diff --git a/main/JSON2SBP.hs b/main/JSON2SBP.hs
--- a/main/JSON2SBP.hs
+++ b/main/JSON2SBP.hs
@@ -12,16 +12,15 @@
 -- JSON to SBP tool - reads SBP JSON from stdin and sends SBP JSON to
 -- stdout.
 
-import           BasicPrelude hiding (lines)
-import           Control.Monad.Trans.Resource
-import           Data.Aeson
-import           Data.Conduit
-import           Data.Conduit.Binary
-import qualified Data.Conduit.List as CL
-import           Data.Conduit.Serialization.Binary
-import           Debug.Trace
-import           SwiftNav.SBP
-import           System.IO
+import BasicPrelude                      hiding (lines, mapMaybe)
+import Control.Monad.Trans.Resource
+import Data.Aeson
+import Data.Conduit
+import Data.Conduit.Binary
+import Data.Conduit.List
+import Data.Conduit.Serialization.Binary
+import SwiftNav.SBP
+import System.IO
 
 newtype SBPMsgData = SBPMsgData
   { sbpMsgData :: SBPMsg
@@ -33,17 +32,13 @@
 
 -- | Decode a SBPMsg from JSON.
 decodeSBPMsg :: ByteString -> Maybe SBPMsg
-decodeSBPMsg v = result
-  where parsed = eitherDecodeStrict v <|> sbpMsgData <$> eitherDecodeStrict v
-        result = case parsed of
-                   Left s -> trace s Nothing
-                   Right x -> Just x
+decodeSBPMsg v = decodeStrict v <|> sbpMsgData <$> decodeStrict v
 
 main :: IO ()
 main =
   runResourceT $
-    sourceHandle stdin       =$=
-    lines                    =$=
-    CL.mapMaybe decodeSBPMsg =$=
-    conduitEncode            $$
+    sourceHandle stdin    =$=
+    lines                 =$=
+    mapMaybe decodeSBPMsg =$=
+    conduitEncode         $$
     sinkHandle stdout
diff --git a/main/SBP2JSON.hs b/main/SBP2JSON.hs
--- a/main/SBP2JSON.hs
+++ b/main/SBP2JSON.hs
@@ -12,25 +12,25 @@
 -- SBP to JSON tool - reads SBP binary from stdin and sends SBP JSON
 -- to stdout.
 
-import           BasicPrelude
-import           Control.Monad.Trans.Resource
-import           Data.Aeson
-import qualified Data.ByteString.Lazy as BL
-import           Data.Conduit
-import           Data.Conduit.Binary
-import qualified Data.Conduit.List as CL
-import           Data.Conduit.Serialization.Binary
-import           SwiftNav.SBP
-import           System.IO
+import BasicPrelude                      hiding (map)
+import Control.Monad.Trans.Resource
+import Data.Aeson
+import Data.ByteString.Lazy              hiding (ByteString, map)
+import Data.Conduit
+import Data.Conduit.Binary
+import Data.Conduit.List
+import Data.Conduit.Serialization.Binary
+import SwiftNav.SBP
+import System.IO
 
 -- | Encode a SBPMsg to a line of JSON.
 encodeLine :: SBPMsg -> ByteString
-encodeLine v = BL.toStrict $ encode v <> "\n"
+encodeLine v = toStrict $ encode v <> "\n"
 
 main :: IO ()
 main =
   runResourceT $
     sourceHandle stdin  =$=
       conduitDecode     =$=
-      CL.map encodeLine $$
+      map encodeLine    $$
       sinkHandle stdout
diff --git a/main/SBP2YAML.hs b/main/SBP2YAML.hs
--- a/main/SBP2YAML.hs
+++ b/main/SBP2YAML.hs
@@ -1,5 +1,4 @@
 {-# LANGUAGE NoImplicitPrelude #-}
-{-# LANGUAGE OverloadedStrings #-}
 
 -- |
 -- Module:      SBP2YAML
@@ -12,20 +11,20 @@
 -- SBP to YAML tool - reads SBP binary from stdin and sends SBP YAML
 -- to stdout.
 
-import           BasicPrelude
-import           Control.Monad.Trans.Resource
-import           Data.Conduit
-import           Data.Conduit.Binary
-import qualified Data.Conduit.List as CL
-import           Data.Conduit.Serialization.Binary
-import           Data.Yaml
-import           SwiftNav.SBP
-import           System.IO
+import BasicPrelude                      hiding (map)
+import Control.Monad.Trans.Resource
+import Data.Conduit
+import Data.Conduit.Binary
+import Data.Conduit.List
+import Data.Conduit.Serialization.Binary
+import Data.Yaml
+import SwiftNav.SBP
+import System.IO
 
 main :: IO ()
 main =
   runResourceT $
-    sourceHandle stdin                      =$=
-    conduitDecode                           =$=
-    CL.map (encode :: SBPMsg -> ByteString) $$
+    sourceHandle stdin                   =$=
+    conduitDecode                        =$=
+    map (encode :: SBPMsg -> ByteString) $$
     sinkHandle stdout
diff --git a/sbp.cabal b/sbp.cabal
--- a/sbp.cabal
+++ b/sbp.cabal
@@ -1,5 +1,5 @@
 name: sbp
-version: 2.2.9
+version: 2.2.10
 cabal-version: >=1.22
 build-type: Simple
 license: LGPL-3
@@ -25,7 +25,7 @@
 
 library
     exposed-modules:
-        SwiftNav.Internal
+        SwiftNav.CRC16
         SwiftNav.SBP
     build-depends:
         aeson >=0.11.3.0,
@@ -37,6 +37,7 @@
         bytestring >=0.10.6.0,
         data-binary-ieee754 >=0.4.4,
         lens >=4.13,
+        lens-aeson >=1.0.0.5,
         monad-loops >=0.4.3,
         template-haskell >=2.10.0.0,
         text >=1.2.2.2,
@@ -44,8 +45,6 @@
     default-language: Haskell2010
     hs-source-dirs: src
     other-modules:
-        SwiftNav.CRC16
-        SwiftNav.Encoding
         SwiftNav.SBP.Msg
         SwiftNav.SBP.TH
         SwiftNav.SBP.Types
@@ -76,7 +75,6 @@
         binary-conduit >=1.2.4.1,
         bytestring >=0.10.6.0,
         conduit >=1.2.10,
-        conduit-combinators >=1.0.8.3,
         conduit-extra >=1.1.16,
         resourcet >=1.1.9,
         sbp
@@ -91,9 +89,7 @@
         base >=4.8.2.0,
         basic-prelude >=0.5.2,
         binary-conduit >=1.2.4.1,
-        bytestring >=0.10.6.0,
         conduit >=1.2.10,
-        conduit-combinators >=1.0.8.3,
         conduit-extra >=1.1.16,
         resourcet >=1.1.9,
         sbp
@@ -135,5 +131,4 @@
     hs-source-dirs: test
     other-modules:
         Test.SwiftNav.CRC16
-        Test.SwiftNav.Encoding
     ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall
diff --git a/src/SwiftNav/Encoding.hs b/src/SwiftNav/Encoding.hs
deleted file mode 100644
--- a/src/SwiftNav/Encoding.hs
+++ /dev/null
@@ -1,31 +0,0 @@
-{-# OPTIONS -fno-warn-orphans  #-}
-{-# LANGUAGE NoImplicitPrelude #-}
-
--- |
--- Module:      SwiftNav.Encoding
--- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.
--- License:     LGPL-3
--- Maintainer:  Mark Fine <dev@swiftnav.com>
--- Stability:   experimental
--- Portability: portable
---
--- Encoding utilities.
-
-module SwiftNav.Encoding where
-
-import BasicPrelude
-import Data.Aeson
-import Data.ByteString.Base64   as Base64
-import Data.Text.Encoding
-import Data.Text.Encoding.Error
-
--- ByteString doesn't have Aeson instances defined for it since
--- arbitrary ByteString's aren't really valid JSON. This defines
--- orphaned instances for ByteStrings that are expected to be valid
--- text.
-
-instance ToJSON ByteString where
-  toJSON = toJSON . decodeUtf8With ignore . Base64.encode
-
-instance FromJSON ByteString where
-  parseJSON = withText "ByteString" (pure . Base64.decodeLenient . encodeUtf8)
diff --git a/src/SwiftNav/Internal.hs b/src/SwiftNav/Internal.hs
deleted file mode 100644
--- a/src/SwiftNav/Internal.hs
+++ /dev/null
@@ -1,8 +0,0 @@
--- | Internal Module
---
-module SwiftNav.Internal
-  ( module Exports
-  ) where
-
-import SwiftNav.CRC16    as Exports
-import SwiftNav.Encoding as Exports ()
diff --git a/src/SwiftNav/SBP/Acquisition.hs b/src/SwiftNav/SBP/Acquisition.hs
--- a/src/SwiftNav/SBP/Acquisition.hs
+++ b/src/SwiftNav/SBP/Acquisition.hs
@@ -24,11 +24,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 import SwiftNav.SBP.Gnss
diff --git a/src/SwiftNav/SBP/Bootload.hs b/src/SwiftNav/SBP/Bootload.hs
--- a/src/SwiftNav/SBP/Bootload.hs
+++ b/src/SwiftNav/SBP/Bootload.hs
@@ -26,11 +26,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/src/SwiftNav/SBP/ExtEvents.hs b/src/SwiftNav/SBP/ExtEvents.hs
--- a/src/SwiftNav/SBP/ExtEvents.hs
+++ b/src/SwiftNav/SBP/ExtEvents.hs
@@ -25,11 +25,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/src/SwiftNav/SBP/FileIo.hs b/src/SwiftNav/SBP/FileIo.hs
--- a/src/SwiftNav/SBP/FileIo.hs
+++ b/src/SwiftNav/SBP/FileIo.hs
@@ -29,11 +29,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/src/SwiftNav/SBP/Flash.hs b/src/SwiftNav/SBP/Flash.hs
--- a/src/SwiftNav/SBP/Flash.hs
+++ b/src/SwiftNav/SBP/Flash.hs
@@ -27,11 +27,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/src/SwiftNav/SBP/Gnss.hs b/src/SwiftNav/SBP/Gnss.hs
--- a/src/SwiftNav/SBP/Gnss.hs
+++ b/src/SwiftNav/SBP/Gnss.hs
@@ -24,11 +24,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/src/SwiftNav/SBP/Imu.hs b/src/SwiftNav/SBP/Imu.hs
--- a/src/SwiftNav/SBP/Imu.hs
+++ b/src/SwiftNav/SBP/Imu.hs
@@ -24,11 +24,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/src/SwiftNav/SBP/Logging.hs b/src/SwiftNav/SBP/Logging.hs
--- a/src/SwiftNav/SBP/Logging.hs
+++ b/src/SwiftNav/SBP/Logging.hs
@@ -24,11 +24,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/src/SwiftNav/SBP/Msg.hs b/src/SwiftNav/SBP/Msg.hs
--- a/src/SwiftNav/SBP/Msg.hs
+++ b/src/SwiftNav/SBP/Msg.hs
@@ -21,6 +21,7 @@
 import BasicPrelude
 import Control.Lens
 import Data.Aeson               hiding (decode)
+import Data.Aeson.Lens
 import Data.Binary
 import Data.ByteString.Lazy     hiding (ByteString)
 import SwiftNav.SBP.Acquisition
@@ -173,127 +174,127 @@
 instance Binary SBPMsg where
   get = do
     preamble <- getWord8
-    if preamble /= msgSBPPreamble then get else do
+    if preamble /= msgSBPPreamble then get else
       decoder <$> get where
         decoder m@Msg {..}
           | checkCrc m /= _msgSBPCrc = SBPMsgBadCrc m
-          | _msgSBPType == msgAcqResult = SBPMsgAcqResult (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgAcqResultDepB = SBPMsgAcqResultDepB (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgAcqSvProfile = SBPMsgAcqSvProfile (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgAgeCorrections = SBPMsgAgeCorrections (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgAlmanac = SBPMsgAlmanac (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgAlmanacGlo = SBPMsgAlmanacGlo (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgAlmanacGps = SBPMsgAlmanacGps (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBasePosEcef = SBPMsgBasePosEcef (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBasePosLlh = SBPMsgBasePosLlh (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBaselineEcef = SBPMsgBaselineEcef (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBaselineEcefDepA = SBPMsgBaselineEcefDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBaselineHeading = SBPMsgBaselineHeading (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBaselineHeadingDepA = SBPMsgBaselineHeadingDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBaselineNed = SBPMsgBaselineNed (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBaselineNedDepA = SBPMsgBaselineNedDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgCommandOutput = SBPMsgCommandOutput (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgCommandReq = SBPMsgCommandReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgCommandResp = SBPMsgCommandResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgCwResults = SBPMsgCwResults (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgCwStart = SBPMsgCwStart (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgDeviceMonitor = SBPMsgDeviceMonitor (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgDgnssStatus = SBPMsgDgnssStatus (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgDops = SBPMsgDops (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgDopsDepA = SBPMsgDopsDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisDepA = SBPMsgEphemerisDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisDepB = SBPMsgEphemerisDepB (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisDepC = SBPMsgEphemerisDepC (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisDepD = SBPMsgEphemerisDepD (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisGlo = SBPMsgEphemerisGlo (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisGloDepA = SBPMsgEphemerisGloDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisGloDepB = SBPMsgEphemerisGloDepB (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisGloDepC = SBPMsgEphemerisGloDepC (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisGps = SBPMsgEphemerisGps (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisSbas = SBPMsgEphemerisSbas (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgEphemerisSbasDepA = SBPMsgEphemerisSbasDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgExtEvent = SBPMsgExtEvent (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFcnsGlo = SBPMsgFcnsGlo (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFileioReadDirReq = SBPMsgFileioReadDirReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFileioReadDirResp = SBPMsgFileioReadDirResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFileioReadReq = SBPMsgFileioReadReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFileioReadResp = SBPMsgFileioReadResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFileioRemove = SBPMsgFileioRemove (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFileioWriteReq = SBPMsgFileioWriteReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFileioWriteResp = SBPMsgFileioWriteResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFlashDone = SBPMsgFlashDone (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFlashErase = SBPMsgFlashErase (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFlashProgram = SBPMsgFlashProgram (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFlashReadReq = SBPMsgFlashReadReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFlashReadResp = SBPMsgFlashReadResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgFwd = SBPMsgFwd (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgGpsTimeDepA = SBPMsgGpsTimeDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgGroupDelay = SBPMsgGroupDelay (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgGroupDelayDepA = SBPMsgGroupDelayDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgImuAux = SBPMsgImuAux (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgImuRaw = SBPMsgImuRaw (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgInitBase = SBPMsgInitBase (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgIono = SBPMsgIono (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgLog = SBPMsgLog (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgMaskSatellite = SBPMsgMaskSatellite (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgNdbEvent = SBPMsgNdbEvent (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgNetworkStateReq = SBPMsgNetworkStateReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgNetworkStateResp = SBPMsgNetworkStateResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgObs = SBPMsgObs (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgObsDepA = SBPMsgObsDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgObsDepB = SBPMsgObsDepB (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgObsDepC = SBPMsgObsDepC (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgPosEcef = SBPMsgPosEcef (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgPosEcefDepA = SBPMsgPosEcefDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgPosLlh = SBPMsgPosLlh (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgPosLlhDepA = SBPMsgPosLlhDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgPrintDep = SBPMsgPrintDep (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgReset = SBPMsgReset (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgResetDep = SBPMsgResetDep (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgResetFilters = SBPMsgResetFilters (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSetTime = SBPMsgSetTime (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSettingsReadReq = SBPMsgSettingsReadReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSettingsReadResp = SBPMsgSettingsReadResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSettingsRegister = SBPMsgSettingsRegister (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSpecan = SBPMsgSpecan (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgStartup = SBPMsgStartup (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgStmFlashLockSector = SBPMsgStmFlashLockSector (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgSvConfigurationGps = SBPMsgSvConfigurationGps (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgThreadState = SBPMsgThreadState (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgTrackingState = SBPMsgTrackingState (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgTrackingStateDepB = SBPMsgTrackingStateDepB (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgTrackingStateDetailed = SBPMsgTrackingStateDetailed (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgTweet = SBPMsgTweet (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgUartState = SBPMsgUartState (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgUartStateDepa = SBPMsgUartStateDepa (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgUserData = SBPMsgUserData (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgUtcTime = SBPMsgUtcTime (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgVelEcefDepA = SBPMsgVelEcefDepA (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgVelNed = SBPMsgVelNed (decode (fromStrict _msgSBPPayload)) m
-          | _msgSBPType == msgVelNedDepA = SBPMsgVelNedDepA (decode (fromStrict _msgSBPPayload)) m
+          | _msgSBPType == msgAcqResult = SBPMsgAcqResult (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgAcqResultDepB = SBPMsgAcqResultDepB (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgAcqSvProfile = SBPMsgAcqSvProfile (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgAgeCorrections = SBPMsgAgeCorrections (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgAlmanac = SBPMsgAlmanac (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgAlmanacGlo = SBPMsgAlmanacGlo (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgAlmanacGps = SBPMsgAlmanacGps (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBasePosEcef = SBPMsgBasePosEcef (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBasePosLlh = SBPMsgBasePosLlh (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBaselineEcef = SBPMsgBaselineEcef (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBaselineEcefDepA = SBPMsgBaselineEcefDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBaselineHeading = SBPMsgBaselineHeading (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBaselineHeadingDepA = SBPMsgBaselineHeadingDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBaselineNed = SBPMsgBaselineNed (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBaselineNedDepA = SBPMsgBaselineNedDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgCommandOutput = SBPMsgCommandOutput (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgCommandReq = SBPMsgCommandReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgCommandResp = SBPMsgCommandResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgCwResults = SBPMsgCwResults (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgCwStart = SBPMsgCwStart (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgDeviceMonitor = SBPMsgDeviceMonitor (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgDgnssStatus = SBPMsgDgnssStatus (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgDops = SBPMsgDops (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgDopsDepA = SBPMsgDopsDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisDepA = SBPMsgEphemerisDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisDepB = SBPMsgEphemerisDepB (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisDepC = SBPMsgEphemerisDepC (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisDepD = SBPMsgEphemerisDepD (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisGlo = SBPMsgEphemerisGlo (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisGloDepA = SBPMsgEphemerisGloDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisGloDepB = SBPMsgEphemerisGloDepB (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisGloDepC = SBPMsgEphemerisGloDepC (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisGps = SBPMsgEphemerisGps (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisSbas = SBPMsgEphemerisSbas (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisSbasDepA = SBPMsgEphemerisSbasDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgExtEvent = SBPMsgExtEvent (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFcnsGlo = SBPMsgFcnsGlo (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFileioReadDirReq = SBPMsgFileioReadDirReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFileioReadDirResp = SBPMsgFileioReadDirResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFileioReadReq = SBPMsgFileioReadReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFileioReadResp = SBPMsgFileioReadResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFileioRemove = SBPMsgFileioRemove (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFileioWriteReq = SBPMsgFileioWriteReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFileioWriteResp = SBPMsgFileioWriteResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFlashDone = SBPMsgFlashDone (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFlashErase = SBPMsgFlashErase (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFlashProgram = SBPMsgFlashProgram (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFlashReadReq = SBPMsgFlashReadReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFlashReadResp = SBPMsgFlashReadResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFwd = SBPMsgFwd (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgGpsTimeDepA = SBPMsgGpsTimeDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgGroupDelay = SBPMsgGroupDelay (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgGroupDelayDepA = SBPMsgGroupDelayDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgImuAux = SBPMsgImuAux (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgImuRaw = SBPMsgImuRaw (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgInitBase = SBPMsgInitBase (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgIono = SBPMsgIono (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgLog = SBPMsgLog (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgMaskSatellite = SBPMsgMaskSatellite (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgNdbEvent = SBPMsgNdbEvent (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgNetworkStateReq = SBPMsgNetworkStateReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgNetworkStateResp = SBPMsgNetworkStateResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgObs = SBPMsgObs (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgObsDepA = SBPMsgObsDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgObsDepB = SBPMsgObsDepB (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgObsDepC = SBPMsgObsDepC (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgPosEcef = SBPMsgPosEcef (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgPosEcefDepA = SBPMsgPosEcefDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgPosLlh = SBPMsgPosLlh (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgPosLlhDepA = SBPMsgPosLlhDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgPrintDep = SBPMsgPrintDep (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgReset = SBPMsgReset (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgResetDep = SBPMsgResetDep (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgResetFilters = SBPMsgResetFilters (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSetTime = SBPMsgSetTime (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSettingsReadReq = SBPMsgSettingsReadReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSettingsReadResp = SBPMsgSettingsReadResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSettingsRegister = SBPMsgSettingsRegister (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSpecan = SBPMsgSpecan (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgStartup = SBPMsgStartup (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgStmFlashLockSector = SBPMsgStmFlashLockSector (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSvConfigurationGps = SBPMsgSvConfigurationGps (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgThreadState = SBPMsgThreadState (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgTrackingState = SBPMsgTrackingState (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgTrackingStateDepB = SBPMsgTrackingStateDepB (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgTrackingStateDetailed = SBPMsgTrackingStateDetailed (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgTweet = SBPMsgTweet (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgUartState = SBPMsgUartState (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgUartStateDepa = SBPMsgUartStateDepa (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgUserData = SBPMsgUserData (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgUtcTime = SBPMsgUtcTime (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgVelEcefDepA = SBPMsgVelEcefDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgVelNed = SBPMsgVelNed (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgVelNedDepA = SBPMsgVelNedDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
           | otherwise = SBPMsgUnknown m
 
   put sm = do
@@ -425,131 +426,131 @@
     payload <- o .: "payload"
     decoder msgType payload where
       decoder msgType payload
-        | msgType == msgAcqResult = SBPMsgAcqResult <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgAcqResultDepA = SBPMsgAcqResultDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgAcqResultDepB = SBPMsgAcqResultDepB <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgAcqSvProfile = SBPMsgAcqSvProfile <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgAgeCorrections = SBPMsgAgeCorrections <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgAlmanac = SBPMsgAlmanac <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgAlmanacGlo = SBPMsgAlmanacGlo <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgAlmanacGps = SBPMsgAlmanacGps <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBasePosEcef = SBPMsgBasePosEcef <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBasePosLlh = SBPMsgBasePosLlh <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBaselineEcef = SBPMsgBaselineEcef <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBaselineEcefDepA = SBPMsgBaselineEcefDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBaselineHeading = SBPMsgBaselineHeading <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBaselineHeadingDepA = SBPMsgBaselineHeadingDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBaselineNed = SBPMsgBaselineNed <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBaselineNedDepA = SBPMsgBaselineNedDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgCommandOutput = SBPMsgCommandOutput <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgCommandReq = SBPMsgCommandReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgCommandResp = SBPMsgCommandResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgCwResults = SBPMsgCwResults <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgCwStart = SBPMsgCwStart <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgDeviceMonitor = SBPMsgDeviceMonitor <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgDgnssStatus = SBPMsgDgnssStatus <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgDops = SBPMsgDops <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgDopsDepA = SBPMsgDopsDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisDepA = SBPMsgEphemerisDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisDepB = SBPMsgEphemerisDepB <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisDepC = SBPMsgEphemerisDepC <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisDepD = SBPMsgEphemerisDepD <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisGlo = SBPMsgEphemerisGlo <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisGloDepA = SBPMsgEphemerisGloDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisGloDepB = SBPMsgEphemerisGloDepB <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisGloDepC = SBPMsgEphemerisGloDepC <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisGps = SBPMsgEphemerisGps <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisSbas = SBPMsgEphemerisSbas <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgEphemerisSbasDepA = SBPMsgEphemerisSbasDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgExtEvent = SBPMsgExtEvent <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFcnsGlo = SBPMsgFcnsGlo <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFileioReadDirReq = SBPMsgFileioReadDirReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFileioReadDirResp = SBPMsgFileioReadDirResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFileioReadReq = SBPMsgFileioReadReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFileioReadResp = SBPMsgFileioReadResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFileioRemove = SBPMsgFileioRemove <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFileioWriteReq = SBPMsgFileioWriteReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFileioWriteResp = SBPMsgFileioWriteResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFlashDone = SBPMsgFlashDone <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFlashErase = SBPMsgFlashErase <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFlashProgram = SBPMsgFlashProgram <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFlashReadReq = SBPMsgFlashReadReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFlashReadResp = SBPMsgFlashReadResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgFwd = SBPMsgFwd <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgGpsTime = SBPMsgGpsTime <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgGpsTimeDepA = SBPMsgGpsTimeDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgGroupDelay = SBPMsgGroupDelay <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgGroupDelayDepA = SBPMsgGroupDelayDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgHeartbeat = SBPMsgHeartbeat <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgIarState = SBPMsgIarState <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgImuAux = SBPMsgImuAux <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgImuRaw = SBPMsgImuRaw <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgInitBase = SBPMsgInitBase <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgIono = SBPMsgIono <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgLog = SBPMsgLog <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgMaskSatellite = SBPMsgMaskSatellite <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgNdbEvent = SBPMsgNdbEvent <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgNetworkStateReq = SBPMsgNetworkStateReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgNetworkStateResp = SBPMsgNetworkStateResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgObs = SBPMsgObs <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgObsDepA = SBPMsgObsDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgObsDepB = SBPMsgObsDepB <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgObsDepC = SBPMsgObsDepC <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgPosEcef = SBPMsgPosEcef <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgPosEcefDepA = SBPMsgPosEcefDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgPosLlh = SBPMsgPosLlh <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgPosLlhDepA = SBPMsgPosLlhDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgPrintDep = SBPMsgPrintDep <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgReset = SBPMsgReset <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgResetDep = SBPMsgResetDep <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgResetFilters = SBPMsgResetFilters <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSetTime = SBPMsgSetTime <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSettingsReadReq = SBPMsgSettingsReadReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSettingsReadResp = SBPMsgSettingsReadResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSettingsRegister = SBPMsgSettingsRegister <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSettingsSave = SBPMsgSettingsSave <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSettingsWrite = SBPMsgSettingsWrite <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSpecan = SBPMsgSpecan <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgStartup = SBPMsgStartup <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgStmFlashLockSector = SBPMsgStmFlashLockSector <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgSvConfigurationGps = SBPMsgSvConfigurationGps <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgThreadState = SBPMsgThreadState <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgTrackingIq = SBPMsgTrackingIq <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgTrackingState = SBPMsgTrackingState <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgTrackingStateDepA = SBPMsgTrackingStateDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgTrackingStateDepB = SBPMsgTrackingStateDepB <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgTrackingStateDetailed = SBPMsgTrackingStateDetailed <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgTweet = SBPMsgTweet <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgUartState = SBPMsgUartState <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgUartStateDepa = SBPMsgUartStateDepa <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgUserData = SBPMsgUserData <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgUtcTime = SBPMsgUtcTime <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgVelEcef = SBPMsgVelEcef <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgVelEcefDepA = SBPMsgVelEcefDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgVelNed = SBPMsgVelNed <$> pure (decode (fromStrict payload)) <*> parseJSON obj
-        | msgType == msgVelNedDepA = SBPMsgVelNedDepA <$> pure (decode (fromStrict payload)) <*> parseJSON obj
+        | msgType == msgAcqResult = SBPMsgAcqResult <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgAcqResultDepA = SBPMsgAcqResultDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgAcqResultDepB = SBPMsgAcqResultDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgAcqSvProfile = SBPMsgAcqSvProfile <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgAgeCorrections = SBPMsgAgeCorrections <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgAlmanac = SBPMsgAlmanac <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgAlmanacGlo = SBPMsgAlmanacGlo <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgAlmanacGps = SBPMsgAlmanacGps <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBasePosEcef = SBPMsgBasePosEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBasePosLlh = SBPMsgBasePosLlh <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBaselineEcef = SBPMsgBaselineEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBaselineEcefDepA = SBPMsgBaselineEcefDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBaselineHeading = SBPMsgBaselineHeading <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBaselineHeadingDepA = SBPMsgBaselineHeadingDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBaselineNed = SBPMsgBaselineNed <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBaselineNedDepA = SBPMsgBaselineNedDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgCommandOutput = SBPMsgCommandOutput <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgCommandReq = SBPMsgCommandReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgCommandResp = SBPMsgCommandResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgCwResults = SBPMsgCwResults <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgCwStart = SBPMsgCwStart <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgDeviceMonitor = SBPMsgDeviceMonitor <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgDgnssStatus = SBPMsgDgnssStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgDops = SBPMsgDops <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgDopsDepA = SBPMsgDopsDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisDepA = SBPMsgEphemerisDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisDepB = SBPMsgEphemerisDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisDepC = SBPMsgEphemerisDepC <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisDepD = SBPMsgEphemerisDepD <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisGlo = SBPMsgEphemerisGlo <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisGloDepA = SBPMsgEphemerisGloDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisGloDepB = SBPMsgEphemerisGloDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisGloDepC = SBPMsgEphemerisGloDepC <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisGps = SBPMsgEphemerisGps <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisSbas = SBPMsgEphemerisSbas <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisSbasDepA = SBPMsgEphemerisSbasDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgExtEvent = SBPMsgExtEvent <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFcnsGlo = SBPMsgFcnsGlo <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFileioReadDirReq = SBPMsgFileioReadDirReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFileioReadDirResp = SBPMsgFileioReadDirResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFileioReadReq = SBPMsgFileioReadReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFileioReadResp = SBPMsgFileioReadResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFileioRemove = SBPMsgFileioRemove <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFileioWriteReq = SBPMsgFileioWriteReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFileioWriteResp = SBPMsgFileioWriteResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFlashDone = SBPMsgFlashDone <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFlashErase = SBPMsgFlashErase <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFlashProgram = SBPMsgFlashProgram <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFlashReadReq = SBPMsgFlashReadReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFlashReadResp = SBPMsgFlashReadResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFwd = SBPMsgFwd <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgGpsTime = SBPMsgGpsTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgGpsTimeDepA = SBPMsgGpsTimeDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgGroupDelay = SBPMsgGroupDelay <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgGroupDelayDepA = SBPMsgGroupDelayDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgHeartbeat = SBPMsgHeartbeat <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgIarState = SBPMsgIarState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgImuAux = SBPMsgImuAux <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgImuRaw = SBPMsgImuRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgInitBase = SBPMsgInitBase <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgIono = SBPMsgIono <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgLog = SBPMsgLog <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgMaskSatellite = SBPMsgMaskSatellite <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgNdbEvent = SBPMsgNdbEvent <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgNetworkStateReq = SBPMsgNetworkStateReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgNetworkStateResp = SBPMsgNetworkStateResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgObs = SBPMsgObs <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgObsDepA = SBPMsgObsDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgObsDepB = SBPMsgObsDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgObsDepC = SBPMsgObsDepC <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgPosEcef = SBPMsgPosEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgPosEcefDepA = SBPMsgPosEcefDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgPosLlh = SBPMsgPosLlh <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgPosLlhDepA = SBPMsgPosLlhDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgPrintDep = SBPMsgPrintDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgReset = SBPMsgReset <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgResetDep = SBPMsgResetDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgResetFilters = SBPMsgResetFilters <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSetTime = SBPMsgSetTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSettingsReadReq = SBPMsgSettingsReadReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSettingsReadResp = SBPMsgSettingsReadResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSettingsRegister = SBPMsgSettingsRegister <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSettingsSave = SBPMsgSettingsSave <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSettingsWrite = SBPMsgSettingsWrite <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSpecan = SBPMsgSpecan <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgStartup = SBPMsgStartup <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgStmFlashLockSector = SBPMsgStmFlashLockSector <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSvConfigurationGps = SBPMsgSvConfigurationGps <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgThreadState = SBPMsgThreadState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgTrackingIq = SBPMsgTrackingIq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgTrackingState = SBPMsgTrackingState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgTrackingStateDepA = SBPMsgTrackingStateDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgTrackingStateDepB = SBPMsgTrackingStateDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgTrackingStateDetailed = SBPMsgTrackingStateDetailed <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgTweet = SBPMsgTweet <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgUartState = SBPMsgUartState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgUartStateDepa = SBPMsgUartStateDepa <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgUserData = SBPMsgUserData <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgUtcTime = SBPMsgUtcTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgVelEcef = SBPMsgVelEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgVelEcefDepA = SBPMsgVelEcefDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgVelNed = SBPMsgVelNed <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgVelNedDepA = SBPMsgVelNedDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | otherwise = SBPMsgUnknown <$> parseJSON obj
   parseJSON _ = mzero
 
 (<<>>) :: Value -> Value -> Value
-(Object a) <<>> (Object b) = Object (a <> b)
-(Object a) <<>> _          = Object a
-_          <<>> (Object b) = Object b
-_          <<>> v          = v
+(<<>>) a b = fromMaybe Null $ do
+  a' <- preview _Object a
+  b' <- preview _Object b
+  return $ review _Object $ a' <> b'
 
 instance ToJSON SBPMsg where
   toJSON (SBPMsgAcqResult n m) = toJSON n <<>> toJSON m
diff --git a/src/SwiftNav/SBP/Navigation.hs b/src/SwiftNav/SBP/Navigation.hs
--- a/src/SwiftNav/SBP/Navigation.hs
+++ b/src/SwiftNav/SBP/Navigation.hs
@@ -32,11 +32,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/src/SwiftNav/SBP/Ndb.hs b/src/SwiftNav/SBP/Ndb.hs
--- a/src/SwiftNav/SBP/Ndb.hs
+++ b/src/SwiftNav/SBP/Ndb.hs
@@ -24,11 +24,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 import SwiftNav.SBP.Gnss
diff --git a/src/SwiftNav/SBP/Observation.hs b/src/SwiftNav/SBP/Observation.hs
--- a/src/SwiftNav/SBP/Observation.hs
+++ b/src/SwiftNav/SBP/Observation.hs
@@ -24,11 +24,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 import SwiftNav.SBP.Gnss
diff --git a/src/SwiftNav/SBP/Piksi.hs b/src/SwiftNav/SBP/Piksi.hs
--- a/src/SwiftNav/SBP/Piksi.hs
+++ b/src/SwiftNav/SBP/Piksi.hs
@@ -26,11 +26,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 import SwiftNav.SBP.Gnss
diff --git a/src/SwiftNav/SBP/Settings.hs b/src/SwiftNav/SBP/Settings.hs
--- a/src/SwiftNav/SBP/Settings.hs
+++ b/src/SwiftNav/SBP/Settings.hs
@@ -28,11 +28,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/src/SwiftNav/SBP/System.hs b/src/SwiftNav/SBP/System.hs
--- a/src/SwiftNav/SBP/System.hs
+++ b/src/SwiftNav/SBP/System.hs
@@ -24,11 +24,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/src/SwiftNav/SBP/TH.hs b/src/SwiftNav/SBP/TH.hs
--- a/src/SwiftNav/SBP/TH.hs
+++ b/src/SwiftNav/SBP/TH.hs
@@ -34,11 +34,11 @@
          where
            payload = toStrict $ encode m
            len     = fromIntegral $ length payload
-           encoded = Msg $(varE msgType) senderID len payload 0
+           encoded = Msg $(varE msgType) senderID len (Bytes payload) 0
     |]
 
 -- | Derive JSON stripping out prefixes of the implemented type.
 makeJSON :: String -> Name -> Q [Dec]
 makeJSON prefix = deriveJSON defaultOptions
-  { fieldLabelModifier = fromMaybe prefix . stripPrefix prefix
+  { fieldLabelModifier = ap fromMaybe $ stripPrefix prefix
   }
diff --git a/src/SwiftNav/SBP/Tracking.hs b/src/SwiftNav/SBP/Tracking.hs
--- a/src/SwiftNav/SBP/Tracking.hs
+++ b/src/SwiftNav/SBP/Tracking.hs
@@ -24,11 +24,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 import SwiftNav.SBP.Gnss
diff --git a/src/SwiftNav/SBP/Types.hs b/src/SwiftNav/SBP/Types.hs
--- a/src/SwiftNav/SBP/Types.hs
+++ b/src/SwiftNav/SBP/Types.hs
@@ -1,7 +1,7 @@
 {-# LANGUAGE NoImplicitPrelude #-}
+{-# LANGUAGE OverloadedStrings #-}
 {-# LANGUAGE RecordWildCards   #-}
 {-# LANGUAGE TemplateHaskell   #-}
-{-# LANGUAGE OverloadedStrings #-}
 
 -- |
 -- Module:      SwiftNav.SBP.Types
@@ -19,27 +19,32 @@
   ( module SwiftNav.SBP.Types
   ) where
 
-import BasicPrelude            hiding (lookup)
-import Control.Lens            hiding ((.=))
-import Data.Aeson              hiding (decode, decode')
+import BasicPrelude
+import Control.Lens             hiding ((.=))
+import Data.Aeson
 import Data.Binary
 import Data.Binary.Get
 import Data.Binary.Put
+import Data.ByteString.Base64   as Base64
 import Data.ByteString.Builder
+import Data.Text.Encoding
+import Data.Text.Encoding.Error
 import SwiftNav.CRC16
-import SwiftNav.Encoding       ()
 
 -- | Denotes the start of frame transmission. For v1.0, always 0x55.
---
 msgSBPPreamble :: Word8
 msgSBPPreamble = 0x55
 
 -- | Default sender ID. Intended for messages sent from the host to
 -- the device.
---
 defaultSender :: Word16
 defaultSender = 0x42
 
+-- | Wrapper around ByteString for *JSON and Binary typeclass instances.
+newtype Bytes = Bytes
+  { unBytes :: ByteString
+  } deriving ( Show, Read, Eq )
+
 -- | Packet structure for Swift Navigation Binary Protocol (SBP).
 --
 -- Definition of the over-the-wire message framing format and packet
@@ -48,7 +53,6 @@
 -- to transmit solutions, observations, status and debugging
 -- messages, as well as receive messages from the host operating
 -- system.
---
 data Msg = Msg
   { _msgSBPType    :: !Word16
     -- ^ Uniquely identifies the type of the payload contents
@@ -58,7 +62,7 @@
     -- number
   , _msgSBPLen     :: !Word8
     -- ^ Byte-length of the payload field
-  , _msgSBPPayload :: !ByteString
+  , _msgSBPPayload :: !Bytes
     -- ^ Binary data of the message, as identified by Message Type and
     -- Length. Usually contains the in-memory binary representation of
     -- a C struct (see documentation on individual message types)
@@ -75,7 +79,7 @@
     _msgSBPType    <- getWord16le
     _msgSBPSender  <- getWord16le
     _msgSBPLen     <- getWord8
-    _msgSBPPayload <- getByteString $ fromIntegral _msgSBPLen
+    _msgSBPPayload <- fmap Bytes $ getByteString $ fromIntegral _msgSBPLen
     _msgSBPCrc     <- getWord16le
     return Msg {..}
 
@@ -83,19 +87,14 @@
     putWord16le   _msgSBPType
     putWord16le   _msgSBPSender
     putWord8      _msgSBPLen
-    putByteString _msgSBPPayload
+    putByteString (unBytes _msgSBPPayload)
     putWord16le   _msgSBPCrc
 
-checkCrc :: Msg -> Word16
-checkCrc Msg {..} =
-  crc16 $ toLazyByteString $
-    word16LE _msgSBPType   <>
-    word16LE _msgSBPSender <>
-    word8 _msgSBPLen       <>
-    byteString _msgSBPPayload
+instance FromJSON Bytes where
+  parseJSON = withText "ByteString" (pure . Bytes . Base64.decodeLenient . encodeUtf8)
 
 instance FromJSON Msg where
-  parseJSON (Object v) = do
+  parseJSON (Object v) =
     Msg <$> v .: "msg_type"
         <*> v .: "sender"
         <*> v .: "length"
@@ -103,6 +102,9 @@
         <*> v .: "crc"
   parseJSON _ = mzero
 
+instance ToJSON Bytes where
+  toJSON = toJSON . decodeUtf8With ignore . Base64.encode . unBytes
+
 instance ToJSON Msg where
   toJSON Msg {..} = object
     [ "preamble" .= msgSBPPreamble
@@ -115,8 +117,15 @@
 
 -- | Class of generic representation of specialized SBP messages into
 -- SBP message frames.
---
 class Binary a => ToSBP a where
     -- | Convert an SBP message record that is serializable and a two-byte
     -- senderID to a binary into an SBP message frame.
     toSBP :: a -> Word16 -> Msg
+
+checkCrc :: Msg -> Word16
+checkCrc Msg {..} =
+  crc16 $ toLazyByteString $
+    word16LE _msgSBPType   <>
+    word16LE _msgSBPSender <>
+    word8 _msgSBPLen       <>
+    byteString (unBytes _msgSBPPayload)
diff --git a/src/SwiftNav/SBP/User.hs b/src/SwiftNav/SBP/User.hs
--- a/src/SwiftNav/SBP/User.hs
+++ b/src/SwiftNav/SBP/User.hs
@@ -24,11 +24,9 @@
 import Data.Binary.Get
 import Data.Binary.IEEE754
 import Data.Binary.Put
-import Data.ByteString
 import Data.ByteString.Lazy    hiding (ByteString)
 import Data.Int
 import Data.Word
-import SwiftNav.Encoding       ()
 import SwiftNav.SBP.TH
 import SwiftNav.SBP.Types
 
diff --git a/test/Test.hs b/test/Test.hs
--- a/test/Test.hs
+++ b/test/Test.hs
@@ -1,15 +1,13 @@
 {-# LANGUAGE NoImplicitPrelude #-}
 
 import           BasicPrelude
-import qualified Test.SwiftNav.CRC16    as CRC16
-import qualified Test.SwiftNav.Encoding as Encoding
+import qualified Test.SwiftNav.CRC16 as CRC16
 import           Test.Tasty
 
 tests :: TestTree
 tests =
   testGroup "Tests"
     [ CRC16.tests
-    , Encoding.tests
     ]
 
 main :: IO ()
diff --git a/test/Test/SwiftNav/CRC16.hs b/test/Test/SwiftNav/CRC16.hs
--- a/test/Test/SwiftNav/CRC16.hs
+++ b/test/Test/SwiftNav/CRC16.hs
@@ -6,7 +6,7 @@
   ) where
 
 import BasicPrelude
-import SwiftNav.Internal
+import SwiftNav.CRC16
 import Test.Tasty
 import Test.Tasty.HUnit
 
diff --git a/test/Test/SwiftNav/Encoding.hs b/test/Test/SwiftNav/Encoding.hs
deleted file mode 100644
--- a/test/Test/SwiftNav/Encoding.hs
+++ /dev/null
@@ -1,40 +0,0 @@
-{-# OPTIONS -fno-warn-orphans  #-}
-{-# LANGUAGE NoImplicitPrelude #-}
-{-# LANGUAGE OverloadedStrings #-}
-
-module Test.SwiftNav.Encoding
-  ( tests
-  ) where
-
-import           BasicPrelude
-import qualified Data.Aeson            as A
-import           Data.ByteString       as BS
-import           SwiftNav.Internal     ()
-import           Test.QuickCheck
-import           Test.Tasty
-import           Test.Tasty.HUnit
-import           Test.Tasty.QuickCheck as QC
-
-instance Arbitrary BS.ByteString where
-    arbitrary = BS.pack <$> arbitrary
-    shrink xs = BS.pack <$> shrink (BS.unpack xs)
-
-instance CoArbitrary BS.ByteString where
-    coarbitrary = coarbitrary . BS.unpack
-
-testParse :: TestTree
-testParse =
-  testGroup "Empty Test"
-    [ testCase "Empty data" $ do
-        (A.decode . A.encode $ ("dddd" :: BS.ByteString)) @?= Just ("dddd" :: BS.ByteString)
-    ]
-
-testRoundtrip :: TestTree
-testRoundtrip = QC.testProperty "Aeson" prop
-  where prop ws = (A.decode . A.encode $ (ws :: BS.ByteString)) === Just (ws :: BS.ByteString)
-
-tests :: TestTree
-tests = testGroup "Roundtrip JSON serialization"
-        [ testRoundtrip
-        , testParse
-        ]