diff --git a/docs/protobuf/monitor_pvt.proto b/docs/protobuf/monitor_pvt.proto
index 2875b38db..b55b13c4f 100644
--- a/docs/protobuf/monitor_pvt.proto
+++ b/docs/protobuf/monitor_pvt.proto
@@ -61,7 +61,10 @@ message MonitorPvt {
   // azimuth_deg/elevation_deg populated with used = false when it was
   // tracked and had az/el computed but excluded from the fix itself (e.g.
   // below PVT.elevation_mask, or by RAIM FDE). The healthy flag carries the
-  // broadcast health of the signal, independently of used.
+  // broadcast health of the signal, independently of used. Exception: GPS L5
+  // carries the LNAV SV health of the same satellite (as GPS L1 C/A does),
+  // because its CNAV L5 health bit is broadcast as unhealthy while the signal
+  // is pre-operational.
   message TrackedSatellite {
     uint32 prn = 1;
     string system = 2;  // "G" GPS, "E" Galileo, "R" GLONASS, "C" BeiDou, "S" SBAS, "J" QZSS
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index 2a6c15022..62a2f8684 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -1652,19 +1652,17 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
                         {
                             d_user_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
                         }
+                    // The CNAV L1/L2/L5 health bits are not used to exclude observables
+                    // from the PVT solution (pre-operational GPS L5 is broadcast as
+                    // unhealthy), so they are only logged here. See
+                    // Rtklib_Solver::get_broadcast_signal_health() for how they are reported.
                     if (gps_cnav_ephemeris->signal_health != 0)
                         {
                             const std::string sat_sys = (MINPRNQZS <= gps_cnav_ephemeris->PRN && gps_cnav_ephemeris->PRN <= MAXPRNQZS) ? "QZSS" : "GPS";
-                            std::cout << "Satellite " << Gnss_Satellite(sat_sys, gps_cnav_ephemeris->PRN)
-                                      << " reports an unhealthy status in the CNAV message,";
-                            if (d_use_unhealthy_sats)
-                                {
-                                    std::cout << " use PVT solutions at your own risk.\n";
-                                }
-                            else
-                                {
-                                    std::cout << " not used for navigation.\n";
-                                }
+                            LOG(INFO) << "CNAV signal health of " << Gnss_Satellite(sat_sys, gps_cnav_ephemeris->PRN)
+                                      << ": L1 " << ((gps_cnav_ephemeris->signal_health & 0x4) ? "bad" : "OK")
+                                      << ", L2 " << ((gps_cnav_ephemeris->signal_health & 0x2) ? "bad" : "OK")
+                                      << ", L5 " << ((gps_cnav_ephemeris->signal_health & 0x1) ? "bad" : "OK");
                         }
                     DLOG(INFO) << "New GPS CNAV ephemeris record has arrived";
                 }
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index bbc6ce5ce..d02a39a14 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -1430,8 +1430,14 @@ bool Rtklib_Solver::get_broadcast_signal_health(char system, uint32_t prn, const
             {
                 // L2C and L5 health comes from the CNAV message that carries them:
                 // bits 52-54 of message type 10 are the L1, L2 and L5 signal health
-                // (0 = OK, IS-GPS-200 30.3.3.1.1.2).
-                if (signal == "2S" || signal == "L5" || signal == "J5")
+                // (0 = OK, IS-GPS-200N 30.3.3.1.1.2).
+                // Exception: GPS L5 is still pre-operational (IS-GPS-200N 6.3.7), and
+                // its CNAV L5 health bit is broadcast as "unhealthy" on every SV
+                // regardless of the actual signal status. Reporting that bit would
+                // flag every GPS L5 signal as unhealthy, so GPS L5 reports the LNAV
+                // SV health of the same satellite (as L1 C/A does) instead. QZSS L5
+                // keeps the CNAV bit.
+                if (signal == "2S" || signal == "J5")
                     {
                         const auto cnav_it = gps_cnav_ephemeris_map.find(prn_key);
                         if (cnav_it != gps_cnav_ephemeris_map.cend())
@@ -1441,7 +1447,7 @@ bool Rtklib_Solver::get_broadcast_signal_health(char system, uint32_t prn, const
                                 return true;
                             }
                     }
-                // L1 C/A: per-satellite SV health from LNAV subframe 1, falling back
+                // L1 C/A and GPS L5: per-satellite SV health from LNAV subframe 1, falling back
                 // to the almanac (broadcast by every satellite) when no ephemeris has
                 // been decoded for this satellite yet.
                 const auto eph_it = gps_ephemeris_map.find(prn_key);
diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h
index 68d6f801c..a3f6b21cc 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.h
+++ b/src/algorithms/PVT/libs/rtklib_solver.h
@@ -175,8 +175,10 @@ public:
     /*!
      * \brief Broadcast health of one tracked signal, as reported by the navigation
      * message that carries it: GPS/QZSS L1 C/A from the LNAV SV health (almanac
-     * when no ephemeris has been decoded yet), GPS/QZSS L2C and L5 from the CNAV
-     * per-signal health bits, Galileo per signal (see get_galileo_signal_health(),
+     * when no ephemeris has been decoded yet), GPS L2C and QZSS L5 from the CNAV
+     * per-signal health bits, GPS L5 from the LNAV SV health of the same satellite
+     * (the CNAV L5 bit is broadcast as unhealthy while GPS L5 is pre-operational),
+     * Galileo per signal (see get_galileo_signal_health(),
      * the almanac health status of the same signal when no ephemeris is available),
      * GLONASS from the GNAV ln/Bn
      * flags, BeiDou B1I/B3I from the DNAV SV health and B1C/B2a from the