0=unlocked)
 * Field 2: offset - Frequency offset in ppb (parts per billion)
 *
 * Reports crystal oscillator disciplining status and frequency error.
 * Complementary to $PERC,GPppf which provides phase error in nanoseconds.
 * Typical offset: -450 to -500 ppb for this hardware.
 */
static gps_mask_t processPTNLRXO(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;
    int status;
    double offset;

    static const struct vlist_t vptnlrxo_status[] = {
        {0, "Unlocked"},
        {1, "Locked"},
        {0, NULL},
    };

    // field[0]="PTNLRXO", data starts at field[1]
    status = atoi(field[1]);
    offset = safe_atof(field[2]);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PTNLRXO: osc_status=%s(%d) offset=%.3f ppb\n",
             val2str(status, vptnlrxo_status), status, offset);

    // Frequency offset could be stored alongside GPppf data if an
    // extended oscillator_t structure is added to gps_data_t.
    // Note: API extension needed for frequency offset storage.

    return mask;
}

/* Android GNSS super message
 * A stub.
 */
static gps_mask_t processPGLOR(unsigned count UNUSED, char *field[],
                               struct gps_device_t *session)
{
    /*
     * $PGLOR,0,FIX,....
     * 1    = sentence version (may not be present)
     * 2    = message subtype
     * ....
     *
     * subtypes:
     *  $PGLOR,[],AGC - ??
     *  $PGLOR,[],CPU - CPU Loading
     *  $PGLOR,[],FIN - Request completion status
     *  $PGLOR,0,FIX,seconds - Time To Fix
     *  $PGLOR,[],FTS - Factory Test Status
     *  $PGLOR,[],GFC - GeoFence Fix
     *  $PGLOR,[],GLO - ??
     *  $PGLOR,[],HLA - Value of HULA sensors
     *  $PGLOR,[],IMS - IMES messages
     *  $PGLOR,1,LSQ,hhmmss.ss  - Least squares GNSS fix
     *  $PGLOR,NET    - Report network information
     *  $PGLOR,[],NEW - Indicate new GPS request
     *  $PGLOR,[],PFM - Platform Status
     *  $PGLOR,[],PPS - Indicate PPS time corrections
     *  $PGLOR,5,PWR i - Power consumption report
     *                  Only have doc for 5, Quectel uses 4
     *  $PGLOR,[],RID - Version Information
     *  $PGLOR,2,SAT - GPS Satellite information
     *  $PGLOR,[],SIO - Serial I/O status report
     *  $PGLOR,[],SPA - Spectrum analyzer results
     *  $PGLOR,0,SPD  - Speed, Steps, etc.
     *  $PGLOR,SPL    - ??
     *  $PGLOR,[],SPS - ??
     *  $PGLOR,10,STA - GLL status
     *  $PGLOR,[],SVC - ??
     *  $PGLOR,[],SVD - SV Dopplers detected in the false alarm test.
     *  $PGLOR,[],SMx - Report GPS Summary Information
     *  $PGLOR,[],UNC - ??
     *
     * Are NET and SPL really so different?
     *
     */
    gps_mask_t mask = ONLINE_SET;
    int got_one = 0;

    switch (field[1][0]) {
    case '0':
        if (0 == strncmp("FIX", field[2], 3)) {
            got_one = 1;
            // field 3, time to first fix in seconds
            GPSD_LOG(LOG_DATA, &session->context->errout,
                     "NMEA0183: PGLOR: FIX, TTFF %s\n",
                     field[3]);
        } else if (0 == strncmp("SPD", field[2], 3)) {
            got_one = 1;
            // field 4, ddmmy.ss UTC
            // field 5, hhmmss.ss UTC
            GPSD_LOG(LOG_DATA, &session->context->errout,
                     "NMEA0183: PGLOR: SPD, %s %s UTC\n",
                     field[4], field[5]);
        }
        break;
    case '1':
        if (0 == strncmp("LSQ", field[2], 3)) {
            got_one = 1;
            // field 3, hhmmss.ss UTC, only field Quectel supplies
            GPSD_LOG(LOG_DATA, &session->context->errout,
                     "NMEA0183: PGLOR: LSQ %s UTC\n",
                     field[3]);
        } else if ('0' == field[1][1] &&
                   0 == strncmp("STA", field[2], 3)) {
            // version 10
            got_one = 1;
            // field 3, hhmmss.ss UTC
            // field 7, Position uncertainty meters
            GPSD_LOG(LOG_DATA, &session->context->errout,
                     "NMEA0183: PGLOR: STA, UTC %s PosUncer  %s\n",
                     field[3], field[7]);
        }
        break;
    }
    if (0 != got_one) {
        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "NMEA0183: PGLOR: seq %s type %s\n",
                 field[1], field[2]);
    }
    return mask;
}

// Inertial Sense GPS nav data, not a legal message name
static gps_mask_t processPGPSP(unsigned count UNUSED, char *field[],
                               struct gps_device_t *session)
{
    /*
     * $PGPSP,523970800,2351,778,44.06887670,-121.31410390,1114.07,1134.17,
     * 2.55,4.32,11.26,0.13,0.52,0.25,0.10,25.7,0.0000,18*51
     *
     */
    gps_mask_t mask = ONLINE_SET;
    unsigned long i_tow = strtoul(field[1], NULL, 10);   // ms
    int weeks = atoi(field[2]);
    unsigned long status = strtoul(field[3], NULL, 10);
    int used = status & 0x0ff;
    int gpsStatus = (status >> 8) & 0x0ff;
    int fixType = (status >> 16) & 0x0ff;
    double lat = safe_atof(field[4]);
    double lon = safe_atof(field[5]);
    double altHAE = safe_atof(field[6]);
    double altMSL = safe_atof(field[7]);
    double pDOP = safe_atof(field[8]);
    double hAcc = safe_atof(field[9]);
    double vAcc = safe_atof(field[10]);
    double vecefX = safe_atof(field[11]);
    double vecefY = safe_atof(field[12]);
    double vecefZ = safe_atof(field[13]);
    double sAcc = safe_atof(field[14]);
    double cnoMean = safe_atof(field[15]);
    double towOffset = safe_atof(field[16]);
    int leapS = atoi(field[17]);
    char ts_buf[TIMESPEC_LEN];
    char scr[128];

    switch (gpsStatus) {
    case 0:
        // no fix
        session->newdata.status = STATUS_UNK;
        session->newdata.mode = MODE_NO_FIX;
        break;
    case 1:
        // DR
        session->newdata.status = STATUS_DR;
        session->newdata.mode = MODE_3D;
        break;
    case 2:
        // 2D
        session->newdata.status = STATUS_GPS;
        session->newdata.mode = MODE_2D;
        break;
    case 3:
        // 3D
        session->newdata.status = STATUS_GPS;
        session->newdata.mode = MODE_3D;
        break;
    case 4:
        // GPSDR
        session->newdata.status = STATUS_GNSSDR;
        session->newdata.mode = MODE_3D;
        break;
    case 5:
        // surveyed
        session->newdata.status = STATUS_TIME;
        session->newdata.mode = MODE_3D;
        break;
    case 8:
        // DGPS
        session->newdata.status = STATUS_DGPS;
        session->newdata.mode = MODE_3D;
        break;
    case 9:
        // SBAS ??
        session->newdata.status = STATUS_GPS;
        session->newdata.mode = MODE_3D;
        break;
    case 10:
        // FTK SINGLE ??
        session->newdata.status = STATUS_RTK_FLT;  // ??
        session->newdata.mode = MODE_3D;
        break;
    case 11:
        // FTK FLOAT
        session->newdata.status = STATUS_RTK_FLT;
        session->newdata.mode = MODE_3D;
        break;
    case 12:
        // FTK FIX
        session->newdata.status = STATUS_RTK_FIX;
        session->newdata.mode = MODE_3D;
        break;
    default:
        // Huh?
        session->newdata.status = STATUS_UNK;
        session->newdata.mode = MODE_NOT_SEEN;
        break;
    }
    mask |= MODE_SET | STATUS_SET;

    if (MODE_2D == session->newdata.mode ||
        MODE_3D == session->newdata.mode) {
            timespec_t ts_tow;

            session->newdata.latitude = lat;
            session->newdata.longitude = lon;
            mask |= LATLON_SET;
            if (MODE_3D == session->newdata.mode) {
                session->newdata.altHAE = altHAE;
                session->newdata.altMSL = altMSL;
                mask |= ALTITUDE_SET;
            }
            // assume leapS is valid if we are 2D ???
            session->context->leap_seconds = leapS;
            session->context->valid |= LEAP_SECOND_VALID;

            // assume time is valid if we are 2D ???
            MSTOTS(&ts_tow, i_tow);
            session->newdata.time = gpsd_gpstime_resolv(session, weeks,
                                                        ts_tow);

            mask |= (TIME_SET | NTPTIME_IS);
    }

    GPSD_LOG(LOG_IO, &session->context->errout,
             "NMEA0183: PGPSP: %s i_tow=%lu weeks=%d "
             "status=x%lx used=%d gpsStatus=%d type=%d "
             "lat=%.2f lon=%.2f "
             "altHAE=%.2f altMSL=%.2f "
             "pdop=%.2f hacc=%.2f vacc=%.2f sacc=%.2f "
             "vecef: X=%.2f Y=%.2f Z=%.2f cnoMean=.%1f "
             "towOffset=%.4f leapS=%d\n",
             timespec_to_iso8601(session->newdata.time, scr, sizeof(scr)),
             i_tow, weeks, status, used, gpsStatus, fixType, lat, lon,
             altHAE, altMSL,
             pDOP, hAcc, vAcc, sAcc,
             vecefX, vecefY, vecefZ, cnoMean,
             towOffset, leapS);

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PGPSP: time=%s lat=%.2f lon=%.2f "
             "mode=%d status=%d\n",
             timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)),
             session->newdata.latitude,
             session->newdata.longitude,
             session->newdata.mode,
             session->newdata.status);
    return mask;
}

// Garmin Estimated Position Error
static gps_mask_t processPGRME(unsigned count UNUSED, char *field[],
                               struct gps_device_t *session)
{
    /*
     * $PGRME,15.0,M,45.0,M,25.0,M*22
     * 1    = horizontal error estimate
     * 2    = units
     * 3    = vertical error estimate
     * 4    = units
     * 5    = spherical error estimate
     * 6    = units
     * *
     * * Garmin won't say, but the general belief is that these are 50% CEP.
     * * We follow the advice at <http://gpsinformation.net/main/errors.htm>.
     * * If this assumption changes here, it should also change in garmin.c
     * * where we scale error estimates from Garmin binary packets, and
     * * in libgpsd_core.c where we generate $PGRME.
     */
    gps_mask_t mask = ONLINE_SET;

    if ('M' == field[2][0] &&
        'M' == field[4][0] &&
        'M' == field[6][0]) {
        session->newdata.epx = session->newdata.epy =
            safe_atof(field[1]) * (1 / sqrt(2))
                      * (GPSD_CONFIDENCE / CEP50_SIGMA);
        session->newdata.epv =
            safe_atof(field[3]) * (GPSD_CONFIDENCE / CEP50_SIGMA);
        session->newdata.sep =
            safe_atof(field[5]) * (GPSD_CONFIDENCE / CEP50_SIGMA);
        mask = HERR_SET | VERR_SET | PERR_IS;
    }

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PGRME: epx=%.2f epy=%.2f sep=%.2f\n",
             session->newdata.epx,
             session->newdata.epy,
             session->newdata.sep);
    return mask;
}

/* Garmin GPS Fix Data Sentence
 *
 * FIXME: seems to happen after cycle ender, so little happens...
 */
static gps_mask_t processPGRMF(unsigned count UNUSED, char *field[],
                               struct gps_device_t *session)
{
 /*
  * $PGRMF,290,293895,160305,093802,13,5213.1439,N,02100.6511,E,A,2,0,226,2,1*11
  *
  * 1 = GPS week
  * 2 = GPS seconds
  * 3 = UTC Date ddmmyy
  * 4 = UTC time hhmmss
  * 5 = GPS leap seconds
  * 6 = Latitude ddmm.mmmm
  * 7 = N or S
  * 8 = Longitude dddmm.mmmm
  * 9 = E or W
  * 10 = Mode, M = Manual, A = Automatic
  * 11 = Fix type, 0 = No fix, 2 = 2D fix, 2 = 3D fix
  * 12 = Ground Speed, 0 to 1151 km/hr
  * 13 = Course over ground, 0 to 359 degrees true
  * 14 = pdop, 0 to 9
  * 15 = dop, 0 to 9
  */
    gps_mask_t mask = ONLINE_SET;
    timespec_t ts_tow = {0, 0};

    /* Some garmin fail due to GPS Week Roll Over
     * Ignore their UTC date/time, use their GPS week, GPS tow and
     * leap seconds to decide the correct time */
    if (isdigit((int)field[5][0])) {
        session->context->leap_seconds = atoi(field[5]);
        session->context->valid = LEAP_SECOND_VALID;
    }
    if (isdigit((int)field[1][0]) &&
        isdigit((int)field[2][0]) &&
        0 < session->context->leap_seconds) {
        // have GPS week, tow and leap second
        unsigned short week = atol(field[1]);
        ts_tow.tv_sec = atol(field[2]);
        ts_tow.tv_nsec = 0;
        session->newdata.time = gpsd_gpstime_resolv(session, week, ts_tow);
        mask |= TIME_SET;
        // (long long) cast for 32/64 bit compat
        GPSD_LOG(LOG_SPIN, &session->context->errout,
                 "NMEA0183: PGRMF gps time %lld\n",
                 (long long)session->newdata.time.tv_sec);
    } else if (0 == merge_hhmmss(field[4], session) &&
               0 == merge_ddmmyy(field[3], session)) {
        // fall back to UTC if we need and can
        // (long long) cast for 32/64 bit compat
        GPSD_LOG(LOG_SPIN, &session->context->errout,
                 "NMEA0183: PGRMF gps time %lld\n",
                 (long long)session->newdata.time.tv_sec);
        mask |= TIME_SET;
    }
    if ('A' != field[10][0]) {
        // Huh?
        return mask;
    }
    if (0 == do_lat_lon(&field[6], &session->newdata)) {
        mask |= LATLON_SET;
    }
    switch (field[11][0]) {
    default:
        // Huh?
        break;
    case '0':
        session->newdata.mode = MODE_NO_FIX;
        mask |= MODE_SET;
        break;
    case '1':
        session->newdata.mode = MODE_2D;
        mask |= MODE_SET;
        break;
    case '2':
        session->newdata.mode = MODE_3D;
        mask |= MODE_SET;
        break;
    }
    session->newdata.speed = safe_atof(field[12]) / MPS_TO_KPH;
    session->newdata.track = safe_atof(field[13]);
    mask |= SPEED_SET | TRACK_SET;
    if ('\0' != field[14][0]) {
        session->gpsdata.dop.pdop = safe_atof(field[14]);
        mask |= DOP_SET;
    }
    if ('\0' != field[15][0]) {
        session->gpsdata.dop.tdop = safe_atof(field[15]);
        mask |= DOP_SET;
    }

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PGRMF: pdop %.1f tdop %.1f \n",
             session->gpsdata.dop.pdop,
             session->gpsdata.dop.tdop);
    return mask;
}

/* Garmin Map Datum
 *
 * FIXME: seems to happen after cycle ender, so nothing happens...
 */
static gps_mask_t processPGRMM(unsigned count UNUSED, char *field[],
                               struct gps_device_t *session)
{
    /*
     * $PGRMM,NAD83*29
     * 1    = Map Datum
     */
    gps_mask_t mask = ONLINE_SET;

    if ('\0' != field[1][0]) {
        strlcpy(session->newdata.datum, field[1],
                sizeof(session->newdata.datum));
    }

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PGRMM: datum=%.40s\n",
             session->newdata.datum);
    return mask;
}

// Garmin Sensor Status Info
static gps_mask_t processPGRMT(unsigned count UNUSED, char *field[],
                               struct gps_device_t *session)
{
    /*
     * $PGRMT,GPS 15x-W software ver. 4.20,,,,,,,,*6A
     * 1    = Product, model and software version
     * 2    = ROM Checksum test P=pass, F=fail
     * 3    = Receiver failure discrete, P=pass, F=fail
     * 4    = Stored data lost, R=retained, L=lost
     * 5    = Real time clock lost, R=retained, L=lost
     * 6    = Oscillator drift discrete, P=pass, F=excessive drift detected
     * 7    = Data collection discrete, C=collecting, null if not collecting
     * 8    = GPS sensor temperature in degrees C
     * 9    = GPS sensor configuration data, R=retained, L=lost
     *
     * Output once per minuite by default.
     * 50 char max.
     *
     * As of October 2022, only ever seen field 1 populated
     */
    gps_mask_t mask = ONLINE_SET;

    strlcpy(session->subtype, field[1], sizeof(session->subtype));

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PGRMT: subtype %s\n",
             session->subtype);
    return mask;
}

// Garmin 3D Velocity Information
static gps_mask_t processPGRMV(unsigned count UNUSED, char *field[],
                               struct gps_device_t *session)
{
    /*
     * $PGRMV,-2.4,-1.1,0.3*59
     * 1    = true east velocity,  m/s
     * 2    = true north velocity,  m/s
     * 3    = true up velocity,  m/s
     */
    gps_mask_t mask = ONLINE_SET;

    if ('\0' == field[1][0] ||
        '\0' == field[2][0] ||
        '\0' == field[3][0]) {
        // nothing to report
        return mask;
    }

    session->newdata.NED.velE = safe_atof(field[1]);
    session->newdata.NED.velN = safe_atof(field[2]);
    session->newdata.NED.velD = -safe_atof(field[3]);

    mask |= VNED_SET;

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PGRMV: velE %.2f velN %.2f velD %.2f\n",
            session->newdata.NED.velE,
            session->newdata.NED.velN,
            session->newdata.NED.velD);
    return mask;
}

// Garmin Altitude Information
static gps_mask_t processPGRMZ(unsigned count UNUSED, char *field[],
                               struct gps_device_t *session)
{
    /*
     * $PGRMZ,246,f,3*1B
     * 1    = Altitude (probably MSL) in feet
     * 2    = f (feet)
     * 3    = Mode
     *         1 = No Fix
     *         2 = 2D Fix
     *         3 = 3D Fix
     *
     * From: Garmin Proprietary NMEA 0183 Sentences
     *       technical Specifications
     *       190-00684-00, Revision C December 2008
     */
    gps_mask_t mask = ONLINE_SET;

    // codacy does not like strlen()
    if ('f' == field[2][0] &&
        0 < strnlen(field[1], 20)) {
        // have a GPS altitude, must be 3D
        // seems to be altMSL.  regressions show this matches GPGGA MSL
        session->newdata.altMSL = atoi(field[1]) * FEET_TO_METERS;
        mask |= (ALTITUDE_SET);
    }
    switch (field[3][0]) {
    default:
        // Huh?
        break;
    case '1':
        session->newdata.mode = MODE_NO_FIX;
        mask |= MODE_SET;
        break;
    case '2':
        session->newdata.mode = MODE_2D;
        mask |= MODE_SET;
        break;
    case '3':
        session->newdata.mode = MODE_3D;
        mask |= MODE_SET;
        break;
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PGRMZ: altMSL %.2f mode %d\n",
             session->newdata.altMSL,
             session->newdata.mode);
    return mask;
}

// Magellan Status
static gps_mask_t processPMGNST(unsigned count UNUSED, char *field[],
                                struct gps_device_t *session)
{
    /*
     * $PMGNST,01.75,3,T,816,11.1,-00496,00*43
     * 1 = Firmware version number
     * 2 = Mode (1 = no fix, 2 = 2D fix, 3 = 3D fix)
     * 3 = T if we have a fix
     * 4 = battery percentage left in tenths of a percent
     * 5 = time left on the GPS battery in hours
     * 6 = numbers change (freq. compensation?)
     * 7 = PRN number receiving current focus
     */
    gps_mask_t mask = ONLINE_SET;
    int newmode = atoi(field[3]);

    if ('T' == field[4][0]) {
        switch(newmode) {
        default:
            session->newdata.mode = MODE_NO_FIX;
            break;
        case 2:
            session->newdata.mode = MODE_2D;
            break;
        case 3:
            session->newdata.mode = MODE_3D;
            break;
        }
    } else {
        // Can report 3D fix, but 'F' for no fix
        session->newdata.mode = MODE_NO_FIX;
    }
    mask |= MODE_SET;

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PMGNST: mode: %d\n",
             session->newdata.mode);
    return mask;
}

static gps_mask_t processPMTK001(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    int reason;
    const char *mtk_reasons[] = {
        "Invalid",
        "Unsupported",
        "Valid but Failed",
        "Valid success",       // unused, see above
        "Unknown",             // gpsd only
    };

    // ACK / NACK
    reason = atoi(field[2]);
    if (4 == reason) {
        // ACK
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: MTK ACK: %s\n", field[1]);
        return ONLINE_SET;
    }

    // else, NACK
    if (0 > reason ||
        3 < reason) {
        // WTF?
        reason = 4;
    }
    GPSD_LOG(LOG_WARN, &session->context->errout,
             "NMEA0183: MTK NACK: %s, reason: %s\n",
             field[1], mtk_reasons[reason]);
    return ONLINE_SET;
}

static gps_mask_t processPMTK424(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    // PPS pulse width response
    /*
     * Response will look something like: $PMTK424,0,0,1,0,69*12
     * The pulse width is in field 5 (69 in this example).  This
     * sentence is poorly documented at:
     * http://www.trimble.com/embeddedsystems/condor-gps-module.aspx?dtID=documentation
     *
     * Packet Type: 324 PMTK_API_SET_OUTPUT_CTL
     * Packet meaning
     * Write the TSIP/antenna/PPS configuration data to the Flash memory.
     * DataField [Data0]:TSIP Packet[on/off]
     * 0 - Disable TSIP output (Default).
     * 1 - Enable TSIP output.
     * [Data1]:Antenna Detect[on/off]
     * 0 - Disable antenna detect function (Default).
     * 1 - Enable antenna detect function.
     * [Data2]:PPS on/off
     * 0 - Disable PPS function.
     * 1 - Enable PPS function (Default).
     * [Data3]:PPS output timing
     * 0 - Always output PPS (Default).
     * 1 - Only output PPS when GPS position is fixed.
     * [Data4]:PPS pulse width
     * 1~16367999: 61 ns~(61x 16367999) ns (Default = 69)
     *
     * The documentation does not give the units of the data field.
     * Andy Walls <andy@silverblocksystems.net> says:
     *
     * "The best I can figure using an oscilloscope, is that it is
     * in units of 16.368000 MHz clock cycles.  It may be
     * different for any other unit other than the Trimble
     * Condor. 69 cycles / 16368000 cycles/sec = 4.216 microseconds
     * [which is the pulse width I have observed]"
     *
     * Support for this theory comes from the fact that crystal
     * TXCOs with a 16.368MHZ period are commonly available from
     * multiple vendors. Furthermore, 61*69 = 4209, which is
     * close to the observed cycle time and suggests that the
     * documentation is trying to indicate 61ns units.
     *
     * He continues:
     *
     * "I chose [127875] because to divides 16368000 nicely and the
     * pulse width is close to 1/100th of a second.  Any number
     * the user wants to use would be fine.  127875 cycles /
     * 16368000 cycles/second = 1/128 seconds = 7.8125
     * milliseconds"
     */

    // too short?  Make it longer
    if (127875 > atoi(field[5])) {
        (void)nmea_send(session, "$PMTK324,0,0,1,0,127875");
    }
    return ONLINE_SET;
}

static gps_mask_t processPMTK705(unsigned count, char *field[],
                                 struct gps_device_t *session)
{
    /* Trimble version:
     * $PMTK705,AXN_1.30,0000,20090609,*20<CR><LF>
     *
     * 0 PMTK705
     * 1 ReleaseStr - Firmware release name and version
     * 2 Build_ID   - Build ID
     * 3 Date code  - YYYYMMDD
     * 4 Checksum
     *
     * Quectel Querk.  L26.
     * $PMTK705,AXN_3.20_3333_13071501,0003,QUECTEL-L26,*1E<CR><LF>
     *
     * 0 PMTK705
     * 1 ReleaseStr - Firmware release name and version
     * 2 Build_ID   - Build ID
     * 3 Date code  - Product Model
     * 4 SDK Version (optional)
     * * Checksum
    */

    // set device subtype
    if (4 == count) {
        (void)snprintf(session->subtype, sizeof(session->subtype),
                       "%s,%s,%s",
                       field[1], field[2], field[3]);
    } else {
        // Once again Quectel goes their own way...
        (void)snprintf(session->subtype, sizeof(session->subtype),
                       "%s,%s,%s,%s",
                       field[1], field[2], field[3], field[4]);
    }

    if ('\0' == session->subtype1[0]) {
        /* Query for the Quectel firmware version.
         * Quectel GPS receivers containing an MTK chipset use
         * this command to return their FW version.
         * From
         * https://forums.quectel.com/t/determine-nmea-version-of-l76-l/3882/5
         * "$PQVERNO is an internal command and used to query Quectel FW
         * version. We haven’t added this internal command in GNSS
         * protocol spec."
         */
        (void)nmea_send(session, "$PQVERNO,R");
    }

    return ONLINE_SET;
}

static gps_mask_t processPQxERR(unsigned count UNUSED, char* field[],
                                struct gps_device_t* session)
{
    /* Quectel generic PQxxxERRROR message handler
     * The messages are content free, not very useful.
     *
     * $PQTMCFGEINSMSGERROR*4A
     * $PQTMCFGORIENTATIONERROR*54
     * $PQTMCFGWHEELTICKERROR*44
     * $PQTMQMPTERROR*58
     */

    GPSD_LOG(LOG_WARN, &session->context->errout,
             "NMEA0183: %s Error\n", field[0]);
    return ONLINE_SET;
}

static gps_mask_t processPQxOK(unsigned count UNUSED, char* field[],
                               struct gps_device_t* session)
{
    /* Quectel generic PQTMxxxOK message handler
     * The messages are content free, not very useful.
     *
     * $PQTMCFGEINSMSGOK*16
     * $PQTMCFGORIENTATIONOK*08
     * $PQTMCFGWHEELTICKOK*18
     */

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: %s OK\n", field[0]);
    return ONLINE_SET;
}

// Quectel $PQTMGPS - GNSS position stuff
static gps_mask_t processPQTMGPS(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PQTMGPS,671335,463792.000,31.822084600,117.115221100,59.4260,63.0420,
     *  0.0270,-171.7101,5.9890,1.3300,2.1100,3,18,*75
     *
     * 1   Milliseconds since turn on. 32-bit unsigned integer.
     * 2   Time of week. Seconds
     * 3   Latitude. Degrees
     * 4   Longitude. Degrees
     * 5   Height above ellipsoid, Meters
     * 6   Altitude above mean-sea-level. Meters
     * 7   Ground speed (2D). Meters / sec
     * 8   Heading (2D). Degrees.
     * 9   Horizontal accuracy estimate. Meters.
     * 10  HDOP
     * 11  PDOP
     * 12  Fix type.  0 = No fix.  2 = 2D fix.  3 = 3D fix.
     * 13  Number of navigation satellites (seen? used?)
     *
     * Note: incomplete time stamp.
     */
    gps_mask_t mask = ONLINE_SET;
    unsigned ts = atoi(field[1]);
    unsigned tow = atoi(field[2]);
    double lat = safe_atof(field[3]);
    double lon = safe_atof(field[4]);
    double hae = safe_atof(field[5]);
    double msl = safe_atof(field[6]);
    double speed = safe_atof(field[7]);
    double heading = safe_atof(field[8]);
    double hAcc = safe_atof(field[9]);
    double hdop = safe_atof(field[10]);
    double pdop = safe_atof(field[11]);
    unsigned fix = atoi(field[12]);
    unsigned numsat = atoi(field[13]);

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PQTMGPS ts %u tow %u lat %.9f lon %.9f HAE %.4f "
             "MSL %.4f speed %.4f head %.4f hacc %.4f hdop %.4f pdop %.4f "
             "mode %u nsat %u\n",
             ts, tow, lat, lon, hae, msl, speed, heading, hAcc, hdop,
             pdop, fix, numsat);
    return mask;
}

// Quectel $PQTMIMU - IMU Raw Data
static gps_mask_t processPQTMIMU(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PQTMIMU,42634,-0.006832,-0.022814,1.014552,0.315000,-0.402500,
       -0.332500,0,0*55
     *
     * 1   Milliseconds since turn on. 32-bit unsigned integer.
     * 2   Acceleration in X-axis direction. g
     * 3   Acceleration in Y-axis direction. g
     * 4   Acceleration in A-axis direction. g
     * 5   Angular rate in X-axis direction. Degrees / second
     * 6   Angular rate in y-axis direction. Degrees / second
     * 7   Angular rate in Z-axis direction. Degrees / second
     * 8   Cumulative ticks
     * 9   Timestamp of last tick
     */
    gps_mask_t mask = ONLINE_SET;
    unsigned ts = atoi(field[1]);
    double accX = safe_atof(field[2]);
    double accY = safe_atof(field[3]);
    double accZ = safe_atof(field[4]);
    double rateX = safe_atof(field[5]);
    double rateY = safe_atof(field[6]);
    double rateZ = safe_atof(field[7]);
    unsigned ticks = atoi(field[8]);
    unsigned tick_ts = atoi(field[9]);

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PQTMIMU ts %u accX %.6f accY %.6f accZ %.6f "
             "rateX %.6f rateY %.6f rateZ %.6f ticks %u tick_ts %u\n",
             ts, accX, accY, accZ, rateX, rateY, rateZ, ticks, tick_ts);
    return mask;
}

// Quectel $PQTMINS - DR Nav results
static gps_mask_t processPQTMINS(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PQTMINS,42529,1,31.822038000,117.115182800,67.681000,,,,-0.392663,
        1.300793,0.030088*4D
     *
     * 1   Milliseconds since turn on. 32-bit unsigned integer.
     * 2   Solution type, 0 = Pitch and Roll, 1 = GNSS, pitch, roll, heading
     *                    2 = GNSS + DR, 3 = DR Only
     * 3   Latitude. Degrees
     * 4   Longitude. Degrees
     * 5   Height (HAE?, MSL?) , Meters
     * 6   Northward velocity
     * 7   Eastward velocity
     * 8   Downward velocity
     * 9   Roll
     * 10  Pitch
     * 11  Heading
     *
     */
    gps_mask_t mask = ONLINE_SET;
    unsigned ts = atoi(field[1]);
    unsigned sol = atoi(field[2]);
    double lat = safe_atof(field[3]);
    double lon = safe_atof(field[4]);
    double alt = safe_atof(field[5]);
    double velN = safe_atof(field[6]);
    double velE = safe_atof(field[7]);
    double velD = safe_atof(field[8]);
    double roll = safe_atof(field[9]);
    double pitch = safe_atof(field[10]);
    double head = safe_atof(field[11]);

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PQTMINS ts %u sol %u lat %.9f lon %.9f alt %.6f "
             "velN %.6f velE %.6f velD %.6f roll %.6f pitch %.6f head %.6f\n",
             ts, sol, lat, lon, alt, velN, velE, velD, roll, pitch, head);
    return mask;
}

// Quectel $PQTMVER - Firmware info
static gps_mask_t processPQTMVER(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PQTMVER,MODULE_L89HANR01A06S,2022/07/28,18:27:04*7A
     *
     * 1   Version
     * 2   build date yyyy/mm/dd
     * 3   build time hh:mm:ss
     *
     */
    char obuf[128];                      // temp version string buffer
    gps_mask_t mask = ONLINE_SET;

    // save as subtype
    (void)snprintf(obuf, sizeof(obuf),
             "%s %.12s %.10s",
             field[1], field[2], field[3]);

    // save what we can
    (void)strlcpy(session->subtype, obuf, sizeof(session->subtype) - 1);

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PQTMVER %s\n",
             session->subtype);

    return mask;
}

static gps_mask_t processPQVERNO(unsigned count UNUSED, char* field[],
                                 struct gps_device_t* session)
{
    /* Example request & response are provided courtesy of Quectel below.
     * This command is not publicly documented, but Quectel support
     * provided this description via email. This has been tested on
     * Quectel version L70-M39, but all recent (2022) versions of Quectel
     * support this command is well.
     *
     * Request:
     * $PQVERNO,R*3F
     *
     * Response:
     * $PQVERNO,R,L96NR01A03S,2018/07/30,04:17*6B
     *
     * Description of the 6 fields are below.
     *
     * 1. $PQVERNO,              Query command
     * 2. R,                     Read
     * 3. L96NR01A03S,           Quectel firmware version number
     * 4. 2018/07/30,            Firmware build date
     * 5. 04:17*                 Firmware build time
     * 6. 6B                     Checksum
     */

    if (0 == strncmp(session->nmea.field[0], "PQVERNO", sizeof("PQVERNO")) &&
        '\0' != field[2][0]) {
        (void)snprintf(session->subtype1, sizeof(session->subtype1),
                       "%s,%s,%s",
                       field[2], field[3], field[4]);
    }

    return ONLINE_SET;
}

/* smart watch sensors
 * A stub.
 */
static gps_mask_t processPRHS(unsigned count UNUSED, char *field[],
                              struct gps_device_t *session)
{
    /*
     * $PRHS ,type,....
     *   type = message type
     *
     * Yes: $PRHS[space],
     *
     * types:
     * $PRHS ,ACC,9.952756,0.37819514,1.3165021,20150305072428436*44
     * $PRHS ,COM,238.09642,16.275442,82.198425,20150305072428824*43
     * $PRHS ,GYR,0.0,0.0,0.0,20150305072428247*4D
     * $PRHS ,LAC,0.23899937,0.009213656,0.02143073,20150305072428437*46
     * $PRHS ,MAG,47.183502,-51.789,-2.7145,20150305072428614*41
     * $PRHS ,ORI,187.86511,-2.1546898,-82.405205,20150305072428614*53
     * $PRHS ,RMC,20150305072427985*55
     *
     */
    gps_mask_t mask = ONLINE_SET;

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: PRHS: type %s\n",
             field[1]);
    return mask;
}

static gps_mask_t processPSRFEPE(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PSRFEPE,100542.000,A,0.7,6.82,10.69,0.0,180.0*24
     * 1    = UTC Time hhmmss.sss
     * 2    = Status.  A = Valid, V = Data not valid
     * 3    = HDOP
     * 4    = EHPE meters (Estimated Horizontal Position Error)
     * 5    = EVPE meters (Estimated Vertical Position Error)
     * 6    = EHVE meters (Estimated Speed Over Ground/Velocity Error)
     * 7    = EHE degrees (Estimated Heading Error)
     *
     * SiRF won't say if these are 1-sigma or what...
     */
    gps_mask_t mask = STATUS_SET;

    // get time/ valid or not
    if ('\0' != field[1][0]) {
        if (0 == merge_hhmmss(field[1], session)) {
            register_fractional_time(field[0], field[1], session);
            if (0 == session->nmea.date.tm_year) {
                GPSD_LOG(LOG_WARN, &session->context->errout,
                         "NMEA0183: can't use PSRFEPE time until after ZDA "
                         "or RMC has supplied a year.\n");
            } else {
                mask |= TIME_SET;
            }
        }
    }
    if ('A' != field[2][0]) {
        // Huh?
        return mask;
    }

    if ('\0' != field[3][0]) {
        /* This adds nothing, it just agrees with the gpsd calculation
         * from the skyview.  Which is a nice confirmation. */
        session->gpsdata.dop.hdop = safe_atof(field[3]);
        mask |= DOP_SET;
    }
    if ('\0' != field[4][0]) {
        // EHPE (Estimated Horizontal Position Error)
        session->newdata.eph = safe_atof(field[4]);
        mask |= HERR_SET;
    }

    if ('\0' != field[5][0]) {
        // Estimated Vertical Position Error (meters, 0.01 resolution)
        session->newdata.epv = safe_atof(field[5]);
        mask |= VERR_SET;
    }

    if ('\0' != field[6][0]) {
        // Estimated Horizontal Speed Error meters/sec
        session->newdata.eps = safe_atof(field[6]);
    }

    if ('\0' != field[7][0]) {
        // Estimated Heading Error degrees
        session->newdata.epd = safe_atof(field[7]);
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PSRFEPE: hdop=%.1f eph=%.1f epv=%.1f eps=%.1f "
             "epd=%.1f\n",
             session->gpsdata.dop.hdop,
             session->newdata.eph,
             session->newdata.epv,
             session->newdata.eps,
             session->newdata.epd);
    return mask;
}

/*  Recommended Minimum 3D GNSS Data
 *  Skytaq
 */
static gps_mask_t processPSTI030(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PSTI,030,hhmmss.sss,A,dddmm.mmmmmmm,a,dddmm.mmmmmmm,a,x.x,
            x.x,x.x,x.x,ddmmyy,a.x.x,x.x*hh<CR><LF>
     * 1     030          Sentence ID
     * 2     225446.334   Time of fix 22:54:46 UTC
     * 3     A            Status of Fix: A = Autonomous, valid;
     *                                 V = invalid
     * 4,5   4916.45,N    Latitude 49 deg. 16.45 min North
     * 6,7   12311.12,W   Longitude 123 deg. 11.12 min West
     * 8     103.323      Mean Sea Level meters
     * 9     0.00         East Velocity meters/sec
     * 10    0.00         North Velocity meters/sec
     * 11    0.00         Up Velocity meters/sec
     * 12    181194       Date of fix  18 November 1994
     * 13    A            FAA mode indicator
     *                        See faa_mode() for possible mode values.
     * 14    1.2          RTK Age
     * 15    4.2          RTK Ratio
     * 16    *68          mandatory nmea_checksum
     *
     * In private email, SkyTraq says F mode is 10x more accurate
     * than R mode.
     */
    gps_mask_t mask = ONLINE_SET;

    if (0 != strncmp(session->device_type->type_name, "Skytraq", 7)) {
        // this is skytraq, but not marked yet, so probe for Skytraq
        // Send MID 0x02, to get back MID 0x80
        (void)gpsd_write(session, "\xA0\xA1\x00\x02\x02\x01\x03\x0d\x0a",9);
    }

    if ('V' == field[3][0] ||
        'N' == field[13][0]) {
        // nav warning, or FAA not valid, ignore the rest of the data
        session->newdata.status = STATUS_UNK;
        session->newdata.mode = MODE_NO_FIX;
        mask |= MODE_SET | STATUS_SET;
    } else if ('A' == field[3][0]) {
        double east, north, climb, age, ratio;

        // data valid
        if ('\0' != field[2][0] &&
            '\0' != field[12][0]) {
            // good date and time
            if (0 == merge_hhmmss(field[2], session) &&
                0 == merge_ddmmyy(field[12], session)) {
                mask |= TIME_SET;
                register_fractional_time( "PSTI030", field[2], session);
            }
        }
        if (0 == do_lat_lon(&field[4], &session->newdata)) {
            session->newdata.mode = MODE_2D;
            mask |= LATLON_SET;
            if ('\0' != field[8][0]) {
                // altitude is MSL
                session->newdata.altMSL = safe_atof(field[8]);
                mask |= ALTITUDE_SET;
                session->newdata.mode = MODE_3D;
                // Let gpsd_error_model() deal with geoid_sep and altHAE
            }
            mask |= MODE_SET;
        }
        /* convert ENU to track
         * this has more precision than GPVTG, GPVTG comes earlier
         * in the cycle */
        east = safe_atof(field[9]);     // east velocity m/s
        north = safe_atof(field[10]);   // north velocity m/s
        climb = safe_atof(field[11]);   // up velocity m/s
        age = safe_atof(field[14]);
        ratio = safe_atof(field[15]);

        session->newdata.NED.velN = north;
        session->newdata.NED.velE = east;
        session->newdata.NED.velD = -climb;
        if (0.05 < (age + ratio)) {
            // don't report age == ratio == 0.0
            session->newdata.dgps_age = age;
            session->newdata.base.ratio = ratio;
        }

        mask |= VNED_SET | STATUS_SET;

        session->newdata.status = faa_mode(field[13][0]);
        if (STATUS_RTK_FIX == session->newdata.status ||
            STATUS_RTK_FLT == session->newdata.status) {
            // RTK_FIX or RTK_FLT
            session->gpsdata.fix.base.status = session->newdata.status;
        }
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PSTI,030: ddmmyy=%s hhmmss=%s lat=%.2f lon=%.2f "
             "status=%d, RTK(Age=%.1f Ratio=%.1f) faa mode %s(%s)\n",
             field[12], field[2],
             session->newdata.latitude,
             session->newdata.longitude,
             session->newdata.status,
             session->newdata.dgps_age,
             session->newdata.base.ratio,
             field[13], char2str(field[13][0], c_faa_mode));
    return mask;
}

/* Skytraq RTK Baseline, fixed base to rover or moving base
 * Same as $PSTI.035, except that is moving base to rover
 * PX1172RH
 */
static gps_mask_t processPSTI032(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PSTI,032,041457.000,170316,A,R,0.603,‐0.837,‐0.089,1.036,144.22,,,,,*1B
     *
     * 2  UTC time,  hhmmss.sss
     * 3  UTC Date, ddmmyy
     * 4  Status, ‘V’ = Void ‘A’ = Active
     * 5  Mode indicator, 'O' = Float RTK, ‘F’ = Float RTK. ‘R’ = Fixed RTK
     * 6  East‐projection of baseline, meters
     * 7  North‐projection of baseline, meters
     * 8  Up‐projection of baseline, meters
     * 9  Baseline length, meters
     * 10 Baseline course 144.22, true degrees
     * 11 Reserved
     * 12 Reserved
     * 13 Reserved
     * 14 Reserved
     * 15 Reserved
     * 16 Checksum
     */
    gps_mask_t mask = ONLINE_SET;
    struct baseline_t *base = &session->newdata.base;

    if ('A' != field[4][0]) {
        //  status not valid
        return mask;
    }

    // Status Valid
    if ('\0' != field[2][0] &&
        '\0' != field[3][0]) {
        // have date and time
        if (0 == merge_hhmmss(field[2], session) &&
            0 == merge_ddmmyy(field[3], session)) {
            // good date and time
            mask |= TIME_SET;
            register_fractional_time("PSTI032", field[2], session);
        }
    }

    if ('F' == field[5][0] ||
        'O' == field[5][0]) {
        // Floating point RTK
        // 'O' is undocuemented, private email says it is just a crappy 'F'.
        base->status = STATUS_RTK_FLT;
    } else if ('R' == field[5][0]) {
        // Fixed point RTK
        base->status = STATUS_RTK_FIX;
    } else {
        // WTF?
        return mask;
    }

    base->east = safe_atof(field[6]);
    base->north = safe_atof(field[7]);
    base->up = safe_atof(field[8]);
    base->length = safe_atof(field[9]);
    base->course = safe_atof(field[10]);

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PSTI,032: RTK Baseline mode %d E %.3f  N %.3f  U %.3f "
             "length %.3f course %.3f\n",
             base->status, base->east, base->north, base->up,
             base->length, base->course);
    return mask;
}

/* Skytraq  RTK RAW Measurement Monitoring Data
 */
static gps_mask_t processPSTI033(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PSTI,033,hhmmss.sss,ddmmyy,x,R,x,G,x,x,,,C,x,x,,,E,x,x,,,R,x,x,,*hh
     * $PSTI,033,110431.000,150517,2,R,1,G,1,0,,,C,0,0,,,E,0,0,,,R,0,0,,*72
     *
     * 2  UTC time,  hhmmss.sss
     * 3  UTC Date, ddmmyy
     * 4  "2", version
     * 5  Receiver, R = Rover, B = Base
     * 6  total cycle‐slipped raw measurements
     * 7  "G", GPS
     * 8  cycle slipped L1
     * 9  cycle slipped L2
     * 10 reserved
     * 11 reserved
     * 12 "C", BDS
     * 12 cycle slipped B1
     * 14 cycle slipped B2
     * 15 reserved
     * 16 reserved
     * 17 "E", Galileo
     * 18 cycle slipped E1
     * 19 cycle slipped E5b
     * 20 reserved
     * 21 reserved
     * 22 "R", GLONASS
     * 23 cycle slipped G1
     * 24 cycle slipped G2
     * 25 reserved
     * 26 reserved
     * 27 Checksum
     */
    gps_mask_t mask = ONLINE_SET;
    char receiver;
    unsigned total, L1, L2, B1, B2, E1, E5b, G1, G2;

    if ('2' != field[4][0]) {
        //  we only understand version 2
        return mask;
    }
    if ('B' != field[5][0] &&
        'R' != field[5][0]) {
        //  Huh?  Rover or Base
        return mask;
    }
    receiver = field[5][0];

    if ('\0' != field[2][0] &&
        '\0' != field[3][0]) {
        // have date and time
        if (0 == merge_hhmmss(field[2], session) &&
            0 == merge_ddmmyy(field[3], session)) {
            // good date and time
            mask |= TIME_SET;
            register_fractional_time("PSTI033", field[2], session);
        }
    }
    total = atoi(field[6]);
    L1 = atoi(field[7]);
    L2 = atoi(field[8]);
    B1 = atoi(field[13]);
    B2 = atoi(field[14]);
    E1 = atoi(field[18]);
    E5b = atoi(field[19]);
    G1 = atoi(field[23]);
    G2 = atoi(field[24]);

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PSTI,033: RTK RAW receiver %c Slips: total %u L1 %u "
             "L2 %u B1 %u B2 %u E1 %u E5b %u G1 %u G2 %u\n",
             receiver, total, L1, L2, B1, B2, E1, E5b, G1, G2);
    return mask;
}

/* Skytraq RTK Baseline, moving base to rover
 * Same as $PSTI.032, except that is moving base to rover
 * PX1172RH
 */
static gps_mask_t processPSTI035(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PSTI,035,041457.000,170316,A,R,0.603,‐0.837,‐0.089,1.036,144.22,,,,,*1B
     *
     * 2  UTC time,  hhmmss.sss
     * 3  UTC Date, ddmmyy
     * 4  Status, ‘V’ = Void ‘A’ = Active
     * 5  Mode indicator, ‘F’ = Float RTK. ‘R’ = FIxed RTK
     * 6  East‐projection of baseline, meters
     * 7  North‐projection of baseline, meters
     * 8  Up‐projection of baseline, meters
     * 9  Baseline length, meters
     * 10 Baseline course 144.22, true degrees
     * 11 Reserved
     * 12 Reserved
     * 13 Reserved
     * 14 Reserved
     * 15 Reserved
     * 16 Checksum
     */

    gps_mask_t mask = ONLINE_SET;
    // should this be fix, not attitude??
    struct baseline_t *base = &session->gpsdata.attitude.base;

    // RTK Baseline Data of Rover Moving Base Receiver
    if ('\0' != field[2][0] &&
        '\0' != field[3][0]) {
        // good date and time
        if (0 == merge_hhmmss(field[2], session) &&
            0 == merge_ddmmyy(field[3], session)) {
            mask |= TIME_SET;
            register_fractional_time( "PSTI035", field[2], session);
        }
    }
    if ('A' != field[4][0]) {
        // No valid data, except time, sort of
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: PSTI,035: not valid\n");
        base->status = STATUS_UNK;
        return mask;
    }
    if ('F' == field[5][0]) {
        // Float RTX
        base->status = STATUS_RTK_FLT;
    } else if ('R' == field[5][0]) {
        // Fix RTX
        base->status = STATUS_RTK_FIX;
    } // else ??

    base->east = safe_atof(field[6]);
    base->north = safe_atof(field[7]);
    base->up = safe_atof(field[8]);
    base->length = safe_atof(field[9]);
    base->course = safe_atof(field[10]);
    mask |= ATTITUDE_SET;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PSTI,035: RTK Baseline mode %d E %.3f  N %.3f  U %.3f "
             "length %.3f course %.3f\n",
             base->status, base->east, base->north, base->up,
             base->length, base->course);
    return mask;
}

// Skytraq PSTI,036 – Heading, Pitch and Roll
// PX1172RH
static gps_mask_t processPSTI036(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PSTI,036,054314.000,030521,191.69,‐16.35,0.00,R*4D
     *
     * 2  UTC time,  hhmmss.sss
     * 3  UTC Date, ddmmyy
     * 4  Heading, 0 - 359.9, when mode == R, degrees
     * 5  Pitch, -90 - 90, when mode == R, degrees
     * 6  Roll, -90 - 90, when mode == R, degrees
     * 7  Mode
     *     'N’ = Data not valid
     *     'A’ = Autonomous mode
     *     'D’ = Differential mode
     *     'E’ = Estimated (dead reckoning) mode
     *     'M’ = Manual input mode
     *     'S’ = Simulator mode
     *     'F’ = Float RTK
     *     'R’ = Fix RTK
     * 8  Checksum
     */

    gps_mask_t mask = ONLINE_SET;
    int mode;

    if ('\0' != field[2][0] &&
        '\0' != field[3][0]) {
        // good date and time
        if (0 == merge_hhmmss(field[2], session) &&
            0 == merge_ddmmyy(field[3], session)) {
            mask |= TIME_SET;
            register_fractional_time("PSTI036", field[2], session);
        }
    }
    if ('\0' == field[7][0] ||
        'N' == field[7][0]) {
        // No valid data, except time, sort of
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: PSTI,036: not valid\n");
        return mask;
    }
    // good attitude data to use
    session->gpsdata.attitude.mtime = gpsd_utc_resolve(session);
    session->gpsdata.attitude.heading = safe_atof(field[4]);
    session->gpsdata.attitude.pitch = safe_atof(field[5]);
    session->gpsdata.attitude.roll = safe_atof(field[6]);
    mode = faa_mode(field[7][0]);

    mask |= ATTITUDE_SET;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: PSTI,036: mode %d heading %.2f  pitch %.2f roll %.2f "
             "faa mode %s(%s)\n",
             mode,
             session->gpsdata.attitude.heading,
             session->gpsdata.attitude.pitch,
             session->gpsdata.attitude.roll,
             field[7], char2str(field[7][0], c_faa_mode));
    return mask;
}

/* decoce $PSTMCPU CPU load
 * Private STM
 * Present in ST Teseo liv4f
 *
 */
static gps_mask_t processPSTMCPU(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $PSTMCPU,<CPU_Usage>,<PLL_ON_OFF>,<CPU_Speed>*<checksum><cr><lf>
     *
     *  CPU_Usage  %
     *
     *  PLL_ON_OFF
     *      0 = PLL Disabled
     *      1 = PLL Enabled
     *      -1 = Not supported
     *
     *  CPU_Speed  decimal digits
     */

    static const struct vlist_t pll[] = {
        {0, "PLL Disabled"},
        {1, "PLL Ensabled"},
        {-1, "Not Supported"},
        {0, NULL},
    };

    gps_mask_t mask = ONLINE_SET;
    double cpu_usage = atof(field[1]);
    int pll_on_off = atoi(field[2]);
    unsigned cpu_speed = atoi(field[3]);

    GPSD_LOG(LOG_PROG, &session->context->errout,
            "NMEA0183: PSTMCPU cpu_usage %.2f pll %s(%d) cpu_speed %u\n",
            cpu_usage, val2str(pll_on_off, pll), pll_on_off, cpu_speed);

    return mask;
}

/* decoce $PSTMANTENNASTATUS antenna status
 * Private STM
 * Also used bysome Quectel.
 * Present in ST Teseo liv4f
 *
 */
static gps_mask_t processPSTMANTENNASTATUS(unsigned count UNUSED,
                                           char *field[],
                                           struct gps_device_t *session)
{
    /*
     * $PSTMANTENNASTATUS,<ant_status>,<op_mode>,<rf_path>,<pwr_switch>*<chk>
     * $PSTMANTENNASTATUS,0,0,0,0*51
     *
     *  ant_status Decimal Current
     *      0 = Normal condition
     *      1 = Open condition
     *      2 = Short condition
     *
     *  op_mode Decimal
     *  Current antenna detection operating mode
     *      0 = Automatic mode
     *      1 = Manual mode
     *
     * rf_path Decimal
     * Current RF path
     *      0 = External antenna
     *      1 = Internal antenna
     *
     * pwr_switch Decimal
     * Current antenna power status
     *      0 = Antenna power is on
     *      1 = Antenna power is off
     */

    static const struct vlist_t vop_mode[] = {
        {0, "Auto"},
        {1, "Manual"},
        {0, NULL},
    };

    static const struct vlist_t vpwr_switch[] = {
        {0, "On"},
        {1, "Off"},
        {0, NULL},
    };

    static const struct vlist_t vrf_path[] = {
        {0, "External"},
        {1, "Internal"},
        {0, NULL},
    };

    gps_mask_t mask = ONLINE_SET;
    int ant_status = atoi(field[1]);
    int op_mode = atoi(field[2]);
    int rf_path = atoi(field[3]);
    int pwr_switch = atoi(field[4]);

    switch(ant_status) {
    case 0:
        session->newdata.ant_stat = ANT_OK;
        break;
    case 1:
        session->newdata.ant_stat = ANT_OPEN;
        break;
    case 2:
        session->newdata.ant_stat = ANT_SHORT;
        break;
    default:
        session->newdata.ant_stat = ANT_UNK;
        GPSD_LOG(LOG_PROG, &session->context->errout,
                "NMEA0183: ant_stat: UNKNOWN(%d)\n", ant_status);
        break;
    }

    if (ANT_UNK != session->newdata.ant_stat) {
        mask |= STATUS_SET;
    }

    if (0 > op_mode ||
        1 < op_mode) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                "NMEA0183: malformed PSTMANTENNASTATUS op_mode: %s\n",
                field[2]);
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
            "NMEA0183: PSTMANTENNASTATUS ant_status:%d op_mode:%d "
            "rf_path:%d pwr_switch:%d\n",
            ant_status, op_mode, rf_path, pwr_switch);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "NMEA0183: PSTMANTENNASTATUS ant_status:%s(%d) op_mode:%s(%d) "
             "rf_path:%s(%d) pwer_switch:%s(%d)\n",
             val2str(session->newdata.ant_stat, vant_status),
             session->newdata.ant_stat,
             val2str(op_mode, vop_mode), op_mode,
             val2str(rf_path, vrf_path), rf_path,
             val2str(pwr_switch, vpwr_switch), pwr_switch);

    return mask;
}

/* decoce $PSTMVER
 * Private STM
 * Present in ST Teseo liv4f
 *
 * Response to $PSTMGETVER,255
 *
 */
static gps_mask_t processPSTMVER(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
    * $PSTMVER,<SW name and version>*<checksum>
    *
    * $PSTMVER,FreeRTOS_V10.4.3_ARM*57
    * $PSTMVER,BINIMG_STA8041_4.6.6.5.6_ARM*0C
    * $PSTMVER,SWCFG_86065331*62
    * $PSTMVER,GNSSLIB_8.4.8.13_ARM*7F
    * $PSTMVER,OS20LIB_4.3.0_ARM*47
    * $PSTMVER,GPSAPP_2.2.1_ARM*1D
    * $PSTMVER,SWCFG_8102510d*35
    * $PSTMVER,WAASLIB_2.18.0_ARM*61
    * $PSTMVER,STAGPSLIB_5.0.0_ARM*59
    * $PSTMVER,STA8090_622bc043*6F
    */

    gps_mask_t mask = ONLINE_SET;
    size_t m_len =  strnlen(field[1], 40) + 2;
    size_t st_left =  (sizeof(session->subtype) -
                       strnlen(session->subtype, sizeof(session->subtype)));
    size_t st1_left =  (sizeof(session->subtype1) -
                        strnlen(session->subtype1, sizeof(session->subtype1)));

    if (NULL != strstr(session->subtype, field[1]) ||
        NULL != strstr(session->subtype1, field[1])) {
        // already haev it, ignore.
    } else if (m_len < st_left) {
        // room in subtype
        if ('\0' == session->subtype[0]) {
            (void)strncat(session->subtype, "STM,",
                          sizeof(session->subtype) - 1);
        } else {
            (void)strncat(session->subtype, ",",
                          sizeof(session->subtype) - 1);
        }
        (void)strncat(session->subtype, field[1],
                      sizeof(session->subtype) - 1);
    } else if (m_len < st1_left) {
        // room in subtype1
        if ('\0' != session->subtype1[0]) {
            (void)strncat(session->subtype1, ",",
                          sizeof(session->subtype1) - 1);
        }
        (void)strncat(session->subtype1, field[1],
                      sizeof(session->subtype1) - 1);
    } else {
        // else no room.  log it
        GPSD_LOG(LOG_WARN, &session->context->errout,
                "NMEA0183: $PSTMVER: no room for: %s\n", field[1]);
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
            "NMEA0183: $PSTMVER: %s, %s\n",
            session->subtype, session->subtype1);

    return mask;
}

// Recommend Minimum Course Specific GPS/TRANSIT Data
static gps_mask_t processRMC(unsigned count, char *field[],
                             struct gps_device_t *session)
{
    /*
     * RMC,225446.33,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E,A*68
     * 1     225446.33    Time of fix 22:54:46 UTC
     * 2     A            Status of Fix:
     *                     A = Autonomous, valid;
     *                     V = invalid
     * 3,4   4916.45,N    Latitude 49 deg. 16.45 min North
     * 5,6   12311.12,W   Longitude 123 deg. 11.12 min West
     * 7     000.5        Speed over ground, Knots
     * 8     054.7        Course Made Good, True north
     * 9     181194       Date of fix ddmmyy.  18 November 1994
     * 10,11 020.3,E      Magnetic variation 20.3 deg East
     * 12    A            FAA mode indicator (NMEA 2.3 and later)
     *                     see faa_mode() for possible mode values
     * 13    V            Nav Status (NMEA 4.1 and later)
     *                     A = autonomous,
     *                     D = differential,
     *                     E = Estimated (DR),
     *                     F = RTK Float
     *                     M = Manual input mode
     *                     N = No fix.  Not valid,
     *                     P = High Precision Mode
     *                     R = RTK Integer
     *                     S = Simulator,
     *                     V = Invalid
     * *68        mandatory nmea_checksum
     *
     * SiRF chipsets don't return either Mode Indicator or magnetic variation.
     */
    gps_mask_t mask = ONLINE_SET;
    char status = field[2][0];
    int newstatus;

    /* As of Dec 2023, the regressions only have A, or V in field 2.
     * NMEA says only A, and V are valid
     */
    switch (status) {
    default:
        // missing, never seen this case.
        FALLTHROUGH
    case 'V':
        // Invalid
        session->newdata.mode = MODE_NO_FIX;
        if ('\0' == field[1][0] ||
            '\0' ==  field[9][0]) {
            /* No time available. That breaks cycle end detector
             * Force report to bypass cycle detector and get report out.
             * To handle Querks (Quectel) like this:
             *  $GPRMC,,V,,,,,,,,,,N*53
             */
            memset(&session->nmea.date, 0, sizeof(session->nmea.date));
            session->cycle_end_reliable = false;
            mask |= REPORT_IS | TIME_SET;
        }
        mask |= STATUS_SET | MODE_SET;
        break;
    case 'A':
        // Valid Fix
        /*
         * The MTK3301, Royaltek RGM-3800, and possibly other
         * devices deliver bogus time values when the navigation
         * warning bit is set.
         */
        /* The Meinberg GPS164 only outputs GPRMC.  Do set status
         * so it can increment fixcnt.
         */
        if ('\0' != field[1][0] &&
            9 < count &&
            '\0' !=  field[9][0]) {
            if (0 == merge_hhmmss(field[1], session) &&
                0 == merge_ddmmyy(field[9], session)) {
                // got a good data/time
                mask |= TIME_SET;
                register_fractional_time(field[0], field[1], session);
            }
        }
        // else, no point to the time only case, no regressions with that

        if (0 == do_lat_lon(&field[3], &session->newdata)) {
            newstatus = STATUS_GPS;
            mask |= LATLON_SET;
            if (MODE_2D >= session->lastfix.mode) {
                /* we have at least a 2D fix
                 * might cause blinking */
                session->newdata.mode = MODE_2D;
            } else if (MODE_3D == session->lastfix.mode) {
                // keep the 3D, this may be cycle starter
                // might cause blinking
                session->newdata.mode = MODE_3D;
            }
        } else {
            newstatus = STATUS_UNK;
            session->newdata.mode = MODE_NO_FIX;
        }
        mask |= MODE_SET;
        if ('\0' != field[7][0]) {
            session->newdata.speed = safe_atof(field[7]) * KNOTS_TO_MPS;
            mask |= SPEED_SET;
        }
        if ('\0' != field[8][0]) {
            session->newdata.track = safe_atof(field[8]);
            mask |= TRACK_SET;
        }

        // get magnetic variation
        if ('\0' != field[10][0] &&
            '\0' != field[11][0]) {
            session->newdata.magnetic_var = safe_atof(field[10]);

            switch (field[11][0]) {
            case 'E':
                // no change
                break;
            case 'W':
                session->newdata.magnetic_var = -session->newdata.magnetic_var;
                break;
            default:
                // huh?
                session->newdata.magnetic_var = NAN;
                break;
            }
            if (0 == isfinite(session->newdata.magnetic_var) ||
                0.09 >= fabs(session->newdata.magnetic_var)) {
                // some GPS set 0.0,E, or 0,w instead of blank
                session->newdata.magnetic_var = NAN;
            } else {
                mask |= MAGNETIC_TRACK_SET;
            }
        }

        if (12 < count) {
            if ('\0' != field[12][0]) {
                // Have FAA mode indicator (NMEA 2.3 and later)
                newstatus = faa_mode(field[12][0]);
            }
            /*
             * Navigation Status
             * If present, can not be NUL:
             * S = Safe
             * C = Caution
             * U = Unsafe
             * V = invalid.
             *
             * In the regressions, as of Dec 2023, field 13 is
             * always 'V', and field 2 is always 'A'.  That seems
             * like an invalid combination.... */
            if (13 < count) {
                if ('\0' != field[13][0]) {
                    ;  // skip for now
                }
            }
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "NMEA0183: RMC: status %s(%d) faa mode %s(%s) "
                     "faa status %s\n",
                     field[2], newstatus, field[12],
                     char2str(field[12][0], c_faa_mode), field[13]);
        }

        /*
         * This copes with GPSes like the Magellan EC-10X that *only* emit
         * GPRMC. In this case we set mode and status here so the client
         * code that relies on them won't mistakenly believe it has never
         * received a fix.
         */
        if (3 < session->gpsdata.satellites_used) {
            // 4 sats used means 3D
            session->newdata.mode = MODE_3D;
        } else if (0 != isfinite(session->gpsdata.fix.altHAE) ||
                   0 != isfinite(session->gpsdata.fix.altMSL)) {
            /* we probably have at least a 3D fix
             * this handles old GPS that do not report 3D */
            session->newdata.mode = MODE_3D;
        }
        session->newdata.status = newstatus;
        mask |= STATUS_SET | MODE_SET;
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: RMC: ddmmyy=%s hhmmss=%s lat=%.2f lon=%.2f "
             "speed=%.2f track=%.2f mode=%d var=%.1f status=%d\n",
             field[9], field[1],
             session->newdata.latitude,
             session->newdata.longitude,
             session->newdata.speed,
             session->newdata.track,
             session->newdata.mode,
             session->newdata.magnetic_var,
             session->newdata.status);
    return mask;
}

/* precessROT() - process Rate Of Turn
 *
 * Deprecated by NMEA in 2008
 */
static gps_mask_t processROT(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $APROT,0.013,A*35
     *
     * 1) Rate of Turn deg/min
     * 2) A = valid, V = Void
     * )  checksum
     *
     */
    gps_mask_t mask = ONLINE_SET;

    if ('\0' == field[1][0] ||
        'A' != field[2][0]) {
        // no data
        return mask;
    }

    // assume good data
    session->gpsdata.attitude.rot = safe_atof(field[1]);
    mask |= ATTITUDE_SET;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: $xxROT:Rate of Turn %f\n",
             session->gpsdata.attitude.rot);
    return mask;
}

/*
 * Unicore $SNRSTAT  Sensor status
 * Note: Invalid sender: $SN
 */
static gps_mask_t processSNRSTAT(unsigned count UNUSED, char *field[],
                                 struct gps_device_t *session)
{
    /*
     * $SNRSTAT,1,1,0,0*5D
     */

    gps_mask_t mask = ONLINE_SET;
    static char probe[] = "$PDTINFO\r\n";
    static char type[] = "Unicore";
    int insstatus = atoi(field[1]);     // IMU status
    int odostatus = atoi(field[2]);     // Odometer Status
    int InstallState = atoi(field[3]);  // Install State
    int mapstat = atoi(field[4]);       // PAP status

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: SNRSTAT insstatus %d obsstatus %d InstallState %d "
             "mapstat %d\n",
             insstatus, odostatus, InstallState, mapstat);

    GPSD_LOG(LOG_IO, &session->context->errout,
             "NMEA0183: SNRSTAT insstatus %s obsstatus %s InstallState %s "
             "mapstat %s\n",
             val2str(insstatus, vsnrstat_insstatus),
             val2str(odostatus, vsnrstat_odostatus),
             val2str(InstallState, vsnrstat_InstallState),
             val2str(mapstat, vsnrstat_mapstat));

    if ('\0' == session->subtype[0]) {
        // this is Unicore
        // Send $PDTINFO to get back $PDTINFO,....
        (void)gpsd_write(session, probe, sizeof(probe));
        // mark so we don't ask twice
        (void)strlcpy(session->subtype, type, sizeof(session->subtype) - 1);
    }
    return mask;
}


/*
 * Skytraq undocumented debug sentences take this format:
 * $STI,type,val*CS
 * type is a 2 char subsentence type
 * Note: NO checksum
 */
static gps_mask_t processSTI(unsigned count, char *field[],
                             struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;

    if (0 != strncmp(session->device_type->type_name, "Skytraq", 7)) {
        // this is skytraq, but marked yet, so probe for Skytraq
        // Send MID 0x02, to get back MID 0x80
        (void)gpsd_write(session, "\xA0\xA1\x00\x02\x02\x01\x03\x0d\x0a",9);
    }

    if ( 0 == strcmp( field[1], "IC") ) {
        // $STI,IC,error=XX, this is always very bad, but undocumented
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "NMEA0183: Skytraq: $STI,%s,%s\n", field[1], field[2]);
        return mask;
    }
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: STI,%s: Unknown type, Count: %d\n", field[1], count);

    return mask;
}

// SiRF Estimated Position Errors
// $xxTHS -- True Heading and Status
static gps_mask_t processTHS(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $GNTHS,121.15.A*1F<CR><LF>
     * 1  - Heading, degrees True
     * 2  - Mode indicator
     *      'A’ = Autonomous
     *      'E’ = Estimated (dead reckoning)
     *      'M’ = Manual input
     *      'S’ = Simulator
     *      'V’ = Data not valid
     * 3  - Checksum
     */
    gps_mask_t mask = ONLINE_SET;
    double heading;

    if ('\0' == field[1][0] ||
        '\0' == field[2][0]) {
        // no data
        return mask;
    }
    if ('V' == field[2][0]) {
        // invalid data
        // ignore A, E, M and S for now
        return mask;
    }
    heading = safe_atof(field[1]);
    if ((0.0 > heading) ||
        (360.0 < heading)) {
        // bad data
        return mask;
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NMEA0183: $xxTHS heading %lf mode %s\n",
             heading, field[2]);

    return mask;
}

static gps_mask_t processTNTA(unsigned count UNUSED, char *field[],
                              struct gps_device_t *session)
{
    /*
     * Proprietary sentence for iSync GRClok/LNRClok.

     $PTNTA,20000102173852,1,T4,,,6,1,0*32

     1. Date/time in format year, month, day, hour, minute, second
     2. Oscillator quality 0:warming up, 1:freerun, 2:disciplined.
     3. Always T4. Format indicator.
     4. Interval ppsref-ppsout in [ns]. Blank if no ppsref.
     5. Fine phase comparator in approx. [ns]. Always close to -500 or
        +500 if not disciplined. Blank if no ppsref.
     6. iSync Status.  0:warming up or no light, 1:tracking set-up,
        2:track to PPSREF, 3:synch to PPSREF, 4:Free Run. Track OFF,
        5:FR. PPSREF unstable, 6:FR. No PPSREF, 7:FREEZE, 8:factory
        used, 9:searching Rb line
     7. GPS messages indicator. 0:do not take account, 1:take account,
        but no message, 2:take account, partially ok, 3:take account,
        totally ok.
     8. Transfer quality of date/time. 0:no, 1:manual, 2:GPS, older
        than x hours, 3:GPS, fresh.

     */
    gps_mask_t mask = ONLINE_SET;

    if (0 == strcmp(field[3], "T4")) {
        struct oscillator_t *osc = &session->gpsdata.osc;
        unsigned int quality = atoi(field[2]);
        unsigned int delta = atoi(field[4]);
        unsigned int fine = atoi(field[5]);
        unsigned int status = atoi(field[6]);
        char deltachar = field[4][0];

        osc->running = (0 < quality);
        osc->reference = (deltachar && (deltachar != '?'));
        if (osc->reference) {
            if (500 > delta) {
                osc->delta = fine;
            } else {
                osc->delta = ((delta < 500000000) ? delta : 1000000000 - delta);
            }
        } else {
            osc->delta = 0;
        }
        osc->disciplined = ((quality == 2) && (status == 3));
        mask |= OSCILLATOR_SET;

        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "NMEA0183: PTNTA,T4: quality=%s, delta=%s, fine=%s,"
                 "status=%s\n",
                 field[2], field[4], field[5], field[6]);
    }
    return mask;
}

static gps_mask_t processTNTHTM(unsigned count UNUSED, char *field[],
                                struct gps_device_t *session)
{
    /*
     * Proprietary sentence for True North Technologies Magnetic Compass.
     * This may also apply to some Honeywell units since they may have been
     * designed by True North.

     $PTNTHTM,14223,N,169,N,-43,N,13641,2454*15

     HTM,x.x,a,x.x,a,x.x,a,x.x,x.x*hh<cr><lf>
     Fields in order:
     1. True heading (compass measurement + deviation + variation)
     2. magnetometer status character:
     C = magnetometer calibration alarm
     L = low alarm
     M = low warning
     N = normal
     O = high warning
     P = high alarm
     V = magnetometer voltage level alarm
     3. pitch angle
     4. pitch status character - see field 2 above
     5. roll angle
     6. roll status character - see field 2 above
     7. dip angle
     8. relative magnitude horizontal component of earth's magnetic field
     *hh          mandatory nmea_checksum

     By default, angles are reported as 26-bit integers: weirdly, the
     technical manual says either 0 to 65535 or -32768 to 32767 can
     occur as a range.
     */
    gps_mask_t mask = ONLINE_SET;

    // True heading
    session->gpsdata.attitude.heading = safe_atof(field[1]);
    session->gpsdata.attitude.mag_st = *field[2];
    session->gpsdata.attitude.pitch = safe_atof(field[3]);
    session->gpsdata.attitude.pitch_st = *field[4];
    session->gpsdata.attitude.roll = safe_atof(field[5]);
    session->gpsdata.attitude.roll_st = *field[6];
    session->gpsdata.attitude.dip = safe_atof(field[7]);
    session->gpsdata.attitude.mag_x = safe_atof(field[8]);
    mask |= (ATTITUDE_SET);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: $PTNTHTM heading %lf (%c).\n",
             session->gpsdata.attitude.heading,
             session->gpsdata.attitude.mag_st);
    return mask;
}

// GPS Text message
static gps_mask_t processTXT(unsigned count, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $GNTXT,01,01,01,PGRM inv format*2A
     * 1                   Number of sentences for full data
     * 1                   Sentence 1 of 1
     * 01                  Message type
     *       00 - error
     *       01 - warning
     *       02 - notice
     *       07 - user
     * PGRM inv format     ASCII text
     *
     * Can occur with talker IDs:
     *   BD (Beidou),
     *   GA (Galileo),
     *   GB (Beidou),
     *   GI (IRNSS
     *   GL (GLONASS),
     *   GN (GLONASS, any combination GNSS),
     *   GP (GPS, SBAS, QZSS),
     *   GQ (QZSS).
     *   PQ (QZSS). Quectel Quirk
     *   QZ (QZSS).
     *
     * Unicore undcumented:
     *
     * $GNTXT,01,01,01,0,500482,0000,80A0,80A0,-45.277,0*6B
     * $GNTXT,01,01,02,0,00,10000,00,01,17,01,0001,0000,0.000*57
     */
    gps_mask_t mask = ONLINE_SET;
    int msgType = 0;
    char *msgType_txt = "Unknown";

    if (5 != count) {
      return mask;
    }

    msgType = atoi(field[3]);

    switch ( msgType ) {
    case 0:
        msgType_txt = "Error";
        break;
    case 1:
        msgType_txt = "Warning";
        break;
    case 2:
        msgType_txt = "Notice";
        break;
    case 7:
        msgType_txt = "User";
        break;
    }

    // maximum text length unknown, guess 80
    GPSD_LOG(LOG_WARN, &session->context->errout,
             "NMEA0183: TXT: %.10s: %.80s\n",
             msgType_txt, field[4]);
    return mask;
}

/* process xxVTG
 *     $GPVTG,054.7,T,034.4,M,005.5,N,010.2,K
 *     $GPVTG,054.7,T,034.4,M,005.5,N,010.2,K,A
 *
 * where:
 *         1,2     054.7,T      True track made good (degrees)
 *         3,4     034.4,M      Magnetic track made good
 *         5,6     005.5,N      Ground speed, knots
 *         7,8     010.2,K      Ground speed, Kilometers per hour
 *         9       A            Mode Indicator (optional)
 *                                see faa_mode() for possible mode values
 *
 * see also:
 * https://gpsd.gitlab.io/gpsd/NMEA.html#_vtg_track_made_good_and_ground_speed
 */
static gps_mask_t processVTG(unsigned count,
                             char *field[],
                             struct gps_device_t *session)
{
    gps_mask_t mask = ONLINE_SET;

    if( (field[1][0] == '\0') || (field[5][0] == '\0')){
        return mask;
    }

    // ignore empty/missing field, fix mode of last resort
    if ((9 < count) &&
        ('\0' != field[9][0])) {

        switch (field[9][0]) {
        case 'A':
            // Autonomous, 2D or 3D fix
            FALLTHROUGH
        case 'D':
            // Differential, 2D or 3D fix
            // MODE_SET here causes issues
            // mask |= MODE_SET;
            break;
        case 'E':
            // Estimated, DR only
            FALLTHROUGH
        case 'N':
            // Not Valid
            // MODE_SET here causes issues
            // mask |= MODE_SET;
            // nothing to use here, leave
            return mask;
        default:
            // Huh?
            break;
        }
    }

    // set true track
    session->newdata.track = safe_atof(field[1]);
    mask |= TRACK_SET;

    // set magnetic variation
    if ('\0' != field[3][0]) {  // ignore empty fields
        session->newdata.magnetic_track = safe_atof(field[3]);
        mask |= MAGNETIC_TRACK_SET;
    }

    session->newdata.speed = safe_atof(field[5]) * KNOTS_TO_MPS;
    mask |= SPEED_SET;

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: VTG: course(T)=%.2f, course(M)=%.2f, speed=%.2f",
             session->newdata.track, session->newdata.magnetic_track,
             session->newdata.speed);
    return mask;
}

/* precessXDR() - process transducer messages
 */
static gps_mask_t processXDR(unsigned count, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $APXDR,A,0.135,D,PTCH*7C
     * $APXDR,A,3.861,D,ROLL*65
     *
     * 1) Transducer type
     *     A = Angular Displacement
     * 2) Measurement data
     * 3) Units of measure
     *     D = degrees
     * 4) Transducer ID
     *     can be repeated...
     * The previsou 4 messages can be repeated at least 9 more times.
     * )  checksum
     *
     * TODO: stacked measurements, like the TNT Revolution:
  $HCXDR,A,177,D,PITCH,A,-40,D,ROLL,G,358,,MAGX,G,2432,,MAGY,G,-8974,,MAGZ*47
     *  the bund_zeus:
  $IIXDR,C,,C,AIRTEMP,A,-3.0,D,HEEL,A,3.7,D,TRIM,P,,B,BARO,A,-4.2,D,RUDDER*28
     *
     */
    gps_mask_t mask = ONLINE_SET;
    unsigned i;
    unsigned num_meas = count / 4;

    if (10 < num_meas) {
        // nodocumented limit of measurements, we pick 10
        num_meas = 10;
    }

    for (i = 0; i < num_meas; i++) {
        double data = 0.0;
        unsigned j = i * 4;

        if ('\0' == field[j + 2][0]) {
            // no data, skip it
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "NMEA0183: $xxXDR: Type %.10s Data %.10s Units %.10s "
                     "ID %.10s\n",
                     field[j + 1], field[j + 2], field[j + 3], field[j + 4]);
            continue;
        }

        data = safe_atof(field[j + 2]);

        switch (field[j + 1][0]) {
        case 'A':
            // angles
            if ('D' != field[j + 3][0]) {
                // not degrees
                continue;
            }
            if (0 == strncmp( "HEEL", field[j + 4], 10)) {
                // session->gpsdata.attitude.roll = data;
                // mask |= ATTITUDE_SET;
            } else if (0 == strncmp( "PTCH", field[j + 4], 10) ||
                0 == strncmp( "PITCH", field[j + 4], 10)) {
                session->gpsdata.attitude.pitch = data;
                mask |= ATTITUDE_SET;
            } else if (0 == strncmp( "ROLL", field[j + 4], 10)) {
                session->gpsdata.attitude.roll = data;
                mask |= ATTITUDE_SET;
            } else if (0 == strncmp( "RUDDER", field[j + 4], 10)) {
                // session->gpsdata.attitude.roll = data;
                // mask |= ATTITUDE_SET;
            } else if (0 == strncmp( "TRIM", field[j + 4], 10)) {
                // session->gpsdata.attitude.roll = data;
                // mask |= ATTITUDE_SET;
            }
            // else, unknown
            break;
        case 'G':
            // G: TODO: G,358,,MAGX,G,2432,,MAGY,G,-8974,,MAGZ*47
            // oddly field[j + 3][0] is NUL...

            if (0 == strncmp( "MAGX", field[j + 4], 10)) {
                // unknown scale
                session->gpsdata.attitude.mag_x = data;
                mask |= ATTITUDE_SET;
            } else if (0 == strncmp( "MAGY", field[j + 4], 10)) {
                // unknown scale
                session->gpsdata.attitude.mag_y = data;
                mask |= ATTITUDE_SET;
            } else if (0 == strncmp( "MAGZ", field[j + 4], 10)) {
                // unknown scale
                session->gpsdata.attitude.mag_z = data;
                mask |= ATTITUDE_SET;
            }
            break;
        case 'C':
            // C,,C,AIRTEMP,
            FALLTHROUGH
        case 'P':
            // Pressure: TODO: P,,B,BARO
            FALLTHROUGH
        default:
            break;
        }

        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "NMEA0183: $xxXDR: Type %.10s Data %f Units %.10s ID %.10s\n",
                 field[j + 1], data, field[j + 3], field[j + 4]);
    }
    return mask;
}

// Time & Date
static gps_mask_t processZDA(unsigned count UNUSED, char *field[],
                             struct gps_device_t *session)
{
    /*
     * $GPZDA,160012.71,11,03,2004,-1,00*7D
     * 1) UTC time (hours, minutes, seconds, may have fractional subsecond)
     * 2) Day, 01 to 31
     * 3) Month, 01 to 12
     * 4) Year (4 digits)
     * 5) Local zone description, 00 to +- 13 hours
     * 6) Local zone minutes description, apply same sign as local hours
     * 7) Checksum
     *
     * Note: some devices, like the u-blox ANTARIS 4h, are known to ship ZDAs
     * with some fields blank under poorly-understood circumstances (probably
     * when they don't have satellite lock yet).
     */
    gps_mask_t mask = ONLINE_SET;
    int year, mon, mday, century;
    char ts_buf[TIMESPEC_LEN];

    if ('\0' == field[1][0] ||
        '\0' == field[2][0] ||
        '\0' == field[3][0] ||
        '\0' == field[4][0]) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: ZDA fields are empty\n");
        return mask;
    }

    if (0 != merge_hhmmss(field[1], session)) {
        // bad time
        return mask;
    }

    /*
     * We didn't register fractional time here because we wanted to leave
     * ZDA out of end-of-cycle detection. Some devices sensibly emit it only
     * when they have a fix, so watching for it can make them look
     * like they have a variable fix reporting cycle.  But later thought
     * was to not throw out good data because it is inconvenient.
     */
    mday = atoi(field[2]);
    mon = atoi(field[3]);
    year = atoi(field[4]);
    century = year - year % 100;
    if (1900 > year  ||
        2200 < year) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: malformed ZDA year: %s\n",  field[4]);
    } else if (1 > mon ||
               12 < mon) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: malformed ZDA month: %s\n",  field[3]);
    } else if (1 > mday ||
               31 < mday) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: malformed ZDA day: %s\n",  field[2]);
    } else {
        gpsd_century_update(session, century);
        session->nmea.date.tm_year = year - 1900;
        session->nmea.date.tm_mon = mon - 1;
        session->nmea.date.tm_mday = mday;
        session->newdata.time = gpsd_utc_resolve(session);
        register_fractional_time(field[0], field[1], session);
        mask = TIME_SET;
    }
    GPSD_LOG(LOG_DATA, &session->context->errout,
         "NMEA0183: ZDA time %s\n",
          timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)));
    return mask;
}



/**************************************************************************
 *
 * Entry points begin here
 *
 **************************************************************************/

// parse an NMEA sentence, unpack it into a session structure
gps_mask_t nmea_parse(char *sentence, struct gps_device_t * session)
{
    typedef gps_mask_t(*nmea_decoder) (unsigned count, char *f[],
                                       struct gps_device_t * session);
    static struct
    {
        char *name;
        char *name1;            // 2nd field to match, as is $PSTI,030
        int nf;                 // minimum number of fields required to parse
        bool cycle_continue;    // cycle continuer?
        nmea_decoder decoder;
    } nmea_phrase[NMEA_NUM] = {
        {"PGLOR", NULL, 2,  false, processPGLOR},  // Android something...
        // Ericsson firmware status
        {"PERC", "FWsts", 6, false, processPERCFWsts},
        // Ericsson averaged position
        {"PERC", "GPavp", 6, false, processPERCGPavp},
        // Ericsson control/heartbeat
        {"PERC", "GPctr", 6, false, processPERCGPctr},
        // Ericsson debug output
        {"PERC", "GPdbg", 19, false, processPERCGPdbg},
        // Ericsson oscillator phase/freq
        {"PERC", "GPppf", 5, false, processPERCGPppf},
        // Ericsson GPS time reference
        {"PERC", "GPppr", 6, false, processPERCGPppr},
        // Ericsson receiver health
        {"PERC", "GPreh", 2, false, processPERCGPreh},
        // Ericsson receiver status
        {"PERC", "GPsts", 4, false, processPERCGPsts},
        // Ericsson version info
        {"PERC", "GPver", 4, false, processPERCGPver},
        {"PGRMB", NULL, 0,  false, NULL},     // ignore Garmin DGPS Beacon Info
        {"PGRMC", NULL, 0,  false, NULL},        // ignore Garmin Sensor Config
        {"PGRME", NULL, 7,  false, processPGRME},
        {"PGRMF", NULL, 15, false, processPGRMF},  // Garmin GPS Fix Data
        {"PGRMH", NULL, 0,  false, NULL},     // ignore Garmin Aviation Height
        {"PGRMI", NULL, 0,  false, NULL},          // ignore Garmin Sensor Init
        {"PGRMM", NULL, 2,  false, processPGRMM},  // Garmin Map Datum
        {"PGRMO", NULL, 0,  false, NULL},     // ignore Garmin Sentence Enable
        {"PGRMT", NULL, 10, false, processPGRMT},  // Garmin Sensor Info
        {"PGRMV", NULL, 4,  false, processPGRMV},  // Garmin 3D Velocity Info
        {"PGRMZ", NULL, 4,  false, processPGRMZ},
            /*
             * Basic sentences must come after the PG* ones, otherwise
             * Garmins can get stuck in a loop that looks like this:
             *
             * 1. A Garmin GPS in NMEA mode is detected.
             *
             * 2. PGRMC is sent to reconfigure to Garmin binary mode.
             *    If successful, the GPS echoes the phrase.
             *
             * 3. nmea_parse() sees the echo as RMC because the talker
             *    ID is ignored, and fails to recognize the echo as
             *    PGRMC and ignore it.
             *
             * 4. The mode is changed back to NMEA, resulting in an
             *    infinite loop.
             */
        {"AAM", NULL, 0,  false, NULL},    // ignore Waypoint Arrival Alarm
        {"ACCURACY", NULL, 1,  true, processACCURACY},
        {"ACN", NULL, 0,  false, NULL},    // Alert Command, 4.10+
        {"ALC", NULL, 0,  false, NULL},    // Cyclic Alert List, 4.10+
        {"ALF", NULL, 0,  false, NULL},    // Alert Sentence, 4.10+
        {"ALM", NULL, 0,  false, NULL},    // GPS Almanac Data
        {"APB", NULL, 0,  false, NULL},    // Autopilot Sentence B
        {"ACF", NULL, 0,  false, NULL},    // Alert Command Refused, 4.10+
        {"AVR", NULL, 0,  false, NULL},    // Same as $PTNL,AVR
        {"BOD", NULL, 0,  false, NULL},    // Bearing Origin to Destination
        // Bearing & Distance to Waypoint, Great Circle
        {"BWC", NULL, 12, false, processBWC},
        {"DBT", NULL, 7,  false, processDBT},  // depth
        {"DPT", NULL, 4,  false, processDPT},  // depth
        {"DTM", NULL, 2,  false, processDTM},  // datum
        {"EPV", NULL, 0,  false, NULL},     // Command/report Prop Value, 4.10+
        {"GBS", NULL, 7,  false, processGBS},  // GNSS Sat Fault Detection
        {"GGA", NULL, 13, false, processGGA},  // GPS fix data
        {"GGK", NULL, 0,  false, NULL},        // Same as $PTNL,GGK
        {"GGQ", NULL, 0,  false, NULL},        // Leica Position
        {"GLC", NULL, 0,  false, NULL},        // Geographic Position, LoranC
        {"GLL", NULL, 7,  true, processGLL},   // Position, Lat/Lon
        {"GMP", NULL, 0,  false, NULL},        // Map Projection
        {"GNS", NULL, 13, false, processGNS},  // GNSS fix data
        {"GRS", NULL, 4,  false, processGRS},  // GNSS Range Residuals
        {"GSA", NULL, 18, false, processGSA},  // DOP and Active sats
        {"GST", NULL, 8,  false, processGST},  // Pseudorange error stats
        {"GSV", NULL, 4,  false, processGSV},  // Sats in view
        // UNICORE MEMES sensor data
        {"GYOACC", NULL, 14,  false, processGYOACC},
        // Inertial Sense info, over long
        // INFO,928404541,1.0.2.0,2.2.2.0,-377462659,2.0.0.0,-53643429,
        // Inertial Sense Inc,2025-01-10,16:06:13.50,GPX -1,4,0, *7D
        {"INFO", NULL, 14,  false, processINFO},
        {"HCR", NULL, 0,  false, NULL},        // Heading Correction, 4.10+
        // Heading, Deviation and Variation
        {"HDG", NULL, 0,  false, processHDG},
        {"HDM", NULL, 3,  false, processHDM},   // $APHDM, Magnetic Heading
        {"HDT", NULL, 1,  false, processHDT},   // Heading true
        // Hell Andle, Roll Period, Roll Amplitude.  NMEA 4.10+
        {"HRM", NULL, 0,  false, NULL},
        {"HRP", NULL, 0, false, NULL},       // Serpentrio Headinf, Roll, Pitch
        {"HWBIAS", NULL, 0, false, NULL},       // Unknown HuaWei sentence
        {"LLK", NULL, 0, false, NULL},          // Leica local pos and GDOP
        {"LLQ", NULL, 0, false, NULL},          // Leica local pos and quality
        {"MLA", NULL, 0,  false, NULL},         // GLONASS Almana Data
        {"MOB", NULL, 0,  false, NULL},         // Man Overboard, NMEA 4.10+
        {"MSS", NULL, 0,  false, NULL},         // beacon receiver status
        {"MTW", NULL, 3,  false, processMTW},   // Water Temperature
        {"MWD", NULL, 0,  false, processMWD},   // Wind Direction and Speed
        {"MWV", NULL, 0,  false, processMWV},   // Wind Speed and Angle
        {"OHPR", NULL, 18, false, NULL},        // Oceanserver, not supported
        {"OSD", NULL, 0,  false, NULL},             // ignore Own Ship Data
        // general handler for Ashtech
        {"PASHR", NULL, 3, false, processPASHR},
        // Airoha proprietary
        {"PAIR001", NULL, 3, false, processPAIR001},  // ACK/NAK
        {"PAIR010", NULL, 5, false, processPAIR010},  // Request Aiding

        // Unicore proprietary
        {"PDTINFO", NULL, 6, false, processPDTINFO},  // Product ID

        {"PEMT", NULL, 5, false, NULL},               // Evermore proprietary
        // Furuno proprietary
        {"PERDACK", NULL, 4, false, NULL},            // ACK
        // {"PERDAPI", NULL, 3, false, NULL},         // Config Send
        {"PERDCRD", NULL, 15, false, NULL},           // NLOSMASK?
        {"PERDCRG", "DCR", 6, false, NULL},           // QZSS DC report
        {"PERDCRJ", "FREQ", 9, false, NULL},          // Jamming Status
        {"PERDCRP", NULL, 9, false, NULL},            // Position
        {"PERDCRQ", NULL, 11, false, NULL},           // Galileo SAR
        {"PERDCRW", "TPS1", 8, false, NULL},          // Time
        {"PERDCRX", "TPS2", 12, false, NULL},         // PPS
        {"PERDCRY", "TPS3", 11, false, NULL},         // Position Mode
        {"PERDCRZ", "TPS4", 13, false, NULL},         // GCLK
        {"PERDMSG", NULL, 3, false, NULL},            // Message
        {"PERDSYS", "ANTSEL", 5, false, NULL},        // Antenna
        {"PERDSYS", "FIXSESSION", 5, false, NULL},    // Fix Session
        {"PERDSYS", "GPIO", 3, false, NULL},          // GPIO
        {"PERDSYS", "VERSION", 6, false, NULL},       // Version

        // Inertial Sense
        {"PGPSP", NULL, 18,  false, processPGPSP},     // GPS nav data

        // Jackson Labs proprietary
        {"PJLTS", NULL, 11,  false, NULL},            // GPSDO status
        {"PJLTV", NULL, 4,  false, NULL},             // Time and 3D velocity
        // GPS-320FW -- $PLCS
        {"PMGNST", NULL, 8, false, processPMGNST},    // Magellan Status
        // MediaTek proprietary, EOL.  Replaced by Airoha
        {"PMTK001", NULL, 3, false, processPMTK001},  // ACK/NAK
        {"PMTK010", NULL, 2, false, NULL},            // System Message
        {"PMTK011", NULL, 2, false, NULL},            // Text Message
        {"PMTK424", NULL, 3, false, processPMTK424},
        {"PMTK705", NULL, 4, false, processPMTK705},
        // MediaTek/Trimble Satellite Channel Status
        {"PMTKCHN", NULL, 0, false, NULL},

        // MTK-3301 -- $POLYN

        // Quectel proprietary
        {"PQTMCFGEINSMSGERROR", NULL, 1, false, processPQxERR},      // Error
        {"PQTMCFGEINSMSGOK", NULL, 1, false, processPQxOK},          // OK
        {"PQTMCFGORIENTATIONERROR", NULL, 1, false, processPQxERR},  // Error
        {"PQTMCFGORIENTATION", NULL, 3, false, NULL},       // Orientation
        {"PQTMCFGORIENTATIONOK", NULL, 1, false, processPQxOK},      // OK
        {"PQTMCFGWHEELTICKERROR", NULL, 1, false, processPQxERR},    // Error
        {"PQTMCFGWHEELTICKOK", NULL, 1, false, processPQxOK},        // OK
        {"PQTMGPS", NULL, 14, false, processPQTMGPS},  // GPS Status
        {"PQTMIMU", NULL, 10, false, processPQTMIMU},  // IMU Raw Data
        {"PQTMINS", NULL, 11, false, processPQTMINS},  // INS Results
        {"PQTMQMPTERROR", NULL, 1, false, processPQxERR},       // Error
        {"PQTMQMPT", NULL, 2, false, NULL},            // Meters / tick
        {"PQTMVEHMSG", NULL, 2, false, NULL},          // Vehicle Info
        {"PQTMVER", NULL, 4, false, processPQTMVER},   // Firmware info

        {"PQVERNO", NULL, 5, false, processPQVERNO},   // Version
        // smart watch sensors, Yes: space!
        {"PRHS ", NULL, 2,  false, processPRHS},
        {"PRWIZCH", NULL, 0, false, NULL},          // Rockwell Channel Status
        {"PSRF140", NULL, 0, false, NULL},          // SiRF ephemeris
        {"PSRF150", NULL, 0, false, NULL},          // SiRF flow control
        {"PSRF151", NULL, 0, false, NULL},          // SiRF Power
        {"PSRF152", NULL, 0, false, NULL},          // SiRF ephemeris
        {"PSRF155", NULL, 0, false, NULL},          // SiRF proprietary
        {"PSRFEPE", NULL, 7, false, processPSRFEPE},  // SiRF Estimated Errors

        /* Serpentrio
         * $PSSN,HRP  -- Heading Pitch, Roll
         * $PSSN,RBD  -- Rover-Base Direction
         * $PSSN,RBP  -- Rover-Base Position
         * $PSSN,RBV  -- Rover-Base Velocity
         * $PSSN,SNC  -- NTRIP Client Status
         * $PSSN,TFM  -- RTCM coordinate transform
         */
        {"PSSN", NULL, 0, false, NULL},          // $PSSN

        /*
         * Skytraq sentences take this format:
         * $PSTI,type[,val[,val]]*CS
         * type is a 2 or 3 digit subsentence type
         *
         * Note: these sentences can be at least 105 chars long.
         * That violates the NMEA 3.01 max of 82.
         */
        // 1 PPS Timing report ID
        {"PSTI", "000", 4, false, NULL},
        // Active Antenna Status Report
        {"PSTI", "001", 2, false, NULL},
        // GPIO 10 event-triggered time & position stamp.
        {"PSTI", "005", 2, false, NULL},
        //  Recommended Minimum 3D GNSS Data
        {"PSTI", "030", 16, false, processPSTI030},
        // RTK Baseline
        {"PSTI", "032", 16, false, processPSTI032},
        // RTK RAW Measurement Monitoring Data
        {"PSTI", "033", 27, false,  processPSTI033},
        // RTK Baseline Data of Rover Moving Base Receiver
        {"PSTI", "035", 8, false, processPSTI035},
        // Heading, Pitch and Roll Messages of vehicle
        {"PSTI", "036", 2, false, processPSTI036},
        // $PSTM ST Micro STA8088xx/STA8089xx/STA8090xx
        {"PSTM", NULL, 0, false, NULL},
        // STM messages
        {"PSTMCPU", NULL, 4, false, processPSTMCPU},
        {"PSTMANTENNASTATUS", NULL, 4, false, processPSTMANTENNASTATUS},
        {"PSTMVER", NULL, 1, false, processPSTMVER},

        /* Kongsberg Seatex AS. Seapath 320
         * $PSXN,20,horiz-qual,hgt-qual,head-qual,rp-qual*csum
         * $PSXN,21,event*csum
         * $PSXN,22,gyro-calib,gyro-offs*csum
         * $PSXN,23,roll,pitch,head,heave*csum
         * $PSXN,24,roll-rate,pitch-rate,yaw-rate,vertical-vel*csum
         */
        {"PSXN", NULL, 0, false, NULL},
        {"PTFTTXT", NULL, 0, false, NULL},        // unknown uptime

        /* Trimble Proprietary
         * $PTNL,AVR
         * $PTNL,GGK
         */
        {"PTNI", NULL, 0, false, NULL},

        {"PTKM", NULL, 0, false, NULL},           // Robertson RGC12 Gyro
        {"PTNLRBA", NULL, 2, false, processPTNLRBA},  // Trimble/Ericsson antenna status
        {"PTNLRHVR", NULL, 0, false, NULL},       // Trimble Software Version
        {"PTNLRNM", NULL, 1, false, processPTNLRNM},  // Trimble receiver navigation mode
        {"PTNLRPT", NULL, 0, false, NULL},        // Trimble Serial Port COnfig
        {"PTNLRSVR", NULL, 0, false, NULL},       // Trimble Firmware Version
        {"PTNLRTP", NULL, 3, false, processPTNLRTP},  // Trimble/Ericsson temperature
        {"PTNLRXO", NULL, 2, false, processPTNLRXO},  // Trimble/Ericsson oscillator status
        {"PTNLRZD", NULL, 0, false, NULL},        // Extended Time and Date
        {"PTNTA", NULL, 8, false, processTNTA},
        {"PTNTHTM", NULL, 9, false, processTNTHTM},
        {"PUBX", NULL, 0, false, NULL},         // u-blox and Antaris
        {"QSM", NULL, 3, false, NULL},          // QZSS DC Report
        {"RBD", NULL, 0, false, NULL},       // Serpentrio rover-base direction
        {"RBP", NULL, 0, false, NULL},       // Serpentrio rover-base position
        {"RBV", NULL, 0, false, NULL},       // Serpentrio rover-base velocity
        {"RLM", NULL, 0, false, NULL},       // Return Link Message, NMEA 4.10+
        // ignore Recommended Minimum Navigation Info, waypoint
        {"RMB", NULL, 0,  false, NULL},         // Recommended Min Nav Info
        {"RMC", NULL, 8,  false, processRMC},   // Recommended Minimum Data
        {"ROT", NULL, 3,  false, processROT},   // Rate of Turn
        {"RPM", NULL, 0,  false, NULL},         // ignore Revolutions
        {"RRT", NULL, 0, false, NULL},     // Report Route Transfer, NMEA 4.10+
        {"RSA", NULL, 0,  false, NULL},         // Rudder Sensor Angle
        {"RTE", NULL, 0,  false, NULL},         // ignore Routes
        // UNICORE, Sensor Status invalid sender (SN)
        {"SNRSTAT", NULL, 5,  false, processSNRSTAT},
        {"SM1", NULL, 0, false, NULL},     // SafteyNET, All Ships, NMEA 4.10+
        {"SM2", NULL, 0, false, NULL},     // SafteyNET, Coastal, NMEA 4.10+
        {"SM3", NULL, 0, false, NULL},     // SafteyNET, Circular, NMEA 4.10+
        {"SM4", NULL, 0, false, NULL},     // SafteyNET, Rectangular, NMEA 4.10+
        {"SMB", NULL, 0, false, NULL},     // SafteyNET, Msg Body, NMEA 4.10+
        {"SPW", NULL, 0, false, NULL},     // Security Password, NMEA 4.10+
        {"SNC", NULL, 0, false, NULL},       // Serpentrio NTRIP client status
        {"STI", NULL, 2,  false, processSTI},   // $STI  Skytraq
        {"TFM", NULL, 0, false, NULL},          // Serpentrio Coord Transform
        {"THS", NULL, 0,  false, processTHS},   // True Heading and Status
        {"TRL", NULL, 0, false, NULL},     // AIS Xmit offline, NMEA 4.10+
        {"TXT", NULL, 5,  false, processTXT},
        {"TXTbase", NULL, 0,  false, NULL},     // RTCM 1029 TXT
        {"VBW", NULL, 0,  false, NULL},         // Dual Ground/Water Speed
        {"VDO", NULL, 0,  false, NULL},         // Own Vessel's Information
        {"VDR", NULL, 0,  false, NULL},         // Set and Drift
        {"VHW", NULL, 0,  false, NULL},         // Water Speed and Heading
        {"VLW", NULL, 0,  false, NULL},         // Dual ground/water distance
        {"VTG", NULL, 5,  false, processVTG},   // Course/speed over ground
        // $APXDR, $HCXDR, Transducer measurements
        {"XDR", NULL, 5,  false, processXDR},
        {"XTE", NULL, 0,  false, NULL},         // Cross-Track Error
        {"ZDA", NULL ,4,  false, processZDA},   // Time and Date
        {NULL, NULL,  0,  false, NULL},         // no more
    };

    unsigned count;
    gps_mask_t mask = 0;
    unsigned i, thistag = 0, lasttag;
    char *p, *e;
    volatile char *t;
    char ts_buf1[TIMESPEC_LEN];
    char ts_buf2[TIMESPEC_LEN];
    bool skytraq_sti = false;
    size_t mlen;

    /*
     * We've had reports that on the Garmin GPS-10 the device sometimes
     * (1:1000 or so) sends garbage packets that have a valid checksum
     * but are like 2 successive NMEA packets merged together in one
     * with some fields lost.  Usually these are much longer than the
     * legal limit for NMEA, so we can cope by just tossing out overlong
     * packets.  This may be a generic bug of all Garmin chipsets.
     */
    // codacy does not like strlen()
    mlen = strnlen(sentence, NMEA_MAX + 1);
    if (NMEA_MAX < mlen) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "NMEA0183: Overlong packet of %zd+ chars rejected.\n",
                 mlen);
        return ONLINE_SET;
    }

    // make an editable copy of the sentence
    (void)strlcpy((char *)session->nmea.fieldcopy, sentence,
                  sizeof(session->nmea.fieldcopy) - 1);
    // discard the checksum part
    for (p = (char *)session->nmea.fieldcopy;
         ('*' != *p) && (' ' <= *p);) {
        ++p;
    }
    if ('*' == *p) {
        *p++ = ',';             // otherwise we drop the last field
    }
#ifdef SKYTRAQ_ENABLE_UNUSED
    // $STI is special, no trailing *, or chacksum
    if (0 != strncmp( "STI,", sentence, 4)) {
        skytraq_sti = true;
        *p++ = ',';             // otherwise we drop the last field
    }
#endif
    *p = '\0';
    e = p;

    // split sentence copy on commas, filling the field array
    count = 0;
    t = p;                      // end of sentence
    p = (char *)session->nmea.fieldcopy + 1;  // beginning of tag, 'G' not '$'
    // while there is a search string and we haven't run off the buffer...
    while ((NULL != p) &&
           (p <= t)) {
        session->nmea.field[count] = p;      // we have a field. record it
        if (NULL != (p = strchr(p, ','))) {  // search for the next delimiter
            *p = '\0';                       // replace it with a NUL
            count++;                         // bump the counters and continue
            p++;
            if (NMEA_MAX_FLD <= count) {
                // ensure no overflow
                break;
            }
        }
    }
    if (NMEA_MAX_FLD < count) {
        // ensure no overflow, OSS Fuzz 515100083
        count = NMEA_MAX_FLD;
    }

    // point remaining fields at empty string, just in case
    for (i = count; i < NMEA_MAX_FLD; i++) {
        session->nmea.field[i] = e;
    }

    // sentences handlers will tell us when they have fractional time
    session->nmea.latch_frac_time = false;
    // GSA and GSV will set this if more in that series to come.
    session->nmea.gsx_more = false;

#ifdef __UNUSED
    // debug
    GPSD_LOG(0, &session->context->errout,
             "NMEA0183: got %s\n", session->nmea.field[0]);
#endif // __UNUSED

    // dispatch on field zero, the sentence tag
    for (i = 0; i < NMEA_NUM; ++i) {
        char *s = session->nmea.field[0];

        // CODACY #350416, wants explicit numeric end check
        if ((NMEA_NUM - 1) <= i ||
            NULL == nmea_phrase[i].name) {
            mask = ONLINE_SET;
            GPSD_LOG(LOG_DATA, &session->context->errout,
                     "NMEA0183: Unknown sentence type %s\n",
                     session->nmea.field[0]);
            break;
        }
        // strnlen() to shut up codacy
        if (3 == strnlen(nmea_phrase[i].name, 4) &&
            !skytraq_sti) {
            // $STI is special
            s += 2;             // skip talker ID
        }
        if (0 != strcmp(nmea_phrase[i].name, s)) {
            // no match
            continue;
        }
        if (NULL != nmea_phrase[i].name1 &&
            0 != strcmp(nmea_phrase[i].name1, session->nmea.field[1])) {
            // no match on field 2.  As in $PSTI,030,
            continue;
        }
        // got a match
        if (NULL == nmea_phrase[i].decoder) {
            // no decoder for this sentence
            mask = ONLINE_SET;
            GPSD_LOG(LOG_DATA, &session->context->errout,
                     "NMEA0183: No decoder for sentence type %s\n",
                     session->nmea.field[0]);
            break;
        }
        if (count < (unsigned)nmea_phrase[i].nf) {
            // sentence too short
            mask = ONLINE_SET;
            GPSD_LOG(LOG_DATA, &session->context->errout,
                     "NMEA0183: Sentence %s too short\n",
                     session->nmea.field[0]);
            break;
        }
        mask = (nmea_phrase[i].decoder)(count, session->nmea.field,
                                        session);
        session->nmea.cycle_continue = nmea_phrase[i].cycle_continue;
        /*
         * Must force this to be nz, as we're going to rely on a zero
         * value to mean "no previous tag" later.
         */
        // FIXME: this fails on Skytrak, $PSTI,xx, many different xx
        thistag = i + 1;
        break;
    }

    // prevent overaccumulation of sat reports
    if (!str_starts_with(session->nmea.field[0] + 2, "GSV")) {
        // This assumes all $xxGSV are contiguous.
        if (0 != session->nmea.last_gsv_talker) {
            session->nmea.end_gsv_talker = session->nmea.last_gsv_talker;
        }
        session->nmea.last_gsv_talker = '\0';
    }
    if (!str_starts_with(session->nmea.field[0] + 2, "GSA")) {
        session->nmea.last_gsa_talker = '\0';
    }

    // timestamp recording for fixes happens here
    if (0 != (mask & TIME_SET)) {
        if (0 == session->nmea.date.tm_year &&
            0 == session->nmea.date.tm_mday) {
            // special case to time zero
            session->newdata.time = (timespec_t){0, 0};
        } else {
            session->newdata.time = gpsd_utc_resolve(session);
        }

        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "NMEA0183: %s newtime is %s = "
                 "%d-%02d-%02dT%02d:%02d:%02d.%03ldZ\n",
                 session->nmea.field[0],
                 timespec_str(&session->newdata.time, ts_buf1, sizeof(ts_buf1)),
                 1900 + session->nmea.date.tm_year,
                 session->nmea.date.tm_mon + 1,
                 session->nmea.date.tm_mday,
                 session->nmea.date.tm_hour,
                 session->nmea.date.tm_min,
                 session->nmea.date.tm_sec,
                 session->nmea.subseconds.tv_nsec / 1000000L);
        /*
         * If we have time and PPS is available, assume we have good time.
         * Because this is a generic driver we don't really have enough
         * information for a sharper test, so we'll leave it up to the
         * PPS code to do its own sanity filtering.
         */
        mask |= NTPTIME_IS;
    }

    /*
     * The end-of-cycle detector.  This code depends on just one
     * assumption: if a sentence with a timestamp occurs just before
     * start of cycle, then it is always good to trigger a report on
     * that sentence in the future.  For devices with a fixed cycle
     * this should work perfectly, locking in detection after one
     * cycle.  Most split-cycle devices (Garmin 48, for example) will
     * work fine.  Problems will only arise if a a sentence that
     * occurs just before timestamp increments also occurs in
     * mid-cycle, as in the Garmin eXplorist 210; those might jitter.
     */
    GPSD_LOG(LOG_DATA, &session->context->errout,
             "NMEA0183: %s time %s last %s latch %d cont %d\n",
             session->nmea.field[0],
             timespec_str(&session->nmea.this_frac_time, ts_buf1,
                          sizeof(ts_buf1)),
             timespec_str(&session->nmea.last_frac_time, ts_buf2,
                          sizeof(ts_buf2)),
             session->nmea.latch_frac_time,
             session->nmea.cycle_continue);
    lasttag = session->nmea.lasttag;
    if (session->nmea.gsx_more) {
        // more to come, so ignore for cycle ender
        // appears that GSA and GSV never start a cycle.
    } else if (session->nmea.latch_frac_time) {
        timespec_t ts_delta;
        TS_SUB(&ts_delta, &session->nmea.this_frac_time,
                          &session->nmea.last_frac_time);
        if (0.01 < fabs(TSTONS(&ts_delta))) {
            // time changed
            mask |= CLEAR_IS;
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "NMEA0183: %s starts a reporting cycle. lasttag %d\n",
                     session->nmea.field[0], lasttag);
            /*
             * Have we seen a previously timestamped NMEA tag?
             * If so, designate as end-of-cycle marker.
             * But not if there are continuation sentences;
             * those get sorted after the last timestamped sentence
             *
             */
            if (0 < lasttag &&
                false == (session->nmea.cycle_enders[lasttag]) &&
                !session->nmea.cycle_continue) {
                session->nmea.cycle_enders[lasttag] = true;
                // we might have a (somewhat) reliable end-of-cycle
                session->cycle_end_reliable = true;
                GPSD_LOG(LOG_PROG, &session->context->errout,
                         "NMEA0183: tagged %s as a cycle ender. %u\n",
                         nmea_phrase[lasttag - 1].name,
                         lasttag);
            }
        }
    } else {
        // ignore multiple sequential, like GSV, GSA
        // extend the cycle to an un-timestamped sentence?
        if (true == session->nmea.cycle_enders[lasttag]) {
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "NMEA0183: %s is just after a cycle ender. (%s)\n",
                     session->nmea.field[0],
                     gps_maskdump(mask));
            if (0 != (mask & ~ONLINE_SET)) {
                // new data... after cycle ender
                mask |= REPORT_IS;
            }
        }
        if (session->nmea.cycle_continue) {
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "NMEA0183: %s extends the reporting cycle.\n",
                     session->nmea.field[0]);
            // change ender
            session->nmea.cycle_enders[lasttag] = false;
            session->nmea.cycle_enders[thistag] = true;
            // have a cycle ender
            session->cycle_end_reliable = true;
        }
    }

    // here's where we check for end-of-cycle
    if ((session->nmea.latch_frac_time ||
         session->nmea.cycle_continue) &&
        (true == session->nmea.cycle_enders[thistag]) &&
        !session->nmea.gsx_more) {
        if (NULL == nmea_phrase[i].name1) {
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "NMEA0183: %s ends a reporting cycle.\n",
                     session->nmea.field[0]);
        } else {
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "NMEA0183: %s,%s ends a reporting cycle.\n",
                     session->nmea.field[0],
                     session->nmea.field[1]);
        }
        mask |= REPORT_IS;
    }
    if (session->nmea.latch_frac_time) {
        session->nmea.lasttag = thistag;
    }

    /* don't downgrade mode if holding previous fix
     * usually because of xxRMC which does not report 2D/3D */
    if (MODE_SET == (mask & MODE_SET) &&
        MODE_3D == session->gpsdata.fix.mode &&
        MODE_NO_FIX != session->newdata.mode &&
        (0 != isfinite(session->lastfix.altHAE) ||
         0 != isfinite(session->oldfix.altHAE) ||
         0 != isfinite(session->lastfix.altMSL) ||
         0 != isfinite(session->oldfix.altMSL))) {
        session->newdata.mode = session->gpsdata.fix.mode;
    }
    return mask;
}


/* add NMEA checksum to a possibly terminated sentence
 * if \0 terminated adds exactly 5 chars: "*XX\n\n"
 * if *\0 terminated adds exactly 4 chars: "XX\n\n"
 */
void nmea_add_checksum(char *sentence)
{
    unsigned char sum = '\0';
    char c, *p = sentence;

    if ('$' == *p ||
        '!' == *p) {
        p++;
    }
    while (('*' != (c = *p)) &&
           ('\0' != c)) {
        sum ^= c;
        p++;
    }
    (void)snprintf(p, 6, "*%02X\r\n", (unsigned)sum);
}

// ship a command to the GPS, adding * and correct checksum
ssize_t nmea_write(struct gps_device_t *session, char *buf, size_t len UNUSED)
{
    (void)strlcpy(session->msgbuf, buf, sizeof(session->msgbuf));
    if ('$' == session->msgbuf[0]) {
        (void)strlcat(session->msgbuf, "*", sizeof(session->msgbuf));
        nmea_add_checksum(session->msgbuf);
    } else {
        (void)strlcat(session->msgbuf, "\r\n", sizeof(session->msgbuf));
    }
    // codacy hates strlen()
    session->msgbuflen = strnlen(session->msgbuf, sizeof(session->msgbuf));
    return gpsd_write(session, session->msgbuf, session->msgbuflen);
}

ssize_t nmea_send(struct gps_device_t * session, const char *fmt, ...)
{
    char buf[BUFSIZ];
    va_list ap;

    va_start(ap, fmt);
    (void)vsnprintf(buf, sizeof(buf) - 5, fmt, ap);
    va_end(ap);
    // codacy hates strlen()
    return nmea_write(session, buf, strnlen(buf, sizeof(buf)));
}

// vim: set expandtab shiftwidth=4

Coverage Report

Created: 2026-08-13 07:04