diff --git a/main/SBP2PRETTYJSON.hs b/main/SBP2PRETTYJSON.hs
new file mode 100644
--- /dev/null
+++ b/main/SBP2PRETTYJSON.hs
@@ -0,0 +1,55 @@
+{-# LANGUAGE DeriveDataTypeable #-}
+{-# OPTIONS_GHC -fno-cse #-}
+{-# LANGUAGE NoImplicitPrelude #-}
+{-# LANGUAGE OverloadedStrings #-}
+
+-- |
+-- Module:      SBP2PRETTYJSON
+-- Copyright:   Copyright (C) 2019 Swift Navigation, Inc.
+-- License:     LGPL-3
+-- Maintainer:  Pasi Miettinen <dev@swiftnav.com>
+-- Stability:   experimental
+-- Portability: portable
+--
+-- SBP to JSON tool - reads SBP binary from stdin and sends SBP JSON
+-- to stdout.
+
+import BasicPrelude                      hiding (map, print)
+import Control.Monad.Trans.Resource
+import Data.Aeson.Encode.Pretty
+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.Console.CmdArgs
+import System.IO
+
+data Cfg = Cfg { skiporder :: Bool
+               , spaces :: Int
+               , skipfilter :: Bool }
+           deriving (Show, Data, Typeable)
+
+defaultCfg :: Cfg
+defaultCfg = Cfg { skiporder = False
+                 , spaces = 0
+                 , skipfilter = False }
+
+-- | Encode a SBPMsg to a line of JSON.
+encodeLine :: Cfg -> SBPMsg -> ByteString
+encodeLine c (SBPMsgBadCrc _v)  | not (skipfilter c) = mempty
+encodeLine c (SBPMsgUnknown _v) | not (skipfilter c) = mempty
+encodeLine c v = toStrict $ encodePretty' (defConfig
+  { confIndent = Spaces (spaces c)
+  , confCompare = if (skiporder c) then mempty else compare
+  }) v <> "\n"
+
+main :: IO ()
+main = do
+  cfg <- cmdArgs defaultCfg
+  runResourceT $
+    sourceHandle stdin
+      =$= conduitDecode
+      =$= map (encodeLine cfg)
+      $$  sinkHandle stdout
diff --git a/sbp.cabal b/sbp.cabal
--- a/sbp.cabal
+++ b/sbp.cabal
@@ -1,6 +1,6 @@
 cabal-version: >=1.22
 name: sbp
-version: 2.4.7
+version: 2.6.3
 license: LGPL-3
 copyright: Copyright (C) 2015-2018 Swift Navigation, Inc.
 maintainer: Swift Navigation <dev@swiftnav.com>
@@ -82,6 +82,23 @@
         basic-prelude >=0.7.0,
         binary-conduit >=1.2.5,
         bytestring >=0.10.8.2,
+        conduit >=1.2.13.1,
+        conduit-extra >=1.2.3.2,
+        resourcet >=1.1.11,
+        sbp -any
+
+executable sbp2prettyjson
+    main-is: SBP2PRETTYJSON.hs
+    hs-source-dirs: main
+    default-language: Haskell2010
+    ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall
+    build-depends:
+        aeson-pretty >=0.8.5,
+        base >=4.10.1.0,
+        basic-prelude >=0.7.0,
+        binary-conduit >=1.2.5,
+        bytestring >=0.10.8.2,
+        cmdargs >=0.10.20,
         conduit >=1.2.13.1,
         conduit-extra >=1.2.3.2,
         resourcet >=1.1.11,
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
@@ -239,9 +239,9 @@
     putWord16le _acqSvProfile_bin_width
     putWord32le _acqSvProfile_timestamp
     putWord32le _acqSvProfile_time_spent
-    putWord32le $ fromIntegral _acqSvProfile_cf_min
-    putWord32le $ fromIntegral _acqSvProfile_cf_max
-    putWord32le $ fromIntegral _acqSvProfile_cf
+    (putWord32le . fromIntegral) _acqSvProfile_cf_min
+    (putWord32le . fromIntegral) _acqSvProfile_cf_max
+    (putWord32le . fromIntegral) _acqSvProfile_cf
     putWord32le _acqSvProfile_cp
 
 $(makeJSON "_acqSvProfile_" ''AcqSvProfile)
@@ -302,9 +302,9 @@
     putWord16le _acqSvProfileDep_bin_width
     putWord32le _acqSvProfileDep_timestamp
     putWord32le _acqSvProfileDep_time_spent
-    putWord32le $ fromIntegral _acqSvProfileDep_cf_min
-    putWord32le $ fromIntegral _acqSvProfileDep_cf_max
-    putWord32le $ fromIntegral _acqSvProfileDep_cf
+    (putWord32le . fromIntegral) _acqSvProfileDep_cf_min
+    (putWord32le . fromIntegral) _acqSvProfileDep_cf_max
+    (putWord32le . fromIntegral) _acqSvProfileDep_cf
     putWord32le _acqSvProfileDep_cp
 
 $(makeJSON "_acqSvProfileDep_" ''AcqSvProfileDep)
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
@@ -69,7 +69,7 @@
   put MsgExtEvent {..} = do
     putWord16le _msgExtEvent_wn
     putWord32le _msgExtEvent_tow
-    putWord32le $ fromIntegral _msgExtEvent_ns_residual
+    (putWord32le . fromIntegral) _msgExtEvent_ns_residual
     putWord8 _msgExtEvent_flags
     putWord8 _msgExtEvent_pin
 
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
@@ -272,3 +272,65 @@
 $(makeSBP 'msgFileioWriteResp ''MsgFileioWriteResp)
 $(makeJSON "_msgFileioWriteResp_" ''MsgFileioWriteResp)
 $(makeLenses ''MsgFileioWriteResp)
+
+msgFileioConfigReq :: Word16
+msgFileioConfigReq = 0x1001
+
+-- | SBP class for message MSG_FILEIO_CONFIG_REQ (0x1001).
+--
+-- Requests advice on the optimal configuration for a FileIO  transfer.  Newer
+-- version of FileIO can support greater throughput by supporting a large
+-- window of FileIO data that can be in-flight during read or write operations.
+data MsgFileioConfigReq = MsgFileioConfigReq
+  { _msgFileioConfigReq_sequence :: !Word32
+    -- ^ Advice sequence number
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgFileioConfigReq where
+  get = do
+    _msgFileioConfigReq_sequence <- getWord32le
+    pure MsgFileioConfigReq {..}
+
+  put MsgFileioConfigReq {..} = do
+    putWord32le _msgFileioConfigReq_sequence
+
+$(makeSBP 'msgFileioConfigReq ''MsgFileioConfigReq)
+$(makeJSON "_msgFileioConfigReq_" ''MsgFileioConfigReq)
+$(makeLenses ''MsgFileioConfigReq)
+
+msgFileioConfigResp :: Word16
+msgFileioConfigResp = 0x1002
+
+-- | SBP class for message MSG_FILEIO_CONFIG_RESP (0x1002).
+--
+-- The advice on the optimal configuration for a FileIO transfer.  Newer
+-- version of FileIO can support greater throughput by supporting a large
+-- window of FileIO data that can be in-flight during read or write operations.
+data MsgFileioConfigResp = MsgFileioConfigResp
+  { _msgFileioConfigResp_sequence     :: !Word32
+    -- ^ Advice sequence number
+  , _msgFileioConfigResp_window_size  :: !Word32
+    -- ^ The number of SBP packets in the data in-flight window
+  , _msgFileioConfigResp_batch_size   :: !Word32
+    -- ^ The number of SBP packets sent in one PDU
+  , _msgFileioConfigResp_fileio_version :: !Word32
+    -- ^ The version of FileIO that is supported
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgFileioConfigResp where
+  get = do
+    _msgFileioConfigResp_sequence <- getWord32le
+    _msgFileioConfigResp_window_size <- getWord32le
+    _msgFileioConfigResp_batch_size <- getWord32le
+    _msgFileioConfigResp_fileio_version <- getWord32le
+    pure MsgFileioConfigResp {..}
+
+  put MsgFileioConfigResp {..} = do
+    putWord32le _msgFileioConfigResp_sequence
+    putWord32le _msgFileioConfigResp_window_size
+    putWord32le _msgFileioConfigResp_batch_size
+    putWord32le _msgFileioConfigResp_fileio_version
+
+$(makeSBP 'msgFileioConfigResp ''MsgFileioConfigResp)
+$(makeJSON "_msgFileioConfigResp_" ''MsgFileioConfigResp)
+$(makeLenses ''MsgFileioConfigResp)
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
@@ -59,6 +59,30 @@
 $(makeJSON "_gnssSignal_" ''GnssSignal)
 $(makeLenses ''GnssSignal)
 
+-- | SvId.
+--
+-- A (Constellation ID, satellite ID) tuple that uniquely identifies a space
+-- vehicle
+data SvId = SvId
+  { _svId_satId       :: !Word8
+    -- ^ ID of the space vehicle within its constellation
+  , _svId_constellation :: !Word8
+    -- ^ Constellation ID to which the SV belongs
+  } deriving ( Show, Read, Eq )
+
+instance Binary SvId where
+  get = do
+    _svId_satId <- getWord8
+    _svId_constellation <- getWord8
+    pure SvId {..}
+
+  put SvId {..} = do
+    putWord8 _svId_satId
+    putWord8 _svId_constellation
+
+$(makeJSON "_svId_" ''SvId)
+$(makeLenses ''SvId)
+
 -- | GnssSignalDep.
 --
 -- Deprecated.
@@ -160,7 +184,7 @@
 
   put GpsTime {..} = do
     putWord32le _gpsTime_tow
-    putWord32le $ fromIntegral _gpsTime_ns_residual
+    (putWord32le . fromIntegral) _gpsTime_ns_residual
     putWord16le _gpsTime_wn
 
 $(makeJSON "_gpsTime_" ''GpsTime)
@@ -185,7 +209,7 @@
     pure CarrierPhase {..}
 
   put CarrierPhase {..} = do
-    putWord32le $ fromIntegral _carrierPhase_i
+    (putWord32le . fromIntegral) _carrierPhase_i
     putWord8 _carrierPhase_f
 
 $(makeJSON "_carrierPhase_" ''CarrierPhase)
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
@@ -80,12 +80,12 @@
   put MsgImuRaw {..} = do
     putWord32le _msgImuRaw_tow
     putWord8 _msgImuRaw_tow_f
-    putWord16le $ fromIntegral _msgImuRaw_acc_x
-    putWord16le $ fromIntegral _msgImuRaw_acc_y
-    putWord16le $ fromIntegral _msgImuRaw_acc_z
-    putWord16le $ fromIntegral _msgImuRaw_gyr_x
-    putWord16le $ fromIntegral _msgImuRaw_gyr_y
-    putWord16le $ fromIntegral _msgImuRaw_gyr_z
+    (putWord16le . fromIntegral) _msgImuRaw_acc_x
+    (putWord16le . fromIntegral) _msgImuRaw_acc_y
+    (putWord16le . fromIntegral) _msgImuRaw_acc_z
+    (putWord16le . fromIntegral) _msgImuRaw_gyr_x
+    (putWord16le . fromIntegral) _msgImuRaw_gyr_y
+    (putWord16le . fromIntegral) _msgImuRaw_gyr_z
 
 $(makeSBP 'msgImuRaw ''MsgImuRaw)
 $(makeJSON "_msgImuRaw_" ''MsgImuRaw)
@@ -117,7 +117,7 @@
 
   put MsgImuAux {..} = do
     putWord8 _msgImuAux_imu_type
-    putWord16le $ fromIntegral _msgImuAux_temp
+    (putWord16le . fromIntegral) _msgImuAux_temp
     putWord8 _msgImuAux_imu_conf
 
 $(makeSBP 'msgImuAux ''MsgImuAux)
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
@@ -101,29 +101,6 @@
 $(makeJSON "_msgFwd_" ''MsgFwd)
 $(makeLenses ''MsgFwd)
 
-msgTweet :: Word16
-msgTweet = 0x0012
-
--- | SBP class for message MSG_TWEET (0x0012).
---
--- All the news fit to tweet.
-data MsgTweet = MsgTweet
-  { _msgTweet_tweet :: !Text
-    -- ^ Human-readable string
-  } deriving ( Show, Read, Eq )
-
-instance Binary MsgTweet where
-  get = do
-    _msgTweet_tweet <- decodeUtf8 <$> getByteString 140
-    pure MsgTweet {..}
-
-  put MsgTweet {..} = do
-    putByteString $ encodeUtf8 _msgTweet_tweet
-
-$(makeSBP 'msgTweet ''MsgTweet)
-$(makeJSON "_msgTweet_" ''MsgTweet)
-$(makeLenses ''MsgTweet)
-
 msgPrintDep :: Word16
 msgPrintDep = 0x0010
 
diff --git a/src/SwiftNav/SBP/Mag.hs b/src/SwiftNav/SBP/Mag.hs
--- a/src/SwiftNav/SBP/Mag.hs
+++ b/src/SwiftNav/SBP/Mag.hs
@@ -67,9 +67,9 @@
   put MsgMagRaw {..} = do
     putWord32le _msgMagRaw_tow
     putWord8 _msgMagRaw_tow_f
-    putWord16le $ fromIntegral _msgMagRaw_mag_x
-    putWord16le $ fromIntegral _msgMagRaw_mag_y
-    putWord16le $ fromIntegral _msgMagRaw_mag_z
+    (putWord16le . fromIntegral) _msgMagRaw_mag_x
+    (putWord16le . fromIntegral) _msgMagRaw_mag_y
+    (putWord16le . fromIntegral) _msgMagRaw_mag_z
 
 $(makeSBP 'msgMagRaw ''MsgMagRaw)
 $(makeJSON "_msgMagRaw_" ''MsgMagRaw)
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
@@ -97,6 +97,7 @@
    | SBPMsgEphemerisDepC MsgEphemerisDepC Msg
    | SBPMsgEphemerisDepD MsgEphemerisDepD Msg
    | SBPMsgEphemerisGal MsgEphemerisGal Msg
+   | SBPMsgEphemerisGalDepA MsgEphemerisGalDepA Msg
    | SBPMsgEphemerisGlo MsgEphemerisGlo Msg
    | SBPMsgEphemerisGloDepA MsgEphemerisGloDepA Msg
    | SBPMsgEphemerisGloDepB MsgEphemerisGloDepB Msg
@@ -105,10 +106,13 @@
    | SBPMsgEphemerisGps MsgEphemerisGps Msg
    | SBPMsgEphemerisGpsDepE MsgEphemerisGpsDepE Msg
    | SBPMsgEphemerisGpsDepF MsgEphemerisGpsDepF Msg
+   | SBPMsgEphemerisQzss MsgEphemerisQzss Msg
    | SBPMsgEphemerisSbas MsgEphemerisSbas Msg
    | SBPMsgEphemerisSbasDepA MsgEphemerisSbasDepA Msg
    | SBPMsgEphemerisSbasDepB MsgEphemerisSbasDepB Msg
    | SBPMsgExtEvent MsgExtEvent Msg
+   | SBPMsgFileioConfigReq MsgFileioConfigReq Msg
+   | SBPMsgFileioConfigResp MsgFileioConfigResp Msg
    | SBPMsgFileioReadDirReq MsgFileioReadDirReq Msg
    | SBPMsgFileioReadDirResp MsgFileioReadDirResp Msg
    | SBPMsgFileioReadReq MsgFileioReadReq Msg
@@ -121,6 +125,7 @@
    | SBPMsgFlashProgram MsgFlashProgram Msg
    | SBPMsgFlashReadReq MsgFlashReadReq Msg
    | SBPMsgFlashReadResp MsgFlashReadResp Msg
+   | SBPMsgFrontEndGain MsgFrontEndGain Msg
    | SBPMsgFwd MsgFwd Msg
    | SBPMsgGloBiases MsgGloBiases Msg
    | SBPMsgGnssCapb MsgGnssCapb Msg
@@ -133,7 +138,7 @@
    | SBPMsgIarState MsgIarState Msg
    | SBPMsgImuAux MsgImuAux Msg
    | SBPMsgImuRaw MsgImuRaw Msg
-   | SBPMsgInitBase MsgInitBase Msg
+   | SBPMsgInitBaseDep MsgInitBaseDep Msg
    | SBPMsgInsStatus MsgInsStatus Msg
    | SBPMsgIono MsgIono Msg
    | SBPMsgLinuxCpuState MsgLinuxCpuState Msg
@@ -163,6 +168,7 @@
    | SBPMsgOdometry MsgOdometry Msg
    | SBPMsgOrientEuler MsgOrientEuler Msg
    | SBPMsgOrientQuat MsgOrientQuat Msg
+   | SBPMsgOsr MsgOsr Msg
    | SBPMsgPosEcef MsgPosEcef Msg
    | SBPMsgPosEcefCov MsgPosEcefCov Msg
    | SBPMsgPosEcefDepA MsgPosEcefDepA Msg
@@ -181,30 +187,35 @@
    | SBPMsgSettingsReadReq MsgSettingsReadReq Msg
    | SBPMsgSettingsReadResp MsgSettingsReadResp Msg
    | SBPMsgSettingsRegister MsgSettingsRegister Msg
+   | SBPMsgSettingsRegisterResp MsgSettingsRegisterResp Msg
    | SBPMsgSettingsSave MsgSettingsSave Msg
    | SBPMsgSettingsWrite MsgSettingsWrite Msg
    | SBPMsgSettingsWriteResp MsgSettingsWriteResp Msg
    | SBPMsgSpecan MsgSpecan Msg
    | SBPMsgSpecanDep MsgSpecanDep Msg
    | SBPMsgSsrCodeBiases MsgSsrCodeBiases Msg
+   | SBPMsgSsrGridDefinition MsgSsrGridDefinition Msg
+   | SBPMsgSsrGriddedCorrection MsgSsrGriddedCorrection Msg
    | SBPMsgSsrOrbitClock MsgSsrOrbitClock Msg
    | SBPMsgSsrOrbitClockDepA MsgSsrOrbitClockDepA Msg
    | SBPMsgSsrPhaseBiases MsgSsrPhaseBiases Msg
+   | SBPMsgSsrStecCorrection MsgSsrStecCorrection Msg
    | SBPMsgStartup MsgStartup Msg
    | SBPMsgStmFlashLockSector MsgStmFlashLockSector Msg
    | SBPMsgStmFlashUnlockSector MsgStmFlashUnlockSector Msg
    | SBPMsgStmUniqueIdReq MsgStmUniqueIdReq Msg
    | SBPMsgStmUniqueIdResp MsgStmUniqueIdResp Msg
+   | SBPMsgSvAzEl MsgSvAzEl Msg
    | SBPMsgSvConfigurationGpsDep MsgSvConfigurationGpsDep Msg
    | SBPMsgThreadState MsgThreadState Msg
    | SBPMsgTrackingIq MsgTrackingIq Msg
-   | SBPMsgTrackingIqDep MsgTrackingIqDep Msg
+   | SBPMsgTrackingIqDepA MsgTrackingIqDepA Msg
+   | SBPMsgTrackingIqDepB MsgTrackingIqDepB Msg
    | SBPMsgTrackingState MsgTrackingState Msg
    | SBPMsgTrackingStateDepA MsgTrackingStateDepA Msg
    | SBPMsgTrackingStateDepB MsgTrackingStateDepB Msg
    | SBPMsgTrackingStateDetailedDep MsgTrackingStateDetailedDep Msg
    | SBPMsgTrackingStateDetailedDepA MsgTrackingStateDetailedDepA Msg
-   | SBPMsgTweet MsgTweet Msg
    | SBPMsgUartState MsgUartState Msg
    | SBPMsgUartStateDepa MsgUartStateDepa Msg
    | SBPMsgUserData MsgUserData Msg
@@ -272,6 +283,7 @@
           | _msgSBPType == msgEphemerisDepC = SBPMsgEphemerisDepC (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgEphemerisDepD = SBPMsgEphemerisDepD (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgEphemerisGal = SBPMsgEphemerisGal (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisGalDepA = SBPMsgEphemerisGalDepA (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
@@ -280,10 +292,13 @@
           | _msgSBPType == msgEphemerisGps = SBPMsgEphemerisGps (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgEphemerisGpsDepF = SBPMsgEphemerisGpsDepF (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgEphemerisQzss = SBPMsgEphemerisQzss (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgEphemerisSbas = SBPMsgEphemerisSbas (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgEphemerisSbasDepA = SBPMsgEphemerisSbasDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgEphemerisSbasDepB = SBPMsgEphemerisSbasDepB (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgExtEvent = SBPMsgExtEvent (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFileioConfigReq = SBPMsgFileioConfigReq (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgFileioConfigResp = SBPMsgFileioConfigResp (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
@@ -296,6 +311,7 @@
           | _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 == msgFrontEndGain = SBPMsgFrontEndGain (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgFwd = SBPMsgFwd (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgGloBiases = SBPMsgGloBiases (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgGnssCapb = SBPMsgGnssCapb (decode (fromStrict (unBytes _msgSBPPayload))) m
@@ -308,7 +324,7 @@
           | _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 == msgInitBaseDep = SBPMsgInitBaseDep (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgInsStatus = SBPMsgInsStatus (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgIono = SBPMsgIono (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgLinuxCpuState = SBPMsgLinuxCpuState (decode (fromStrict (unBytes _msgSBPPayload))) m
@@ -338,6 +354,7 @@
           | _msgSBPType == msgOdometry = SBPMsgOdometry (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgOrientEuler = SBPMsgOrientEuler (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgOrientQuat = SBPMsgOrientQuat (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgOsr = SBPMsgOsr (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgPosEcef = SBPMsgPosEcef (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgPosEcefCov = SBPMsgPosEcefCov (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgPosEcefDepA = SBPMsgPosEcefDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
@@ -356,30 +373,35 @@
           | _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 == msgSettingsRegisterResp = SBPMsgSettingsRegisterResp (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSettingsWriteResp = SBPMsgSettingsWriteResp (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSpecan = SBPMsgSpecan (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSpecanDep = SBPMsgSpecanDep (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSsrCodeBiases = SBPMsgSsrCodeBiases (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSsrGridDefinition = SBPMsgSsrGridDefinition (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSsrGriddedCorrection = SBPMsgSsrGriddedCorrection (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSsrOrbitClock = SBPMsgSsrOrbitClock (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSsrOrbitClockDepA = SBPMsgSsrOrbitClockDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSsrStecCorrection = SBPMsgSsrStecCorrection (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 == msgSvAzEl = SBPMsgSvAzEl (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSvConfigurationGpsDep = SBPMsgSvConfigurationGpsDep (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgThreadState = SBPMsgThreadState (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict (unBytes _msgSBPPayload))) m
-          | _msgSBPType == msgTrackingIqDep = SBPMsgTrackingIqDep (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgTrackingIqDepA = SBPMsgTrackingIqDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgTrackingIqDepB = SBPMsgTrackingIqDepB (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 == msgTrackingStateDetailedDep = SBPMsgTrackingStateDetailedDep (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgTrackingStateDetailedDepA = SBPMsgTrackingStateDetailedDepA (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
@@ -439,6 +461,7 @@
       encoder (SBPMsgEphemerisDepC _ m) = put m
       encoder (SBPMsgEphemerisDepD _ m) = put m
       encoder (SBPMsgEphemerisGal _ m) = put m
+      encoder (SBPMsgEphemerisGalDepA _ m) = put m
       encoder (SBPMsgEphemerisGlo _ m) = put m
       encoder (SBPMsgEphemerisGloDepA _ m) = put m
       encoder (SBPMsgEphemerisGloDepB _ m) = put m
@@ -447,10 +470,13 @@
       encoder (SBPMsgEphemerisGps _ m) = put m
       encoder (SBPMsgEphemerisGpsDepE _ m) = put m
       encoder (SBPMsgEphemerisGpsDepF _ m) = put m
+      encoder (SBPMsgEphemerisQzss _ m) = put m
       encoder (SBPMsgEphemerisSbas _ m) = put m
       encoder (SBPMsgEphemerisSbasDepA _ m) = put m
       encoder (SBPMsgEphemerisSbasDepB _ m) = put m
       encoder (SBPMsgExtEvent _ m) = put m
+      encoder (SBPMsgFileioConfigReq _ m) = put m
+      encoder (SBPMsgFileioConfigResp _ m) = put m
       encoder (SBPMsgFileioReadDirReq _ m) = put m
       encoder (SBPMsgFileioReadDirResp _ m) = put m
       encoder (SBPMsgFileioReadReq _ m) = put m
@@ -463,6 +489,7 @@
       encoder (SBPMsgFlashProgram _ m) = put m
       encoder (SBPMsgFlashReadReq _ m) = put m
       encoder (SBPMsgFlashReadResp _ m) = put m
+      encoder (SBPMsgFrontEndGain _ m) = put m
       encoder (SBPMsgFwd _ m) = put m
       encoder (SBPMsgGloBiases _ m) = put m
       encoder (SBPMsgGnssCapb _ m) = put m
@@ -475,7 +502,7 @@
       encoder (SBPMsgIarState _ m) = put m
       encoder (SBPMsgImuAux _ m) = put m
       encoder (SBPMsgImuRaw _ m) = put m
-      encoder (SBPMsgInitBase _ m) = put m
+      encoder (SBPMsgInitBaseDep _ m) = put m
       encoder (SBPMsgInsStatus _ m) = put m
       encoder (SBPMsgIono _ m) = put m
       encoder (SBPMsgLinuxCpuState _ m) = put m
@@ -505,6 +532,7 @@
       encoder (SBPMsgOdometry _ m) = put m
       encoder (SBPMsgOrientEuler _ m) = put m
       encoder (SBPMsgOrientQuat _ m) = put m
+      encoder (SBPMsgOsr _ m) = put m
       encoder (SBPMsgPosEcef _ m) = put m
       encoder (SBPMsgPosEcefCov _ m) = put m
       encoder (SBPMsgPosEcefDepA _ m) = put m
@@ -523,30 +551,35 @@
       encoder (SBPMsgSettingsReadReq _ m) = put m
       encoder (SBPMsgSettingsReadResp _ m) = put m
       encoder (SBPMsgSettingsRegister _ m) = put m
+      encoder (SBPMsgSettingsRegisterResp _ m) = put m
       encoder (SBPMsgSettingsSave _ m) = put m
       encoder (SBPMsgSettingsWrite _ m) = put m
       encoder (SBPMsgSettingsWriteResp _ m) = put m
       encoder (SBPMsgSpecan _ m) = put m
       encoder (SBPMsgSpecanDep _ m) = put m
       encoder (SBPMsgSsrCodeBiases _ m) = put m
+      encoder (SBPMsgSsrGridDefinition _ m) = put m
+      encoder (SBPMsgSsrGriddedCorrection _ m) = put m
       encoder (SBPMsgSsrOrbitClock _ m) = put m
       encoder (SBPMsgSsrOrbitClockDepA _ m) = put m
       encoder (SBPMsgSsrPhaseBiases _ m) = put m
+      encoder (SBPMsgSsrStecCorrection _ m) = put m
       encoder (SBPMsgStartup _ m) = put m
       encoder (SBPMsgStmFlashLockSector _ m) = put m
       encoder (SBPMsgStmFlashUnlockSector _ m) = put m
       encoder (SBPMsgStmUniqueIdReq _ m) = put m
       encoder (SBPMsgStmUniqueIdResp _ m) = put m
+      encoder (SBPMsgSvAzEl _ m) = put m
       encoder (SBPMsgSvConfigurationGpsDep _ m) = put m
       encoder (SBPMsgThreadState _ m) = put m
       encoder (SBPMsgTrackingIq _ m) = put m
-      encoder (SBPMsgTrackingIqDep _ m) = put m
+      encoder (SBPMsgTrackingIqDepA _ m) = put m
+      encoder (SBPMsgTrackingIqDepB _ m) = put m
       encoder (SBPMsgTrackingState _ m) = put m
       encoder (SBPMsgTrackingStateDepA _ m) = put m
       encoder (SBPMsgTrackingStateDepB _ m) = put m
       encoder (SBPMsgTrackingStateDetailedDep _ m) = put m
       encoder (SBPMsgTrackingStateDetailedDepA _ m) = put m
-      encoder (SBPMsgTweet _ m) = put m
       encoder (SBPMsgUartState _ m) = put m
       encoder (SBPMsgUartStateDepa _ m) = put m
       encoder (SBPMsgUserData _ m) = put m
@@ -610,6 +643,7 @@
         | msgType == msgEphemerisDepC = SBPMsgEphemerisDepC <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgEphemerisDepD = SBPMsgEphemerisDepD <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgEphemerisGal = SBPMsgEphemerisGal <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisGalDepA = SBPMsgEphemerisGalDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgEphemerisGlo = SBPMsgEphemerisGlo <$> 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
@@ -618,10 +652,13 @@
         | msgType == msgEphemerisGps = SBPMsgEphemerisGps <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgEphemerisGpsDepE = SBPMsgEphemerisGpsDepE <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgEphemerisGpsDepF = SBPMsgEphemerisGpsDepF <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgEphemerisQzss = SBPMsgEphemerisQzss <$> 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 == msgEphemerisSbasDepB = SBPMsgEphemerisSbasDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgExtEvent = SBPMsgExtEvent <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFileioConfigReq = SBPMsgFileioConfigReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgFileioConfigResp = SBPMsgFileioConfigResp <$> 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 <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
@@ -634,6 +671,7 @@
         | msgType == msgFlashProgram = SBPMsgFlashProgram <$> 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 == msgFrontEndGain = SBPMsgFrontEndGain <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgFwd = SBPMsgFwd <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgGloBiases = SBPMsgGloBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgGnssCapb = SBPMsgGnssCapb <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
@@ -646,7 +684,7 @@
         | 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 == msgInitBaseDep = SBPMsgInitBaseDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgInsStatus = SBPMsgInsStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgIono = SBPMsgIono <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgLinuxCpuState = SBPMsgLinuxCpuState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
@@ -676,6 +714,7 @@
         | msgType == msgOdometry = SBPMsgOdometry <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgOrientEuler = SBPMsgOrientEuler <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgOrientQuat = SBPMsgOrientQuat <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgOsr = SBPMsgOsr <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgPosEcef = SBPMsgPosEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgPosEcefCov = SBPMsgPosEcefCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgPosEcefDepA = SBPMsgPosEcefDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
@@ -694,30 +733,35 @@
         | msgType == msgSettingsReadReq = SBPMsgSettingsReadReq <$> 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 == msgSettingsRegisterResp = SBPMsgSettingsRegisterResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSettingsSave = SBPMsgSettingsSave <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSettingsWrite = SBPMsgSettingsWrite <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSettingsWriteResp = SBPMsgSettingsWriteResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSpecan = SBPMsgSpecan <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSpecanDep = SBPMsgSpecanDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSsrCodeBiases = SBPMsgSsrCodeBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSsrGridDefinition = SBPMsgSsrGridDefinition <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSsrGriddedCorrection = SBPMsgSsrGriddedCorrection <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSsrOrbitClock = SBPMsgSsrOrbitClock <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSsrOrbitClockDepA = SBPMsgSsrOrbitClockDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSsrStecCorrection = SBPMsgSsrStecCorrection <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgStartup = SBPMsgStartup <$> 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 == msgSvAzEl = SBPMsgSvAzEl <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSvConfigurationGpsDep = SBPMsgSvConfigurationGpsDep <$> 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 == msgTrackingIqDep = SBPMsgTrackingIqDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgTrackingIqDepA = SBPMsgTrackingIqDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgTrackingIqDepB = SBPMsgTrackingIqDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgTrackingState = SBPMsgTrackingState <$> 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 == msgTrackingStateDetailedDep = SBPMsgTrackingStateDetailedDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgTrackingStateDetailedDepA = SBPMsgTrackingStateDetailedDepA <$> 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
@@ -746,7 +790,7 @@
   toJSON (SBPMsgAcqSvProfile n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgAcqSvProfileDep n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgAgeCorrections n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgAlmanac n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgAlmanac _ m) = toJSON m
   toJSON (SBPMsgAlmanacGlo n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgAlmanacGloDep n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgAlmanacGps n m) = toJSON n <<>> toJSON m
@@ -761,7 +805,7 @@
   toJSON (SBPMsgBaselineNed n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgBaselineNedDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgBootloaderHandshakeDepA n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgBootloaderHandshakeReq n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgBootloaderHandshakeReq _ m) = toJSON m
   toJSON (SBPMsgBootloaderHandshakeResp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgBootloaderJumpToApp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgCellModemStatus n m) = toJSON n <<>> toJSON m
@@ -770,8 +814,8 @@
   toJSON (SBPMsgCommandResp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgCsacTelemetry n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgCsacTelemetryLabels n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgCwResults n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgCwStart n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgCwResults _ m) = toJSON m
+  toJSON (SBPMsgCwStart _ m) = toJSON m
   toJSON (SBPMsgDeviceMonitor n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgDgnssStatus n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgDops n m) = toJSON n <<>> toJSON m
@@ -782,6 +826,7 @@
   toJSON (SBPMsgEphemerisDepC n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgEphemerisDepD n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgEphemerisGal n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgEphemerisGalDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgEphemerisGlo n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgEphemerisGloDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgEphemerisGloDepB n m) = toJSON n <<>> toJSON m
@@ -790,10 +835,13 @@
   toJSON (SBPMsgEphemerisGps n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgEphemerisGpsDepE n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgEphemerisGpsDepF n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgEphemerisQzss n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgEphemerisSbas n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgEphemerisSbasDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgEphemerisSbasDepB n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgExtEvent n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgFileioConfigReq n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgFileioConfigResp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgFileioReadDirReq n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgFileioReadDirResp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgFileioReadReq n m) = toJSON n <<>> toJSON m
@@ -806,6 +854,7 @@
   toJSON (SBPMsgFlashProgram n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgFlashReadReq n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgFlashReadResp n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgFrontEndGain n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgFwd n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgGloBiases n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgGnssCapb n m) = toJSON n <<>> toJSON m
@@ -818,7 +867,7 @@
   toJSON (SBPMsgIarState n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgImuAux n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgImuRaw n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgInitBase n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgInitBaseDep _ m) = toJSON m
   toJSON (SBPMsgInsStatus n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgIono n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgLinuxCpuState n m) = toJSON n <<>> toJSON m
@@ -835,11 +884,11 @@
   toJSON (SBPMsgMaskSatellite n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgMaskSatelliteDep n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgMeasurementState n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgNapDeviceDnaReq n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgNapDeviceDnaReq _ m) = toJSON m
   toJSON (SBPMsgNapDeviceDnaResp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgNdbEvent n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgNetworkBandwidthUsage n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgNetworkStateReq n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgNetworkStateReq _ m) = toJSON m
   toJSON (SBPMsgNetworkStateResp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgObs n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgObsDepA n m) = toJSON n <<>> toJSON m
@@ -848,6 +897,7 @@
   toJSON (SBPMsgOdometry n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgOrientEuler n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgOrientQuat n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgOsr n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgPosEcef n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgPosEcefCov n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgPosEcefDepA n m) = toJSON n <<>> toJSON m
@@ -856,40 +906,45 @@
   toJSON (SBPMsgPosLlhDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgPrintDep n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgReset n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgResetDep n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgResetDep _ m) = toJSON m
   toJSON (SBPMsgResetFilters n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSbasRaw n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgSetTime n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgSettingsReadByIndexDone n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgSetTime _ m) = toJSON m
+  toJSON (SBPMsgSettingsReadByIndexDone _ m) = toJSON m
   toJSON (SBPMsgSettingsReadByIndexReq n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSettingsReadByIndexResp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSettingsReadReq n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSettingsReadResp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSettingsRegister n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgSettingsSave n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgSettingsRegisterResp n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgSettingsSave _ m) = toJSON m
   toJSON (SBPMsgSettingsWrite n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSettingsWriteResp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSpecan n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSpecanDep n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSsrCodeBiases n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgSsrGridDefinition n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgSsrGriddedCorrection n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSsrOrbitClock n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSsrOrbitClockDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSsrPhaseBiases n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgSsrStecCorrection n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgStartup n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgStmFlashLockSector n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgStmFlashUnlockSector n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgStmUniqueIdReq n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgStmUniqueIdReq _ m) = toJSON m
   toJSON (SBPMsgStmUniqueIdResp n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgSvAzEl n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSvConfigurationGpsDep n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgThreadState n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgTrackingIq n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgTrackingIqDep n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgTrackingIqDepA n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgTrackingIqDepB n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgTrackingState n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgTrackingStateDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgTrackingStateDepB n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgTrackingStateDetailedDep n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgTrackingStateDetailedDepA n m) = toJSON n <<>> toJSON m
-  toJSON (SBPMsgTweet n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgUartState n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgUartStateDepa n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgUserData n m) = toJSON n <<>> toJSON m
@@ -948,6 +1003,7 @@
   msg f (SBPMsgEphemerisDepC n m) = SBPMsgEphemerisDepC n <$> f m
   msg f (SBPMsgEphemerisDepD n m) = SBPMsgEphemerisDepD n <$> f m
   msg f (SBPMsgEphemerisGal n m) = SBPMsgEphemerisGal n <$> f m
+  msg f (SBPMsgEphemerisGalDepA n m) = SBPMsgEphemerisGalDepA n <$> f m
   msg f (SBPMsgEphemerisGlo n m) = SBPMsgEphemerisGlo n <$> f m
   msg f (SBPMsgEphemerisGloDepA n m) = SBPMsgEphemerisGloDepA n <$> f m
   msg f (SBPMsgEphemerisGloDepB n m) = SBPMsgEphemerisGloDepB n <$> f m
@@ -956,10 +1012,13 @@
   msg f (SBPMsgEphemerisGps n m) = SBPMsgEphemerisGps n <$> f m
   msg f (SBPMsgEphemerisGpsDepE n m) = SBPMsgEphemerisGpsDepE n <$> f m
   msg f (SBPMsgEphemerisGpsDepF n m) = SBPMsgEphemerisGpsDepF n <$> f m
+  msg f (SBPMsgEphemerisQzss n m) = SBPMsgEphemerisQzss n <$> f m
   msg f (SBPMsgEphemerisSbas n m) = SBPMsgEphemerisSbas n <$> f m
   msg f (SBPMsgEphemerisSbasDepA n m) = SBPMsgEphemerisSbasDepA n <$> f m
   msg f (SBPMsgEphemerisSbasDepB n m) = SBPMsgEphemerisSbasDepB n <$> f m
   msg f (SBPMsgExtEvent n m) = SBPMsgExtEvent n <$> f m
+  msg f (SBPMsgFileioConfigReq n m) = SBPMsgFileioConfigReq n <$> f m
+  msg f (SBPMsgFileioConfigResp n m) = SBPMsgFileioConfigResp n <$> f m
   msg f (SBPMsgFileioReadDirReq n m) = SBPMsgFileioReadDirReq n <$> f m
   msg f (SBPMsgFileioReadDirResp n m) = SBPMsgFileioReadDirResp n <$> f m
   msg f (SBPMsgFileioReadReq n m) = SBPMsgFileioReadReq n <$> f m
@@ -972,6 +1031,7 @@
   msg f (SBPMsgFlashProgram n m) = SBPMsgFlashProgram n <$> f m
   msg f (SBPMsgFlashReadReq n m) = SBPMsgFlashReadReq n <$> f m
   msg f (SBPMsgFlashReadResp n m) = SBPMsgFlashReadResp n <$> f m
+  msg f (SBPMsgFrontEndGain n m) = SBPMsgFrontEndGain n <$> f m
   msg f (SBPMsgFwd n m) = SBPMsgFwd n <$> f m
   msg f (SBPMsgGloBiases n m) = SBPMsgGloBiases n <$> f m
   msg f (SBPMsgGnssCapb n m) = SBPMsgGnssCapb n <$> f m
@@ -984,7 +1044,7 @@
   msg f (SBPMsgIarState n m) = SBPMsgIarState n <$> f m
   msg f (SBPMsgImuAux n m) = SBPMsgImuAux n <$> f m
   msg f (SBPMsgImuRaw n m) = SBPMsgImuRaw n <$> f m
-  msg f (SBPMsgInitBase n m) = SBPMsgInitBase n <$> f m
+  msg f (SBPMsgInitBaseDep n m) = SBPMsgInitBaseDep n <$> f m
   msg f (SBPMsgInsStatus n m) = SBPMsgInsStatus n <$> f m
   msg f (SBPMsgIono n m) = SBPMsgIono n <$> f m
   msg f (SBPMsgLinuxCpuState n m) = SBPMsgLinuxCpuState n <$> f m
@@ -1014,6 +1074,7 @@
   msg f (SBPMsgOdometry n m) = SBPMsgOdometry n <$> f m
   msg f (SBPMsgOrientEuler n m) = SBPMsgOrientEuler n <$> f m
   msg f (SBPMsgOrientQuat n m) = SBPMsgOrientQuat n <$> f m
+  msg f (SBPMsgOsr n m) = SBPMsgOsr n <$> f m
   msg f (SBPMsgPosEcef n m) = SBPMsgPosEcef n <$> f m
   msg f (SBPMsgPosEcefCov n m) = SBPMsgPosEcefCov n <$> f m
   msg f (SBPMsgPosEcefDepA n m) = SBPMsgPosEcefDepA n <$> f m
@@ -1032,30 +1093,35 @@
   msg f (SBPMsgSettingsReadReq n m) = SBPMsgSettingsReadReq n <$> f m
   msg f (SBPMsgSettingsReadResp n m) = SBPMsgSettingsReadResp n <$> f m
   msg f (SBPMsgSettingsRegister n m) = SBPMsgSettingsRegister n <$> f m
+  msg f (SBPMsgSettingsRegisterResp n m) = SBPMsgSettingsRegisterResp n <$> f m
   msg f (SBPMsgSettingsSave n m) = SBPMsgSettingsSave n <$> f m
   msg f (SBPMsgSettingsWrite n m) = SBPMsgSettingsWrite n <$> f m
   msg f (SBPMsgSettingsWriteResp n m) = SBPMsgSettingsWriteResp n <$> f m
   msg f (SBPMsgSpecan n m) = SBPMsgSpecan n <$> f m
   msg f (SBPMsgSpecanDep n m) = SBPMsgSpecanDep n <$> f m
   msg f (SBPMsgSsrCodeBiases n m) = SBPMsgSsrCodeBiases n <$> f m
+  msg f (SBPMsgSsrGridDefinition n m) = SBPMsgSsrGridDefinition n <$> f m
+  msg f (SBPMsgSsrGriddedCorrection n m) = SBPMsgSsrGriddedCorrection n <$> f m
   msg f (SBPMsgSsrOrbitClock n m) = SBPMsgSsrOrbitClock n <$> f m
   msg f (SBPMsgSsrOrbitClockDepA n m) = SBPMsgSsrOrbitClockDepA n <$> f m
   msg f (SBPMsgSsrPhaseBiases n m) = SBPMsgSsrPhaseBiases n <$> f m
+  msg f (SBPMsgSsrStecCorrection n m) = SBPMsgSsrStecCorrection n <$> f m
   msg f (SBPMsgStartup n m) = SBPMsgStartup n <$> f m
   msg f (SBPMsgStmFlashLockSector n m) = SBPMsgStmFlashLockSector n <$> f m
   msg f (SBPMsgStmFlashUnlockSector n m) = SBPMsgStmFlashUnlockSector n <$> f m
   msg f (SBPMsgStmUniqueIdReq n m) = SBPMsgStmUniqueIdReq n <$> f m
   msg f (SBPMsgStmUniqueIdResp n m) = SBPMsgStmUniqueIdResp n <$> f m
+  msg f (SBPMsgSvAzEl n m) = SBPMsgSvAzEl n <$> f m
   msg f (SBPMsgSvConfigurationGpsDep n m) = SBPMsgSvConfigurationGpsDep n <$> f m
   msg f (SBPMsgThreadState n m) = SBPMsgThreadState n <$> f m
   msg f (SBPMsgTrackingIq n m) = SBPMsgTrackingIq n <$> f m
-  msg f (SBPMsgTrackingIqDep n m) = SBPMsgTrackingIqDep n <$> f m
+  msg f (SBPMsgTrackingIqDepA n m) = SBPMsgTrackingIqDepA n <$> f m
+  msg f (SBPMsgTrackingIqDepB n m) = SBPMsgTrackingIqDepB n <$> f m
   msg f (SBPMsgTrackingState n m) = SBPMsgTrackingState n <$> f m
   msg f (SBPMsgTrackingStateDepA n m) = SBPMsgTrackingStateDepA n <$> f m
   msg f (SBPMsgTrackingStateDepB n m) = SBPMsgTrackingStateDepB n <$> f m
   msg f (SBPMsgTrackingStateDetailedDep n m) = SBPMsgTrackingStateDetailedDep n <$> f m
   msg f (SBPMsgTrackingStateDetailedDepA n m) = SBPMsgTrackingStateDetailedDepA n <$> f m
-  msg f (SBPMsgTweet n m) = SBPMsgTweet n <$> f m
   msg f (SBPMsgUartState n m) = SBPMsgUartState n <$> f m
   msg f (SBPMsgUartStateDepa n m) = SBPMsgUartStateDepa n <$> f m
   msg f (SBPMsgUserData n m) = SBPMsgUserData n <$> f 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
@@ -85,7 +85,7 @@
   put MsgGpsTime {..} = do
     putWord16le _msgGpsTime_wn
     putWord32le _msgGpsTime_tow
-    putWord32le $ fromIntegral _msgGpsTime_ns_residual
+    (putWord32le . fromIntegral) _msgGpsTime_ns_residual
     putWord8 _msgGpsTime_flags
 
 $(makeSBP 'msgGpsTime ''MsgGpsTime)
@@ -496,9 +496,9 @@
 
   put MsgBaselineEcef {..} = do
     putWord32le _msgBaselineEcef_tow
-    putWord32le $ fromIntegral _msgBaselineEcef_x
-    putWord32le $ fromIntegral _msgBaselineEcef_y
-    putWord32le $ fromIntegral _msgBaselineEcef_z
+    (putWord32le . fromIntegral) _msgBaselineEcef_x
+    (putWord32le . fromIntegral) _msgBaselineEcef_y
+    (putWord32le . fromIntegral) _msgBaselineEcef_z
     putWord16le _msgBaselineEcef_accuracy
     putWord8 _msgBaselineEcef_n_sats
     putWord8 _msgBaselineEcef_flags
@@ -551,9 +551,9 @@
 
   put MsgBaselineNed {..} = do
     putWord32le _msgBaselineNed_tow
-    putWord32le $ fromIntegral _msgBaselineNed_n
-    putWord32le $ fromIntegral _msgBaselineNed_e
-    putWord32le $ fromIntegral _msgBaselineNed_d
+    (putWord32le . fromIntegral) _msgBaselineNed_n
+    (putWord32le . fromIntegral) _msgBaselineNed_e
+    (putWord32le . fromIntegral) _msgBaselineNed_d
     putWord16le _msgBaselineNed_h_accuracy
     putWord16le _msgBaselineNed_v_accuracy
     putWord8 _msgBaselineNed_n_sats
@@ -601,9 +601,9 @@
 
   put MsgVelEcef {..} = do
     putWord32le _msgVelEcef_tow
-    putWord32le $ fromIntegral _msgVelEcef_x
-    putWord32le $ fromIntegral _msgVelEcef_y
-    putWord32le $ fromIntegral _msgVelEcef_z
+    (putWord32le . fromIntegral) _msgVelEcef_x
+    (putWord32le . fromIntegral) _msgVelEcef_y
+    (putWord32le . fromIntegral) _msgVelEcef_z
     putWord16le _msgVelEcef_accuracy
     putWord8 _msgVelEcef_n_sats
     putWord8 _msgVelEcef_flags
@@ -665,9 +665,9 @@
 
   put MsgVelEcefCov {..} = do
     putWord32le _msgVelEcefCov_tow
-    putWord32le $ fromIntegral _msgVelEcefCov_x
-    putWord32le $ fromIntegral _msgVelEcefCov_y
-    putWord32le $ fromIntegral _msgVelEcefCov_z
+    (putWord32le . fromIntegral) _msgVelEcefCov_x
+    (putWord32le . fromIntegral) _msgVelEcefCov_y
+    (putWord32le . fromIntegral) _msgVelEcefCov_z
     putFloat32le _msgVelEcefCov_cov_x_x
     putFloat32le _msgVelEcefCov_cov_x_y
     putFloat32le _msgVelEcefCov_cov_x_z
@@ -723,9 +723,9 @@
 
   put MsgVelNed {..} = do
     putWord32le _msgVelNed_tow
-    putWord32le $ fromIntegral _msgVelNed_n
-    putWord32le $ fromIntegral _msgVelNed_e
-    putWord32le $ fromIntegral _msgVelNed_d
+    (putWord32le . fromIntegral) _msgVelNed_n
+    (putWord32le . fromIntegral) _msgVelNed_e
+    (putWord32le . fromIntegral) _msgVelNed_d
     putWord16le _msgVelNed_h_accuracy
     putWord16le _msgVelNed_v_accuracy
     putWord8 _msgVelNed_n_sats
@@ -791,9 +791,9 @@
 
   put MsgVelNedCov {..} = do
     putWord32le _msgVelNedCov_tow
-    putWord32le $ fromIntegral _msgVelNedCov_n
-    putWord32le $ fromIntegral _msgVelNedCov_e
-    putWord32le $ fromIntegral _msgVelNedCov_d
+    (putWord32le . fromIntegral) _msgVelNedCov_n
+    (putWord32le . fromIntegral) _msgVelNedCov_e
+    (putWord32le . fromIntegral) _msgVelNedCov_d
     putFloat32le _msgVelNedCov_cov_n_n
     putFloat32le _msgVelNedCov_cov_n_e
     putFloat32le _msgVelNedCov_cov_n_d
@@ -866,9 +866,9 @@
 
   put MsgVelBody {..} = do
     putWord32le _msgVelBody_tow
-    putWord32le $ fromIntegral _msgVelBody_x
-    putWord32le $ fromIntegral _msgVelBody_y
-    putWord32le $ fromIntegral _msgVelBody_z
+    (putWord32le . fromIntegral) _msgVelBody_x
+    (putWord32le . fromIntegral) _msgVelBody_y
+    (putWord32le . fromIntegral) _msgVelBody_z
     putFloat32le _msgVelBody_cov_x_x
     putFloat32le _msgVelBody_cov_x_y
     putFloat32le _msgVelBody_cov_x_z
@@ -947,7 +947,7 @@
   put MsgGpsTimeDepA {..} = do
     putWord16le _msgGpsTimeDepA_wn
     putWord32le _msgGpsTimeDepA_tow
-    putWord32le $ fromIntegral _msgGpsTimeDepA_ns_residual
+    (putWord32le . fromIntegral) _msgGpsTimeDepA_ns_residual
     putWord8 _msgGpsTimeDepA_flags
 
 $(makeSBP 'msgGpsTimeDepA ''MsgGpsTimeDepA)
@@ -1147,9 +1147,9 @@
 
   put MsgBaselineEcefDepA {..} = do
     putWord32le _msgBaselineEcefDepA_tow
-    putWord32le $ fromIntegral _msgBaselineEcefDepA_x
-    putWord32le $ fromIntegral _msgBaselineEcefDepA_y
-    putWord32le $ fromIntegral _msgBaselineEcefDepA_z
+    (putWord32le . fromIntegral) _msgBaselineEcefDepA_x
+    (putWord32le . fromIntegral) _msgBaselineEcefDepA_y
+    (putWord32le . fromIntegral) _msgBaselineEcefDepA_z
     putWord16le _msgBaselineEcefDepA_accuracy
     putWord8 _msgBaselineEcefDepA_n_sats
     putWord8 _msgBaselineEcefDepA_flags
@@ -1202,9 +1202,9 @@
 
   put MsgBaselineNedDepA {..} = do
     putWord32le _msgBaselineNedDepA_tow
-    putWord32le $ fromIntegral _msgBaselineNedDepA_n
-    putWord32le $ fromIntegral _msgBaselineNedDepA_e
-    putWord32le $ fromIntegral _msgBaselineNedDepA_d
+    (putWord32le . fromIntegral) _msgBaselineNedDepA_n
+    (putWord32le . fromIntegral) _msgBaselineNedDepA_e
+    (putWord32le . fromIntegral) _msgBaselineNedDepA_d
     putWord16le _msgBaselineNedDepA_h_accuracy
     putWord16le _msgBaselineNedDepA_v_accuracy
     putWord8 _msgBaselineNedDepA_n_sats
@@ -1252,9 +1252,9 @@
 
   put MsgVelEcefDepA {..} = do
     putWord32le _msgVelEcefDepA_tow
-    putWord32le $ fromIntegral _msgVelEcefDepA_x
-    putWord32le $ fromIntegral _msgVelEcefDepA_y
-    putWord32le $ fromIntegral _msgVelEcefDepA_z
+    (putWord32le . fromIntegral) _msgVelEcefDepA_x
+    (putWord32le . fromIntegral) _msgVelEcefDepA_y
+    (putWord32le . fromIntegral) _msgVelEcefDepA_z
     putWord16le _msgVelEcefDepA_accuracy
     putWord8 _msgVelEcefDepA_n_sats
     putWord8 _msgVelEcefDepA_flags
@@ -1305,9 +1305,9 @@
 
   put MsgVelNedDepA {..} = do
     putWord32le _msgVelNedDepA_tow
-    putWord32le $ fromIntegral _msgVelNedDepA_n
-    putWord32le $ fromIntegral _msgVelNedDepA_e
-    putWord32le $ fromIntegral _msgVelNedDepA_d
+    (putWord32le . fromIntegral) _msgVelNedDepA_n
+    (putWord32le . fromIntegral) _msgVelNedDepA_e
+    (putWord32le . fromIntegral) _msgVelNedDepA_d
     putWord16le _msgVelNedDepA_h_accuracy
     putWord16le _msgVelNedDepA_v_accuracy
     putWord8 _msgVelNedDepA_n_sats
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
@@ -79,7 +79,7 @@
     pure Doppler {..}
 
   put Doppler {..} = do
-    putWord16le $ fromIntegral _doppler_i
+    (putWord16le . fromIntegral) _doppler_i
     putWord8 _doppler_f
 
 $(makeJSON "_doppler_" ''Doppler)
@@ -139,6 +139,58 @@
 $(makeJSON "_packedObsContent_" ''PackedObsContent)
 $(makeLenses ''PackedObsContent)
 
+-- | PackedOsrContent.
+--
+-- Pseudorange and carrier phase network corrections for a satellite signal.
+data PackedOsrContent = PackedOsrContent
+  { _packedOsrContent_P       :: !Word32
+    -- ^ Pseudorange observation
+  , _packedOsrContent_L       :: !CarrierPhase
+    -- ^ Carrier phase observation with typical sign convention.
+  , _packedOsrContent_lock    :: !Word8
+    -- ^ Lock timer. This value gives an indication of the time for which a
+    -- signal has maintained continuous phase lock. Whenever a signal has lost
+    -- and regained lock, this value is reset to zero. It is encoded according
+    -- to DF402 from the RTCM 10403.2 Amendment 2 specification.  Valid values
+    -- range from 0 to 15 and the most significant nibble is reserved for
+    -- future use.
+  , _packedOsrContent_flags   :: !Word8
+    -- ^ Correction flags.
+  , _packedOsrContent_sid     :: !GnssSignal
+    -- ^ GNSS signal identifier (16 bit)
+  , _packedOsrContent_iono_std :: !Word16
+    -- ^ Slant ionospheric correction standard deviation
+  , _packedOsrContent_tropo_std :: !Word16
+    -- ^ Slant tropospheric correction standard deviation
+  , _packedOsrContent_range_std :: !Word16
+    -- ^ Orbit/clock/bias correction projected on range standard deviation
+  } deriving ( Show, Read, Eq )
+
+instance Binary PackedOsrContent where
+  get = do
+    _packedOsrContent_P <- getWord32le
+    _packedOsrContent_L <- get
+    _packedOsrContent_lock <- getWord8
+    _packedOsrContent_flags <- getWord8
+    _packedOsrContent_sid <- get
+    _packedOsrContent_iono_std <- getWord16le
+    _packedOsrContent_tropo_std <- getWord16le
+    _packedOsrContent_range_std <- getWord16le
+    pure PackedOsrContent {..}
+
+  put PackedOsrContent {..} = do
+    putWord32le _packedOsrContent_P
+    put _packedOsrContent_L
+    putWord8 _packedOsrContent_lock
+    putWord8 _packedOsrContent_flags
+    put _packedOsrContent_sid
+    putWord16le _packedOsrContent_iono_std
+    putWord16le _packedOsrContent_tropo_std
+    putWord16le _packedOsrContent_range_std
+
+$(makeJSON "_packedOsrContent_" ''PackedOsrContent)
+$(makeLenses ''PackedOsrContent)
+
 msgObs :: Word16
 msgObs = 0x004A
 
@@ -703,6 +755,122 @@
 $(makeJSON "_msgEphemerisGps_" ''MsgEphemerisGps)
 $(makeLenses ''MsgEphemerisGps)
 
+msgEphemerisQzss :: Word16
+msgEphemerisQzss = 0x008E
+
+-- | SBP class for message MSG_EPHEMERIS_QZSS (0x008E).
+--
+-- The ephemeris message returns a set of satellite orbit parameters that is
+-- used to calculate QZSS satellite position, velocity, and clock offset.
+data MsgEphemerisQzss = MsgEphemerisQzss
+  { _msgEphemerisQzss_common :: !EphemerisCommonContent
+    -- ^ Values common for all ephemeris types
+  , _msgEphemerisQzss_tgd    :: !Float
+    -- ^ Group delay differential between L1 and L2
+  , _msgEphemerisQzss_c_rs   :: !Float
+    -- ^ Amplitude of the sine harmonic correction term to the orbit radius
+  , _msgEphemerisQzss_c_rc   :: !Float
+    -- ^ Amplitude of the cosine harmonic correction term to the orbit radius
+  , _msgEphemerisQzss_c_uc   :: !Float
+    -- ^ Amplitude of the cosine harmonic correction term to the argument of
+    -- latitude
+  , _msgEphemerisQzss_c_us   :: !Float
+    -- ^ Amplitude of the sine harmonic correction term to the argument of
+    -- latitude
+  , _msgEphemerisQzss_c_ic   :: !Float
+    -- ^ Amplitude of the cosine harmonic correction term to the angle of
+    -- inclination
+  , _msgEphemerisQzss_c_is   :: !Float
+    -- ^ Amplitude of the sine harmonic correction term to the angle of
+    -- inclination
+  , _msgEphemerisQzss_dn     :: !Double
+    -- ^ Mean motion difference
+  , _msgEphemerisQzss_m0     :: !Double
+    -- ^ Mean anomaly at reference time
+  , _msgEphemerisQzss_ecc    :: !Double
+    -- ^ Eccentricity of satellite orbit
+  , _msgEphemerisQzss_sqrta  :: !Double
+    -- ^ Square root of the semi-major axis of orbit
+  , _msgEphemerisQzss_omega0 :: !Double
+    -- ^ Longitude of ascending node of orbit plane at weekly epoch
+  , _msgEphemerisQzss_omegadot :: !Double
+    -- ^ Rate of right ascension
+  , _msgEphemerisQzss_w      :: !Double
+    -- ^ Argument of perigee
+  , _msgEphemerisQzss_inc    :: !Double
+    -- ^ Inclination
+  , _msgEphemerisQzss_inc_dot :: !Double
+    -- ^ Inclination first derivative
+  , _msgEphemerisQzss_af0    :: !Float
+    -- ^ Polynomial clock correction coefficient (clock bias)
+  , _msgEphemerisQzss_af1    :: !Float
+    -- ^ Polynomial clock correction coefficient (clock drift)
+  , _msgEphemerisQzss_af2    :: !Float
+    -- ^ Polynomial clock correction coefficient (rate of clock drift)
+  , _msgEphemerisQzss_toc    :: !GpsTimeSec
+    -- ^ Clock reference
+  , _msgEphemerisQzss_iode   :: !Word8
+    -- ^ Issue of ephemeris data
+  , _msgEphemerisQzss_iodc   :: !Word16
+    -- ^ Issue of clock data
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgEphemerisQzss where
+  get = do
+    _msgEphemerisQzss_common <- get
+    _msgEphemerisQzss_tgd <- getFloat32le
+    _msgEphemerisQzss_c_rs <- getFloat32le
+    _msgEphemerisQzss_c_rc <- getFloat32le
+    _msgEphemerisQzss_c_uc <- getFloat32le
+    _msgEphemerisQzss_c_us <- getFloat32le
+    _msgEphemerisQzss_c_ic <- getFloat32le
+    _msgEphemerisQzss_c_is <- getFloat32le
+    _msgEphemerisQzss_dn <- getFloat64le
+    _msgEphemerisQzss_m0 <- getFloat64le
+    _msgEphemerisQzss_ecc <- getFloat64le
+    _msgEphemerisQzss_sqrta <- getFloat64le
+    _msgEphemerisQzss_omega0 <- getFloat64le
+    _msgEphemerisQzss_omegadot <- getFloat64le
+    _msgEphemerisQzss_w <- getFloat64le
+    _msgEphemerisQzss_inc <- getFloat64le
+    _msgEphemerisQzss_inc_dot <- getFloat64le
+    _msgEphemerisQzss_af0 <- getFloat32le
+    _msgEphemerisQzss_af1 <- getFloat32le
+    _msgEphemerisQzss_af2 <- getFloat32le
+    _msgEphemerisQzss_toc <- get
+    _msgEphemerisQzss_iode <- getWord8
+    _msgEphemerisQzss_iodc <- getWord16le
+    pure MsgEphemerisQzss {..}
+
+  put MsgEphemerisQzss {..} = do
+    put _msgEphemerisQzss_common
+    putFloat32le _msgEphemerisQzss_tgd
+    putFloat32le _msgEphemerisQzss_c_rs
+    putFloat32le _msgEphemerisQzss_c_rc
+    putFloat32le _msgEphemerisQzss_c_uc
+    putFloat32le _msgEphemerisQzss_c_us
+    putFloat32le _msgEphemerisQzss_c_ic
+    putFloat32le _msgEphemerisQzss_c_is
+    putFloat64le _msgEphemerisQzss_dn
+    putFloat64le _msgEphemerisQzss_m0
+    putFloat64le _msgEphemerisQzss_ecc
+    putFloat64le _msgEphemerisQzss_sqrta
+    putFloat64le _msgEphemerisQzss_omega0
+    putFloat64le _msgEphemerisQzss_omegadot
+    putFloat64le _msgEphemerisQzss_w
+    putFloat64le _msgEphemerisQzss_inc
+    putFloat64le _msgEphemerisQzss_inc_dot
+    putFloat32le _msgEphemerisQzss_af0
+    putFloat32le _msgEphemerisQzss_af1
+    putFloat32le _msgEphemerisQzss_af2
+    put _msgEphemerisQzss_toc
+    putWord8 _msgEphemerisQzss_iode
+    putWord16le _msgEphemerisQzss_iodc
+
+$(makeSBP 'msgEphemerisQzss ''MsgEphemerisQzss)
+$(makeJSON "_msgEphemerisQzss_" ''MsgEphemerisQzss)
+$(makeLenses ''MsgEphemerisQzss)
+
 msgEphemerisBds :: Word16
 msgEphemerisBds = 0x0089
 
@@ -825,10 +993,130 @@
 $(makeJSON "_msgEphemerisBds_" ''MsgEphemerisBds)
 $(makeLenses ''MsgEphemerisBds)
 
+msgEphemerisGalDepA :: Word16
+msgEphemerisGalDepA = 0x0095
+
+-- | SBP class for message MSG_EPHEMERIS_GAL_DEP_A (0x0095).
+--
+-- This observation message has been deprecated in favor of an ephemeris
+-- message with explicit source of NAV data.
+data MsgEphemerisGalDepA = MsgEphemerisGalDepA
+  { _msgEphemerisGalDepA_common  :: !EphemerisCommonContent
+    -- ^ Values common for all ephemeris types
+  , _msgEphemerisGalDepA_bgd_e1e5a :: !Float
+    -- ^ E1-E5a Broadcast Group Delay
+  , _msgEphemerisGalDepA_bgd_e1e5b :: !Float
+    -- ^ E1-E5b Broadcast Group Delay
+  , _msgEphemerisGalDepA_c_rs    :: !Float
+    -- ^ Amplitude of the sine harmonic correction term to the orbit radius
+  , _msgEphemerisGalDepA_c_rc    :: !Float
+    -- ^ Amplitude of the cosine harmonic correction term to the orbit radius
+  , _msgEphemerisGalDepA_c_uc    :: !Float
+    -- ^ Amplitude of the cosine harmonic correction term to the argument of
+    -- latitude
+  , _msgEphemerisGalDepA_c_us    :: !Float
+    -- ^ Amplitude of the sine harmonic correction term to the argument of
+    -- latitude
+  , _msgEphemerisGalDepA_c_ic    :: !Float
+    -- ^ Amplitude of the cosine harmonic correction term to the angle of
+    -- inclination
+  , _msgEphemerisGalDepA_c_is    :: !Float
+    -- ^ Amplitude of the sine harmonic correction term to the angle of
+    -- inclination
+  , _msgEphemerisGalDepA_dn      :: !Double
+    -- ^ Mean motion difference
+  , _msgEphemerisGalDepA_m0      :: !Double
+    -- ^ Mean anomaly at reference time
+  , _msgEphemerisGalDepA_ecc     :: !Double
+    -- ^ Eccentricity of satellite orbit
+  , _msgEphemerisGalDepA_sqrta   :: !Double
+    -- ^ Square root of the semi-major axis of orbit
+  , _msgEphemerisGalDepA_omega0  :: !Double
+    -- ^ Longitude of ascending node of orbit plane at weekly epoch
+  , _msgEphemerisGalDepA_omegadot :: !Double
+    -- ^ Rate of right ascension
+  , _msgEphemerisGalDepA_w       :: !Double
+    -- ^ Argument of perigee
+  , _msgEphemerisGalDepA_inc     :: !Double
+    -- ^ Inclination
+  , _msgEphemerisGalDepA_inc_dot :: !Double
+    -- ^ Inclination first derivative
+  , _msgEphemerisGalDepA_af0     :: !Double
+    -- ^ Polynomial clock correction coefficient (clock bias)
+  , _msgEphemerisGalDepA_af1     :: !Double
+    -- ^ Polynomial clock correction coefficient (clock drift)
+  , _msgEphemerisGalDepA_af2     :: !Float
+    -- ^ Polynomial clock correction coefficient (rate of clock drift)
+  , _msgEphemerisGalDepA_toc     :: !GpsTimeSec
+    -- ^ Clock reference
+  , _msgEphemerisGalDepA_iode    :: !Word16
+    -- ^ Issue of ephemeris data
+  , _msgEphemerisGalDepA_iodc    :: !Word16
+    -- ^ Issue of clock data
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgEphemerisGalDepA where
+  get = do
+    _msgEphemerisGalDepA_common <- get
+    _msgEphemerisGalDepA_bgd_e1e5a <- getFloat32le
+    _msgEphemerisGalDepA_bgd_e1e5b <- getFloat32le
+    _msgEphemerisGalDepA_c_rs <- getFloat32le
+    _msgEphemerisGalDepA_c_rc <- getFloat32le
+    _msgEphemerisGalDepA_c_uc <- getFloat32le
+    _msgEphemerisGalDepA_c_us <- getFloat32le
+    _msgEphemerisGalDepA_c_ic <- getFloat32le
+    _msgEphemerisGalDepA_c_is <- getFloat32le
+    _msgEphemerisGalDepA_dn <- getFloat64le
+    _msgEphemerisGalDepA_m0 <- getFloat64le
+    _msgEphemerisGalDepA_ecc <- getFloat64le
+    _msgEphemerisGalDepA_sqrta <- getFloat64le
+    _msgEphemerisGalDepA_omega0 <- getFloat64le
+    _msgEphemerisGalDepA_omegadot <- getFloat64le
+    _msgEphemerisGalDepA_w <- getFloat64le
+    _msgEphemerisGalDepA_inc <- getFloat64le
+    _msgEphemerisGalDepA_inc_dot <- getFloat64le
+    _msgEphemerisGalDepA_af0 <- getFloat64le
+    _msgEphemerisGalDepA_af1 <- getFloat64le
+    _msgEphemerisGalDepA_af2 <- getFloat32le
+    _msgEphemerisGalDepA_toc <- get
+    _msgEphemerisGalDepA_iode <- getWord16le
+    _msgEphemerisGalDepA_iodc <- getWord16le
+    pure MsgEphemerisGalDepA {..}
+
+  put MsgEphemerisGalDepA {..} = do
+    put _msgEphemerisGalDepA_common
+    putFloat32le _msgEphemerisGalDepA_bgd_e1e5a
+    putFloat32le _msgEphemerisGalDepA_bgd_e1e5b
+    putFloat32le _msgEphemerisGalDepA_c_rs
+    putFloat32le _msgEphemerisGalDepA_c_rc
+    putFloat32le _msgEphemerisGalDepA_c_uc
+    putFloat32le _msgEphemerisGalDepA_c_us
+    putFloat32le _msgEphemerisGalDepA_c_ic
+    putFloat32le _msgEphemerisGalDepA_c_is
+    putFloat64le _msgEphemerisGalDepA_dn
+    putFloat64le _msgEphemerisGalDepA_m0
+    putFloat64le _msgEphemerisGalDepA_ecc
+    putFloat64le _msgEphemerisGalDepA_sqrta
+    putFloat64le _msgEphemerisGalDepA_omega0
+    putFloat64le _msgEphemerisGalDepA_omegadot
+    putFloat64le _msgEphemerisGalDepA_w
+    putFloat64le _msgEphemerisGalDepA_inc
+    putFloat64le _msgEphemerisGalDepA_inc_dot
+    putFloat64le _msgEphemerisGalDepA_af0
+    putFloat64le _msgEphemerisGalDepA_af1
+    putFloat32le _msgEphemerisGalDepA_af2
+    put _msgEphemerisGalDepA_toc
+    putWord16le _msgEphemerisGalDepA_iode
+    putWord16le _msgEphemerisGalDepA_iodc
+
+$(makeSBP 'msgEphemerisGalDepA ''MsgEphemerisGalDepA)
+$(makeJSON "_msgEphemerisGalDepA_" ''MsgEphemerisGalDepA)
+$(makeLenses ''MsgEphemerisGalDepA)
+
 msgEphemerisGal :: Word16
-msgEphemerisGal = 0x0095
+msgEphemerisGal = 0x008D
 
--- | SBP class for message MSG_EPHEMERIS_GAL (0x0095).
+-- | SBP class for message MSG_EPHEMERIS_GAL (0x008D).
 --
 -- The ephemeris message returns a set of satellite orbit parameters that is
 -- used to calculate Galileo satellite position, velocity, and clock offset.
@@ -887,6 +1175,8 @@
     -- ^ Issue of ephemeris data
   , _msgEphemerisGal_iodc    :: !Word16
     -- ^ Issue of clock data
+  , _msgEphemerisGal_source  :: !Word8
+    -- ^ 0=I/NAV, 1=F/NAV, ...
   } deriving ( Show, Read, Eq )
 
 instance Binary MsgEphemerisGal where
@@ -915,6 +1205,7 @@
     _msgEphemerisGal_toc <- get
     _msgEphemerisGal_iode <- getWord16le
     _msgEphemerisGal_iodc <- getWord16le
+    _msgEphemerisGal_source <- getWord8
     pure MsgEphemerisGal {..}
 
   put MsgEphemerisGal {..} = do
@@ -942,6 +1233,7 @@
     put _msgEphemerisGal_toc
     putWord16le _msgEphemerisGal_iode
     putWord16le _msgEphemerisGal_iodc
+    putWord8 _msgEphemerisGal_source
 
 $(makeSBP 'msgEphemerisGal ''MsgEphemerisGal)
 $(makeJSON "_msgEphemerisGal_" ''MsgEphemerisGal)
@@ -1917,7 +2209,7 @@
     pure CarrierPhaseDepA {..}
 
   put CarrierPhaseDepA {..} = do
-    putWord32le $ fromIntegral _carrierPhaseDepA_i
+    (putWord32le . fromIntegral) _carrierPhaseDepA_i
     putWord8 _carrierPhaseDepA_f
 
 $(makeJSON "_carrierPhaseDepA_" ''CarrierPhaseDepA)
@@ -2333,9 +2625,9 @@
     put _msgGroupDelayDepA_t_op
     putWord8 _msgGroupDelayDepA_prn
     putWord8 _msgGroupDelayDepA_valid
-    putWord16le $ fromIntegral _msgGroupDelayDepA_tgd
-    putWord16le $ fromIntegral _msgGroupDelayDepA_isc_l1ca
-    putWord16le $ fromIntegral _msgGroupDelayDepA_isc_l2c
+    (putWord16le . fromIntegral) _msgGroupDelayDepA_tgd
+    (putWord16le . fromIntegral) _msgGroupDelayDepA_isc_l1ca
+    (putWord16le . fromIntegral) _msgGroupDelayDepA_isc_l2c
 
 $(makeSBP 'msgGroupDelayDepA ''MsgGroupDelayDepA)
 $(makeJSON "_msgGroupDelayDepA_" ''MsgGroupDelayDepA)
@@ -2374,9 +2666,9 @@
     put _msgGroupDelayDepB_t_op
     put _msgGroupDelayDepB_sid
     putWord8 _msgGroupDelayDepB_valid
-    putWord16le $ fromIntegral _msgGroupDelayDepB_tgd
-    putWord16le $ fromIntegral _msgGroupDelayDepB_isc_l1ca
-    putWord16le $ fromIntegral _msgGroupDelayDepB_isc_l2c
+    (putWord16le . fromIntegral) _msgGroupDelayDepB_tgd
+    (putWord16le . fromIntegral) _msgGroupDelayDepB_isc_l1ca
+    (putWord16le . fromIntegral) _msgGroupDelayDepB_isc_l2c
 
 $(makeSBP 'msgGroupDelayDepB ''MsgGroupDelayDepB)
 $(makeJSON "_msgGroupDelayDepB_" ''MsgGroupDelayDepB)
@@ -2415,9 +2707,9 @@
     put _msgGroupDelay_t_op
     put _msgGroupDelay_sid
     putWord8 _msgGroupDelay_valid
-    putWord16le $ fromIntegral _msgGroupDelay_tgd
-    putWord16le $ fromIntegral _msgGroupDelay_isc_l1ca
-    putWord16le $ fromIntegral _msgGroupDelay_isc_l2c
+    (putWord16le . fromIntegral) _msgGroupDelay_tgd
+    (putWord16le . fromIntegral) _msgGroupDelay_isc_l1ca
+    (putWord16le . fromIntegral) _msgGroupDelay_isc_l2c
 
 $(makeSBP 'msgGroupDelay ''MsgGroupDelay)
 $(makeJSON "_msgGroupDelay_" ''MsgGroupDelay)
@@ -2779,11 +3071,89 @@
 
   put MsgGloBiases {..} = do
     putWord8 _msgGloBiases_mask
-    putWord16le $ fromIntegral _msgGloBiases_l1ca_bias
-    putWord16le $ fromIntegral _msgGloBiases_l1p_bias
-    putWord16le $ fromIntegral _msgGloBiases_l2ca_bias
-    putWord16le $ fromIntegral _msgGloBiases_l2p_bias
+    (putWord16le . fromIntegral) _msgGloBiases_l1ca_bias
+    (putWord16le . fromIntegral) _msgGloBiases_l1p_bias
+    (putWord16le . fromIntegral) _msgGloBiases_l2ca_bias
+    (putWord16le . fromIntegral) _msgGloBiases_l2p_bias
 
 $(makeSBP 'msgGloBiases ''MsgGloBiases)
 $(makeJSON "_msgGloBiases_" ''MsgGloBiases)
 $(makeLenses ''MsgGloBiases)
+
+-- | SvAzEl.
+--
+-- Satellite azimuth and elevation.
+data SvAzEl = SvAzEl
+  { _svAzEl_sid :: !GnssSignal
+    -- ^ GNSS signal identifier
+  , _svAzEl_az :: !Word8
+    -- ^ Azimuth angle (range 0..179)
+  , _svAzEl_el :: !Int8
+    -- ^ Elevation angle (range -90..90)
+  } deriving ( Show, Read, Eq )
+
+instance Binary SvAzEl where
+  get = do
+    _svAzEl_sid <- get
+    _svAzEl_az <- getWord8
+    _svAzEl_el <- fromIntegral <$> getWord8
+    pure SvAzEl {..}
+
+  put SvAzEl {..} = do
+    put _svAzEl_sid
+    putWord8 _svAzEl_az
+    (putWord8 . fromIntegral) _svAzEl_el
+
+$(makeJSON "_svAzEl_" ''SvAzEl)
+$(makeLenses ''SvAzEl)
+
+msgSvAzEl :: Word16
+msgSvAzEl = 0x0097
+
+-- | SBP class for message MSG_SV_AZ_EL (0x0097).
+--
+-- Azimuth and elevation angles of all the visible satellites that the device
+-- does have ephemeris or almanac for.
+data MsgSvAzEl = MsgSvAzEl
+  { _msgSvAzEl_azel :: ![SvAzEl]
+    -- ^ Azimuth and elevation per satellite
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgSvAzEl where
+  get = do
+    _msgSvAzEl_azel <- whileM (not <$> isEmpty) get
+    pure MsgSvAzEl {..}
+
+  put MsgSvAzEl {..} = do
+    mapM_ put _msgSvAzEl_azel
+
+$(makeSBP 'msgSvAzEl ''MsgSvAzEl)
+$(makeJSON "_msgSvAzEl_" ''MsgSvAzEl)
+$(makeLenses ''MsgSvAzEl)
+
+msgOsr :: Word16
+msgOsr = 0x0640
+
+-- | SBP class for message MSG_OSR (0x0640).
+--
+-- The OSR message contains network corrections in an observation-like format
+data MsgOsr = MsgOsr
+  { _msgOsr_header :: !ObservationHeader
+    -- ^ Header of a GPS observation message
+  , _msgOsr_obs  :: ![PackedOsrContent]
+    -- ^ Network correction for a satellite signal.
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgOsr where
+  get = do
+    _msgOsr_header <- get
+    _msgOsr_obs <- whileM (not <$> isEmpty) get
+    pure MsgOsr {..}
+
+  put MsgOsr {..} = do
+    put _msgOsr_header
+    mapM_ put _msgOsr_obs
+
+$(makeSBP 'msgOsr ''MsgOsr)
+$(makeJSON "_msgOsr_" ''MsgOsr)
+$(makeLenses ''MsgOsr)
diff --git a/src/SwiftNav/SBP/Orientation.hs b/src/SwiftNav/SBP/Orientation.hs
--- a/src/SwiftNav/SBP/Orientation.hs
+++ b/src/SwiftNav/SBP/Orientation.hs
@@ -121,10 +121,10 @@
 
   put MsgOrientQuat {..} = do
     putWord32le _msgOrientQuat_tow
-    putWord32le $ fromIntegral _msgOrientQuat_w
-    putWord32le $ fromIntegral _msgOrientQuat_x
-    putWord32le $ fromIntegral _msgOrientQuat_y
-    putWord32le $ fromIntegral _msgOrientQuat_z
+    (putWord32le . fromIntegral) _msgOrientQuat_w
+    (putWord32le . fromIntegral) _msgOrientQuat_x
+    (putWord32le . fromIntegral) _msgOrientQuat_y
+    (putWord32le . fromIntegral) _msgOrientQuat_z
     putFloat32le _msgOrientQuat_w_accuracy
     putFloat32le _msgOrientQuat_x_accuracy
     putFloat32le _msgOrientQuat_y_accuracy
@@ -179,9 +179,9 @@
 
   put MsgOrientEuler {..} = do
     putWord32le _msgOrientEuler_tow
-    putWord32le $ fromIntegral _msgOrientEuler_roll
-    putWord32le $ fromIntegral _msgOrientEuler_pitch
-    putWord32le $ fromIntegral _msgOrientEuler_yaw
+    (putWord32le . fromIntegral) _msgOrientEuler_roll
+    (putWord32le . fromIntegral) _msgOrientEuler_pitch
+    (putWord32le . fromIntegral) _msgOrientEuler_yaw
     putFloat32le _msgOrientEuler_roll_accuracy
     putFloat32le _msgOrientEuler_pitch_accuracy
     putFloat32le _msgOrientEuler_yaw_accuracy
@@ -229,9 +229,9 @@
 
   put MsgAngularRate {..} = do
     putWord32le _msgAngularRate_tow
-    putWord32le $ fromIntegral _msgAngularRate_x
-    putWord32le $ fromIntegral _msgAngularRate_y
-    putWord32le $ fromIntegral _msgAngularRate_z
+    (putWord32le . fromIntegral) _msgAngularRate_x
+    (putWord32le . fromIntegral) _msgAngularRate_y
+    (putWord32le . fromIntegral) _msgAngularRate_z
     putWord8 _msgAngularRate_flags
 
 $(makeSBP 'msgAngularRate ''MsgAngularRate)
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
@@ -186,27 +186,24 @@
 $(makeJSON "_msgResetFilters_" ''MsgResetFilters)
 $(makeLenses ''MsgResetFilters)
 
-msgInitBase :: Word16
-msgInitBase = 0x0023
+msgInitBaseDep :: Word16
+msgInitBaseDep = 0x0023
 
--- | SBP class for message MSG_INIT_BASE (0x0023).
+-- | SBP class for message MSG_INIT_BASE_DEP (0x0023).
 --
--- This message initializes the integer ambiguity resolution (IAR) process on
--- the Piksi to use an assumed baseline position between the base station and
--- rover receivers. Warns via MSG_PRINT if there aren't a shared minimum number
--- (4) of satellite observations between the two.
-data MsgInitBase = MsgInitBase
+-- Deprecated
+data MsgInitBaseDep = MsgInitBaseDep
   deriving ( Show, Read, Eq )
 
-instance Binary MsgInitBase where
+instance Binary MsgInitBaseDep where
   get =
-    pure MsgInitBase
+    pure MsgInitBaseDep
 
-  put MsgInitBase =
+  put MsgInitBaseDep =
     pure ()
-$(makeSBP 'msgInitBase ''MsgInitBase)
-$(makeJSON "_msgInitBase_" ''MsgInitBase)
-$(makeLenses ''MsgInitBase)
+$(makeSBP 'msgInitBaseDep ''MsgInitBaseDep)
+$(makeJSON "_msgInitBaseDep_" ''MsgInitBaseDep)
+$(makeLenses ''MsgInitBaseDep)
 
 msgThreadState :: Word16
 msgThreadState = 0x0017
@@ -309,10 +306,10 @@
     pure Period {..}
 
   put Period {..} = do
-    putWord32le $ fromIntegral _period_avg
-    putWord32le $ fromIntegral _period_pmin
-    putWord32le $ fromIntegral _period_pmax
-    putWord32le $ fromIntegral _period_current
+    (putWord32le . fromIntegral) _period_avg
+    (putWord32le . fromIntegral) _period_pmin
+    (putWord32le . fromIntegral) _period_pmax
+    (putWord32le . fromIntegral) _period_current
 
 $(makeJSON "_period_" ''Period)
 $(makeLenses ''Period)
@@ -343,10 +340,10 @@
     pure Latency {..}
 
   put Latency {..} = do
-    putWord32le $ fromIntegral _latency_avg
-    putWord32le $ fromIntegral _latency_lmin
-    putWord32le $ fromIntegral _latency_lmax
-    putWord32le $ fromIntegral _latency_current
+    (putWord32le . fromIntegral) _latency_avg
+    (putWord32le . fromIntegral) _latency_lmin
+    (putWord32le . fromIntegral) _latency_lmax
+    (putWord32le . fromIntegral) _latency_current
 
 $(makeJSON "_latency_" ''Latency)
 $(makeLenses ''Latency)
@@ -543,11 +540,11 @@
     pure MsgDeviceMonitor {..}
 
   put MsgDeviceMonitor {..} = do
-    putWord16le $ fromIntegral _msgDeviceMonitor_dev_vin
-    putWord16le $ fromIntegral _msgDeviceMonitor_cpu_vint
-    putWord16le $ fromIntegral _msgDeviceMonitor_cpu_vaux
-    putWord16le $ fromIntegral _msgDeviceMonitor_cpu_temperature
-    putWord16le $ fromIntegral _msgDeviceMonitor_fe_temperature
+    (putWord16le . fromIntegral) _msgDeviceMonitor_dev_vin
+    (putWord16le . fromIntegral) _msgDeviceMonitor_cpu_vint
+    (putWord16le . fromIntegral) _msgDeviceMonitor_cpu_vaux
+    (putWord16le . fromIntegral) _msgDeviceMonitor_cpu_temperature
+    (putWord16le . fromIntegral) _msgDeviceMonitor_fe_temperature
 
 $(makeSBP 'msgDeviceMonitor ''MsgDeviceMonitor)
 $(makeJSON "_msgDeviceMonitor_" ''MsgDeviceMonitor)
@@ -603,7 +600,7 @@
 
   put MsgCommandResp {..} = do
     putWord32le _msgCommandResp_sequence
-    putWord32le $ fromIntegral _msgCommandResp_code
+    (putWord32le . fromIntegral) _msgCommandResp_code
 
 $(makeSBP 'msgCommandResp ''MsgCommandResp)
 $(makeJSON "_msgCommandResp_" ''MsgCommandResp)
@@ -797,7 +794,7 @@
     pure MsgCellModemStatus {..}
 
   put MsgCellModemStatus {..} = do
-    putWord8 $ fromIntegral _msgCellModemStatus_signal_strength
+    (putWord8 . fromIntegral) _msgCellModemStatus_signal_strength
     putFloat32le _msgCellModemStatus_signal_error_rate
     mapM_ putWord8 _msgCellModemStatus_reserved
 
@@ -898,3 +895,36 @@
 $(makeSBP 'msgSpecan ''MsgSpecan)
 $(makeJSON "_msgSpecan_" ''MsgSpecan)
 $(makeLenses ''MsgSpecan)
+
+msgFrontEndGain :: Word16
+msgFrontEndGain = 0x00BF
+
+-- | SBP class for message MSG_FRONT_END_GAIN (0x00BF).
+--
+-- This message describes the gain of each channel in the receiver frontend.
+-- Each  gain is encoded as a non-dimensional percentage relative to the
+-- maximum range   possible for the gain stage of the frontend. By convention,
+-- each gain array  has 8 entries and the index of the array corresponding to
+-- the index of the rf channel  in the frontend. A gain of 127 percent encodes
+-- that rf channel is not present in the hardware. A negative value implies an
+-- error for the particular gain stage as reported by the frontend.
+data MsgFrontEndGain = MsgFrontEndGain
+  { _msgFrontEndGain_rf_gain :: ![Int8]
+    -- ^ RF gain for each frontend channel
+  , _msgFrontEndGain_if_gain :: ![Int8]
+    -- ^ Intermediate frequency gain for each frontend channel
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgFrontEndGain where
+  get = do
+    _msgFrontEndGain_rf_gain <- replicateM 8 fromIntegral <$> getWord8
+    _msgFrontEndGain_if_gain <- replicateM 8 fromIntegral <$> getWord8
+    pure MsgFrontEndGain {..}
+
+  put MsgFrontEndGain {..} = do
+    mapM_ (putWord8 . fromIntegral) _msgFrontEndGain_rf_gain
+    mapM_ (putWord8 . fromIntegral) _msgFrontEndGain_if_gain
+
+$(makeSBP 'msgFrontEndGain ''MsgFrontEndGain)
+$(makeJSON "_msgFrontEndGain_" ''MsgFrontEndGain)
+$(makeLenses ''MsgFrontEndGain)
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
@@ -303,3 +303,35 @@
 $(makeSBP 'msgSettingsRegister ''MsgSettingsRegister)
 $(makeJSON "_msgSettingsRegister_" ''MsgSettingsRegister)
 $(makeLenses ''MsgSettingsRegister)
+
+msgSettingsRegisterResp :: Word16
+msgSettingsRegisterResp = 0x01AF
+
+-- | SBP class for message MSG_SETTINGS_REGISTER_RESP (0x01AF).
+--
+-- This message responds to setting registration with the effective value. The
+-- effective value shall differ from the given default value if setting was
+-- already registered or is available in the permanent setting storage and had
+-- a different value.
+data MsgSettingsRegisterResp = MsgSettingsRegisterResp
+  { _msgSettingsRegisterResp_status :: !Word8
+    -- ^ Register status
+  , _msgSettingsRegisterResp_setting :: !Text
+    -- ^ A NULL-terminated and delimited string with contents
+    -- "SECTION_SETTING\0SETTING\0VALUE". The meaning of value is defined
+    -- according to the status field.
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgSettingsRegisterResp where
+  get = do
+    _msgSettingsRegisterResp_status <- getWord8
+    _msgSettingsRegisterResp_setting <- decodeUtf8 . toStrict <$> getRemainingLazyByteString
+    pure MsgSettingsRegisterResp {..}
+
+  put MsgSettingsRegisterResp {..} = do
+    putWord8 _msgSettingsRegisterResp_status
+    putByteString $ encodeUtf8 _msgSettingsRegisterResp_setting
+
+$(makeSBP 'msgSettingsRegisterResp ''MsgSettingsRegisterResp)
+$(makeJSON "_msgSettingsRegisterResp_" ''MsgSettingsRegisterResp)
+$(makeLenses ''MsgSettingsRegisterResp)
diff --git a/src/SwiftNav/SBP/Ssr.hs b/src/SwiftNav/SBP/Ssr.hs
--- a/src/SwiftNav/SBP/Ssr.hs
+++ b/src/SwiftNav/SBP/Ssr.hs
@@ -55,7 +55,7 @@
 
   put CodeBiasesContent {..} = do
     putWord8 _codeBiasesContent_code
-    putWord16le $ fromIntegral _codeBiasesContent_value
+    (putWord16le . fromIntegral) _codeBiasesContent_value
 
 $(makeJSON "_codeBiasesContent_" ''CodeBiasesContent)
 $(makeLenses ''CodeBiasesContent)
@@ -72,8 +72,8 @@
   , _phaseBiasesContent_widelane_integer_indicator :: !Word8
     -- ^ Indicator for two groups of Wide-Lane(s) integer property
   , _phaseBiasesContent_discontinuity_counter    :: !Word8
-    -- ^ Signal phase discontinuity counter.  Increased for every discontinuity
-    -- in phase.
+    -- ^ Signal phase discontinuity counter. Increased for every discontinuity in
+    -- phase.
   , _phaseBiasesContent_bias                     :: !Int32
     -- ^ Phase bias for specified signal
   } deriving ( Show, Read, Eq )
@@ -92,19 +92,236 @@
     putWord8 _phaseBiasesContent_integer_indicator
     putWord8 _phaseBiasesContent_widelane_integer_indicator
     putWord8 _phaseBiasesContent_discontinuity_counter
-    putWord32le $ fromIntegral _phaseBiasesContent_bias
+    (putWord32le . fromIntegral) _phaseBiasesContent_bias
 
 $(makeJSON "_phaseBiasesContent_" ''PhaseBiasesContent)
 $(makeLenses ''PhaseBiasesContent)
 
+-- | STECHeader.
+--
+-- A full set of STEC information will likely span multiple SBP messages, since
+-- SBP message a limited to 255 bytes.  The header is used to tie multiple SBP
+-- messages into a sequence.
+data STECHeader = STECHeader
+  { _sTECHeader_time              :: !GpsTime
+    -- ^ GNSS time of the STEC data
+  , _sTECHeader_num_msgs          :: !Word8
+    -- ^ Number of messages in the dataset
+  , _sTECHeader_seq_num           :: !Word8
+    -- ^ Position of this message in the dataset
+  , _sTECHeader_ssr_update_interval :: !Word16
+    -- ^ update interval in seconds
+  , _sTECHeader_iod_ssr           :: !Word8
+    -- ^ range 0 - 15
+  } deriving ( Show, Read, Eq )
+
+instance Binary STECHeader where
+  get = do
+    _sTECHeader_time <- get
+    _sTECHeader_num_msgs <- getWord8
+    _sTECHeader_seq_num <- getWord8
+    _sTECHeader_ssr_update_interval <- getWord16le
+    _sTECHeader_iod_ssr <- getWord8
+    pure STECHeader {..}
+
+  put STECHeader {..} = do
+    put _sTECHeader_time
+    putWord8 _sTECHeader_num_msgs
+    putWord8 _sTECHeader_seq_num
+    putWord16le _sTECHeader_ssr_update_interval
+    putWord8 _sTECHeader_iod_ssr
+
+$(makeJSON "_sTECHeader_" ''STECHeader)
+$(makeLenses ''STECHeader)
+
+-- | GriddedCorrectionHeader.
+--
+-- The 3GPP message contains nested variable length arrays which are not
+-- suppported in SBP, so each grid point will be identified by the index.
+data GriddedCorrectionHeader = GriddedCorrectionHeader
+  { _griddedCorrectionHeader_time              :: !GpsTime
+    -- ^ GNSS time of the STEC data
+  , _griddedCorrectionHeader_num_msgs          :: !Word16
+    -- ^ Number of messages in the dataset
+  , _griddedCorrectionHeader_seq_num           :: !Word16
+    -- ^ Position of this message in the dataset
+  , _griddedCorrectionHeader_ssr_update_interval :: !Word16
+    -- ^ update interval in seconds
+  , _griddedCorrectionHeader_iod_ssr           :: !Word8
+    -- ^ range 0 - 15
+  , _griddedCorrectionHeader_tropo_quality     :: !Word8
+    -- ^ troposphere quality indicator
+  } deriving ( Show, Read, Eq )
+
+instance Binary GriddedCorrectionHeader where
+  get = do
+    _griddedCorrectionHeader_time <- get
+    _griddedCorrectionHeader_num_msgs <- getWord16le
+    _griddedCorrectionHeader_seq_num <- getWord16le
+    _griddedCorrectionHeader_ssr_update_interval <- getWord16le
+    _griddedCorrectionHeader_iod_ssr <- getWord8
+    _griddedCorrectionHeader_tropo_quality <- getWord8
+    pure GriddedCorrectionHeader {..}
+
+  put GriddedCorrectionHeader {..} = do
+    put _griddedCorrectionHeader_time
+    putWord16le _griddedCorrectionHeader_num_msgs
+    putWord16le _griddedCorrectionHeader_seq_num
+    putWord16le _griddedCorrectionHeader_ssr_update_interval
+    putWord8 _griddedCorrectionHeader_iod_ssr
+    putWord8 _griddedCorrectionHeader_tropo_quality
+
+$(makeJSON "_griddedCorrectionHeader_" ''GriddedCorrectionHeader)
+$(makeLenses ''GriddedCorrectionHeader)
+
+-- | STECSatElement.
+--
+-- STEC for the given satellite.
+data STECSatElement = STECSatElement
+  { _sTECSatElement_sv_id                :: !SvId
+    -- ^ Unique space vehicle identifier
+  , _sTECSatElement_stec_quality_indicator :: !Word8
+    -- ^ quality of STEC data
+  , _sTECSatElement_stec_coeff           :: ![Int16]
+    -- ^ coefficents of the STEC polynomial
+  } deriving ( Show, Read, Eq )
+
+instance Binary STECSatElement where
+  get = do
+    _sTECSatElement_sv_id <- get
+    _sTECSatElement_stec_quality_indicator <- getWord8
+    _sTECSatElement_stec_coeff <- replicateM 4 fromIntegral <$> getWord16le
+    pure STECSatElement {..}
+
+  put STECSatElement {..} = do
+    put _sTECSatElement_sv_id
+    putWord8 _sTECSatElement_stec_quality_indicator
+    mapM_ (putWord16le . fromIntegral) _sTECSatElement_stec_coeff
+
+$(makeJSON "_sTECSatElement_" ''STECSatElement)
+$(makeLenses ''STECSatElement)
+
+-- | TroposphericDelayCorrection.
+--
+-- Contains wet vertical and hydrostatic vertical delay
+data TroposphericDelayCorrection = TroposphericDelayCorrection
+  { _troposphericDelayCorrection_hydro :: !Int16
+    -- ^ hydrostatic vertical delay
+  , _troposphericDelayCorrection_wet :: !Int8
+    -- ^ wet vertical delay
+  } deriving ( Show, Read, Eq )
+
+instance Binary TroposphericDelayCorrection where
+  get = do
+    _troposphericDelayCorrection_hydro <- fromIntegral <$> getWord16le
+    _troposphericDelayCorrection_wet <- fromIntegral <$> getWord8
+    pure TroposphericDelayCorrection {..}
+
+  put TroposphericDelayCorrection {..} = do
+    (putWord16le . fromIntegral) _troposphericDelayCorrection_hydro
+    (putWord8 . fromIntegral) _troposphericDelayCorrection_wet
+
+$(makeJSON "_troposphericDelayCorrection_" ''TroposphericDelayCorrection)
+$(makeLenses ''TroposphericDelayCorrection)
+
+-- | STECResidual.
+--
+-- STEC residual
+data STECResidual = STECResidual
+  { _sTECResidual_sv_id  :: !SvId
+    -- ^ space vehicle identifier
+  , _sTECResidual_residual :: !Int16
+    -- ^ STEC residual
+  } deriving ( Show, Read, Eq )
+
+instance Binary STECResidual where
+  get = do
+    _sTECResidual_sv_id <- get
+    _sTECResidual_residual <- fromIntegral <$> getWord16le
+    pure STECResidual {..}
+
+  put STECResidual {..} = do
+    put _sTECResidual_sv_id
+    (putWord16le . fromIntegral) _sTECResidual_residual
+
+$(makeJSON "_sTECResidual_" ''STECResidual)
+$(makeLenses ''STECResidual)
+
+-- | GridElement.
+--
+-- Contains one tropo datum, plus STEC residuals for each space vehicle
+data GridElement = GridElement
+  { _gridElement_index                :: !Word16
+    -- ^ index of the grid point
+  , _gridElement_tropo_delay_correction :: !TroposphericDelayCorrection
+    -- ^ Wet and Hydrostatic Vertical Delay
+  , _gridElement_STEC_residuals       :: ![STECResidual]
+    -- ^ STEC Residual for the given space vehicle
+  } deriving ( Show, Read, Eq )
+
+instance Binary GridElement where
+  get = do
+    _gridElement_index <- getWord16le
+    _gridElement_tropo_delay_correction <- get
+    _gridElement_STEC_residuals <- whileM (not <$> isEmpty) get
+    pure GridElement {..}
+
+  put GridElement {..} = do
+    putWord16le _gridElement_index
+    put _gridElement_tropo_delay_correction
+    mapM_ put _gridElement_STEC_residuals
+
+$(makeJSON "_gridElement_" ''GridElement)
+$(makeLenses ''GridElement)
+
+-- | GridDefinitionHeader.
+--
+-- Defines the grid for STEC and tropo grid messages. Also includes an RLE
+-- encoded validity list.
+data GridDefinitionHeader = GridDefinitionHeader
+  { _gridDefinitionHeader_region_size_inverse :: !Word8
+    -- ^ inverse of region size
+  , _gridDefinitionHeader_area_width        :: !Word16
+    -- ^ area width; see spec for details
+  , _gridDefinitionHeader_lat_nw_corner_enc :: !Word16
+    -- ^ encoded latitude of the northwest corner of the grid
+  , _gridDefinitionHeader_lon_nw_corner_enc :: !Word16
+    -- ^ encoded longitude of the northwest corner of the grid
+  , _gridDefinitionHeader_num_msgs          :: !Word8
+    -- ^ Number of messages in the dataset
+  , _gridDefinitionHeader_seq_num           :: !Word8
+    -- ^ Postion of this message in the dataset
+  } deriving ( Show, Read, Eq )
+
+instance Binary GridDefinitionHeader where
+  get = do
+    _gridDefinitionHeader_region_size_inverse <- getWord8
+    _gridDefinitionHeader_area_width <- getWord16le
+    _gridDefinitionHeader_lat_nw_corner_enc <- getWord16le
+    _gridDefinitionHeader_lon_nw_corner_enc <- getWord16le
+    _gridDefinitionHeader_num_msgs <- getWord8
+    _gridDefinitionHeader_seq_num <- getWord8
+    pure GridDefinitionHeader {..}
+
+  put GridDefinitionHeader {..} = do
+    putWord8 _gridDefinitionHeader_region_size_inverse
+    putWord16le _gridDefinitionHeader_area_width
+    putWord16le _gridDefinitionHeader_lat_nw_corner_enc
+    putWord16le _gridDefinitionHeader_lon_nw_corner_enc
+    putWord8 _gridDefinitionHeader_num_msgs
+    putWord8 _gridDefinitionHeader_seq_num
+
+$(makeJSON "_gridDefinitionHeader_" ''GridDefinitionHeader)
+$(makeLenses ''GridDefinitionHeader)
+
 msgSsrOrbitClock :: Word16
 msgSsrOrbitClock = 0x05DD
 
 -- | SBP class for message MSG_SSR_ORBIT_CLOCK (0x05DD).
 --
--- The precise orbit and clock correction message is  to be applied as a delta
--- correction to broadcast  ephemeris and is typically an equivalent to the
--- 1060 and 1066 RTCM message types
+-- The precise orbit and clock correction message is to be applied as a delta
+-- correction to broadcast ephemeris and is typically an equivalent to the 1060
+-- and 1066 RTCM message types
 data MsgSsrOrbitClock = MsgSsrOrbitClock
   { _msgSsrOrbitClock_time          :: !GpsTimeSec
     -- ^ GNSS reference time of the correction
@@ -114,7 +331,7 @@
     -- ^ Update interval between consecutive corrections
   , _msgSsrOrbitClock_iod_ssr       :: !Word8
     -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to
-    -- indicate a change in the SSR  generating configuration
+    -- indicate a change in the SSR generating configuration
   , _msgSsrOrbitClock_iod           :: !Word32
     -- ^ Issue of broadcast ephemeris data or IODCRC (Beidou)
   , _msgSsrOrbitClock_radial        :: !Int32
@@ -161,15 +378,15 @@
     putWord8 _msgSsrOrbitClock_update_interval
     putWord8 _msgSsrOrbitClock_iod_ssr
     putWord32le _msgSsrOrbitClock_iod
-    putWord32le $ fromIntegral _msgSsrOrbitClock_radial
-    putWord32le $ fromIntegral _msgSsrOrbitClock_along
-    putWord32le $ fromIntegral _msgSsrOrbitClock_cross
-    putWord32le $ fromIntegral _msgSsrOrbitClock_dot_radial
-    putWord32le $ fromIntegral _msgSsrOrbitClock_dot_along
-    putWord32le $ fromIntegral _msgSsrOrbitClock_dot_cross
-    putWord32le $ fromIntegral _msgSsrOrbitClock_c0
-    putWord32le $ fromIntegral _msgSsrOrbitClock_c1
-    putWord32le $ fromIntegral _msgSsrOrbitClock_c2
+    (putWord32le . fromIntegral) _msgSsrOrbitClock_radial
+    (putWord32le . fromIntegral) _msgSsrOrbitClock_along
+    (putWord32le . fromIntegral) _msgSsrOrbitClock_cross
+    (putWord32le . fromIntegral) _msgSsrOrbitClock_dot_radial
+    (putWord32le . fromIntegral) _msgSsrOrbitClock_dot_along
+    (putWord32le . fromIntegral) _msgSsrOrbitClock_dot_cross
+    (putWord32le . fromIntegral) _msgSsrOrbitClock_c0
+    (putWord32le . fromIntegral) _msgSsrOrbitClock_c1
+    (putWord32le . fromIntegral) _msgSsrOrbitClock_c2
 
 $(makeSBP 'msgSsrOrbitClock ''MsgSsrOrbitClock)
 $(makeJSON "_msgSsrOrbitClock_" ''MsgSsrOrbitClock)
@@ -180,9 +397,9 @@
 
 -- | SBP class for message MSG_SSR_ORBIT_CLOCK_DEP_A (0x05DC).
 --
--- The precise orbit and clock correction message is  to be applied as a delta
--- correction to broadcast  ephemeris and is typically an equivalent to the
--- 1060 and 1066 RTCM message types
+-- The precise orbit and clock correction message is to be applied as a delta
+-- correction to broadcast ephemeris and is typically an equivalent to the 1060
+-- and 1066 RTCM message types
 data MsgSsrOrbitClockDepA = MsgSsrOrbitClockDepA
   { _msgSsrOrbitClockDepA_time          :: !GpsTimeSec
     -- ^ GNSS reference time of the correction
@@ -192,7 +409,7 @@
     -- ^ Update interval between consecutive corrections
   , _msgSsrOrbitClockDepA_iod_ssr       :: !Word8
     -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to
-    -- indicate a change in the SSR  generating configuration
+    -- indicate a change in the SSR generating configuration
   , _msgSsrOrbitClockDepA_iod           :: !Word8
     -- ^ Issue of broadcast ephemeris data
   , _msgSsrOrbitClockDepA_radial        :: !Int32
@@ -239,15 +456,15 @@
     putWord8 _msgSsrOrbitClockDepA_update_interval
     putWord8 _msgSsrOrbitClockDepA_iod_ssr
     putWord8 _msgSsrOrbitClockDepA_iod
-    putWord32le $ fromIntegral _msgSsrOrbitClockDepA_radial
-    putWord32le $ fromIntegral _msgSsrOrbitClockDepA_along
-    putWord32le $ fromIntegral _msgSsrOrbitClockDepA_cross
-    putWord32le $ fromIntegral _msgSsrOrbitClockDepA_dot_radial
-    putWord32le $ fromIntegral _msgSsrOrbitClockDepA_dot_along
-    putWord32le $ fromIntegral _msgSsrOrbitClockDepA_dot_cross
-    putWord32le $ fromIntegral _msgSsrOrbitClockDepA_c0
-    putWord32le $ fromIntegral _msgSsrOrbitClockDepA_c1
-    putWord32le $ fromIntegral _msgSsrOrbitClockDepA_c2
+    (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_radial
+    (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_along
+    (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_cross
+    (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_dot_radial
+    (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_dot_along
+    (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_dot_cross
+    (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_c0
+    (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_c1
+    (putWord32le . fromIntegral) _msgSsrOrbitClockDepA_c2
 
 $(makeSBP 'msgSsrOrbitClockDepA ''MsgSsrOrbitClockDepA)
 $(makeJSON "_msgSsrOrbitClockDepA_" ''MsgSsrOrbitClockDepA)
@@ -259,7 +476,7 @@
 -- | SBP class for message MSG_SSR_CODE_BIASES (0x05E1).
 --
 -- The precise code biases message is to be added to the pseudorange of the
--- corresponding signal to get corrected pseudorange. It is typically  an
+-- corresponding signal to get corrected pseudorange. It is typically an
 -- equivalent to the 1059 and 1065 RTCM message types
 data MsgSsrCodeBiases = MsgSsrCodeBiases
   { _msgSsrCodeBiases_time          :: !GpsTimeSec
@@ -270,7 +487,7 @@
     -- ^ Update interval between consecutive corrections
   , _msgSsrCodeBiases_iod_ssr       :: !Word8
     -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to
-    -- indicate a change in the SSR  generating configuration
+    -- indicate a change in the SSR generating configuration
   , _msgSsrCodeBiases_biases        :: ![CodeBiasesContent]
     -- ^ Code biases for the different satellite signals
   } deriving ( Show, Read, Eq )
@@ -302,9 +519,9 @@
 --
 -- The precise phase biases message contains the biases to be added to the
 -- carrier phase of the corresponding signal to get corrected carrier phase
--- measurement, as  well as the satellite yaw angle to be applied to compute
--- the phase wind-up correction.  It is typically an equivalent to the 1265
--- RTCM message types
+-- measurement, as well as the satellite yaw angle to be applied to compute the
+-- phase wind-up correction. It is typically an equivalent to the 1265 RTCM
+-- message types
 data MsgSsrPhaseBiases = MsgSsrPhaseBiases
   { _msgSsrPhaseBiases_time          :: !GpsTimeSec
     -- ^ GNSS reference time of the correction
@@ -314,7 +531,7 @@
     -- ^ Update interval between consecutive corrections
   , _msgSsrPhaseBiases_iod_ssr       :: !Word8
     -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to
-    -- indicate a change in the SSR  generating configuration
+    -- indicate a change in the SSR generating configuration
   , _msgSsrPhaseBiases_dispersive_bias :: !Word8
     -- ^ Indicator for the dispersive phase biases property.
   , _msgSsrPhaseBiases_mw_consistency :: !Word8
@@ -348,9 +565,95 @@
     putWord8 _msgSsrPhaseBiases_dispersive_bias
     putWord8 _msgSsrPhaseBiases_mw_consistency
     putWord16le _msgSsrPhaseBiases_yaw
-    putWord8 $ fromIntegral _msgSsrPhaseBiases_yaw_rate
+    (putWord8 . fromIntegral) _msgSsrPhaseBiases_yaw_rate
     mapM_ put _msgSsrPhaseBiases_biases
 
 $(makeSBP 'msgSsrPhaseBiases ''MsgSsrPhaseBiases)
 $(makeJSON "_msgSsrPhaseBiases_" ''MsgSsrPhaseBiases)
 $(makeLenses ''MsgSsrPhaseBiases)
+
+msgSsrStecCorrection :: Word16
+msgSsrStecCorrection = 0x05EB
+
+-- | SBP class for message MSG_SSR_STEC_CORRECTION (0x05EB).
+--
+-- The STEC per space vehicle, given as polynomial approximation for a given
+-- grid.  This should be combined with SSR-GriddedCorrection message to get the
+-- state space representation of the atmospheric delay.
+data MsgSsrStecCorrection = MsgSsrStecCorrection
+  { _msgSsrStecCorrection_header      :: !STECHeader
+    -- ^ Header of a STEC message
+  , _msgSsrStecCorrection_stec_sat_list :: ![STECSatElement]
+    -- ^ Array of STEC information for each space vehicle
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgSsrStecCorrection where
+  get = do
+    _msgSsrStecCorrection_header <- get
+    _msgSsrStecCorrection_stec_sat_list <- whileM (not <$> isEmpty) get
+    pure MsgSsrStecCorrection {..}
+
+  put MsgSsrStecCorrection {..} = do
+    put _msgSsrStecCorrection_header
+    mapM_ put _msgSsrStecCorrection_stec_sat_list
+
+$(makeSBP 'msgSsrStecCorrection ''MsgSsrStecCorrection)
+$(makeJSON "_msgSsrStecCorrection_" ''MsgSsrStecCorrection)
+$(makeLenses ''MsgSsrStecCorrection)
+
+msgSsrGriddedCorrection :: Word16
+msgSsrGriddedCorrection = 0x05F0
+
+-- | SBP class for message MSG_SSR_GRIDDED_CORRECTION (0x05F0).
+--
+-- STEC residuals are per space vehicle, tropo is not.
+data MsgSsrGriddedCorrection = MsgSsrGriddedCorrection
+  { _msgSsrGriddedCorrection_header :: !GriddedCorrectionHeader
+    -- ^ Header of a Gridded Correction message
+  , _msgSsrGriddedCorrection_element :: !GridElement
+    -- ^ Tropo and STEC residuals for the given grid point
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgSsrGriddedCorrection where
+  get = do
+    _msgSsrGriddedCorrection_header <- get
+    _msgSsrGriddedCorrection_element <- get
+    pure MsgSsrGriddedCorrection {..}
+
+  put MsgSsrGriddedCorrection {..} = do
+    put _msgSsrGriddedCorrection_header
+    put _msgSsrGriddedCorrection_element
+
+$(makeSBP 'msgSsrGriddedCorrection ''MsgSsrGriddedCorrection)
+$(makeJSON "_msgSsrGriddedCorrection_" ''MsgSsrGriddedCorrection)
+$(makeLenses ''MsgSsrGriddedCorrection)
+
+msgSsrGridDefinition :: Word16
+msgSsrGridDefinition = 0x05F5
+
+-- | SBP class for message MSG_SSR_GRID_DEFINITION (0x05F5).
+--
+-- Definition of the grid for STEC and tropo messages
+data MsgSsrGridDefinition = MsgSsrGridDefinition
+  { _msgSsrGridDefinition_header :: !GridDefinitionHeader
+    -- ^ Header of a Gridded Correction message
+  , _msgSsrGridDefinition_rle_list :: ![Word8]
+    -- ^ Run Length Encode list of quadrants that contain valid data. The spec
+    -- describes the encoding scheme in detail, but essentially the index of
+    -- the quadrants that contain transitions between valid and invalid (and
+    -- vice versa) are encoded as u8 integers.
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgSsrGridDefinition where
+  get = do
+    _msgSsrGridDefinition_header <- get
+    _msgSsrGridDefinition_rle_list <- whileM (not <$> isEmpty) getWord8
+    pure MsgSsrGridDefinition {..}
+
+  put MsgSsrGridDefinition {..} = do
+    put _msgSsrGridDefinition_header
+    mapM_ putWord8 _msgSsrGridDefinition_rle_list
+
+$(makeSBP 'msgSsrGridDefinition ''MsgSsrGridDefinition)
+$(makeJSON "_msgSsrGridDefinition_" ''MsgSsrGridDefinition)
+$(makeLenses ''MsgSsrGridDefinition)
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
@@ -128,13 +128,13 @@
     putWord8 _msgTrackingStateDetailedDepA_cn0
     putWord16le _msgTrackingStateDetailedDepA_lock
     put _msgTrackingStateDetailedDepA_sid
-    putWord32le $ fromIntegral _msgTrackingStateDetailedDepA_doppler
+    (putWord32le . fromIntegral) _msgTrackingStateDetailedDepA_doppler
     putWord16le _msgTrackingStateDetailedDepA_doppler_std
     putWord32le _msgTrackingStateDetailedDepA_uptime
-    putWord16le $ fromIntegral _msgTrackingStateDetailedDepA_clock_offset
-    putWord16le $ fromIntegral _msgTrackingStateDetailedDepA_clock_drift
+    (putWord16le . fromIntegral) _msgTrackingStateDetailedDepA_clock_offset
+    (putWord16le . fromIntegral) _msgTrackingStateDetailedDepA_clock_drift
     putWord16le _msgTrackingStateDetailedDepA_corr_spacing
-    putWord8 $ fromIntegral _msgTrackingStateDetailedDepA_acceleration
+    (putWord8 . fromIntegral) _msgTrackingStateDetailedDepA_acceleration
     putWord8 _msgTrackingStateDetailedDepA_sync_flags
     putWord8 _msgTrackingStateDetailedDepA_tow_flags
     putWord8 _msgTrackingStateDetailedDepA_track_flags
@@ -237,13 +237,13 @@
     putWord8 _msgTrackingStateDetailedDep_cn0
     putWord16le _msgTrackingStateDetailedDep_lock
     put _msgTrackingStateDetailedDep_sid
-    putWord32le $ fromIntegral _msgTrackingStateDetailedDep_doppler
+    (putWord32le . fromIntegral) _msgTrackingStateDetailedDep_doppler
     putWord16le _msgTrackingStateDetailedDep_doppler_std
     putWord32le _msgTrackingStateDetailedDep_uptime
-    putWord16le $ fromIntegral _msgTrackingStateDetailedDep_clock_offset
-    putWord16le $ fromIntegral _msgTrackingStateDetailedDep_clock_drift
+    (putWord16le . fromIntegral) _msgTrackingStateDetailedDep_clock_offset
+    (putWord16le . fromIntegral) _msgTrackingStateDetailedDep_clock_drift
     putWord16le _msgTrackingStateDetailedDep_corr_spacing
-    putWord8 $ fromIntegral _msgTrackingStateDetailedDep_acceleration
+    (putWord8 . fromIntegral) _msgTrackingStateDetailedDep_acceleration
     putWord8 _msgTrackingStateDetailedDep_sync_flags
     putWord8 _msgTrackingStateDetailedDep_tow_flags
     putWord8 _msgTrackingStateDetailedDep_track_flags
@@ -311,8 +311,8 @@
 -- | MeasurementState.
 --
 -- Measurement Engine tracking channel state for a specific satellite signal
--- and measured signal power.  The mesid field for Glonass can either  carry
--- the FCN as 100 + FCN where FCN is in [-7, +6] or  the Slot ID (from 1 to 28)
+-- and measured signal power. The mesid field for Glonass can either carry the
+-- FCN as 100 + FCN where FCN is in [-7, +6] or the Slot ID (from 1 to 28)
 data MeasurementState = MeasurementState
   { _measurementState_mesid :: !GnssSignal
     -- ^ Measurement Engine GNSS signal being tracked (carries either Glonass FCN
@@ -363,29 +363,29 @@
 --
 -- Structure containing in-phase and quadrature correlation components.
 data TrackingChannelCorrelation = TrackingChannelCorrelation
-  { _trackingChannelCorrelation_I :: !Int32
+  { _trackingChannelCorrelation_I :: !Int16
     -- ^ In-phase correlation
-  , _trackingChannelCorrelation_Q :: !Int32
+  , _trackingChannelCorrelation_Q :: !Int16
     -- ^ Quadrature correlation
   } deriving ( Show, Read, Eq )
 
 instance Binary TrackingChannelCorrelation where
   get = do
-    _trackingChannelCorrelation_I <- fromIntegral <$> getWord32le
-    _trackingChannelCorrelation_Q <- fromIntegral <$> getWord32le
+    _trackingChannelCorrelation_I <- fromIntegral <$> getWord16le
+    _trackingChannelCorrelation_Q <- fromIntegral <$> getWord16le
     pure TrackingChannelCorrelation {..}
 
   put TrackingChannelCorrelation {..} = do
-    putWord32le $ fromIntegral _trackingChannelCorrelation_I
-    putWord32le $ fromIntegral _trackingChannelCorrelation_Q
+    (putWord16le . fromIntegral) _trackingChannelCorrelation_I
+    (putWord16le . fromIntegral) _trackingChannelCorrelation_Q
 
 $(makeJSON "_trackingChannelCorrelation_" ''TrackingChannelCorrelation)
 $(makeLenses ''TrackingChannelCorrelation)
 
 msgTrackingIq :: Word16
-msgTrackingIq = 0x002C
+msgTrackingIq = 0x002D
 
--- | SBP class for message MSG_TRACKING_IQ (0x002C).
+-- | SBP class for message MSG_TRACKING_IQ (0x002D).
 --
 -- When enabled, a tracking channel can output the correlations at each update
 -- interval.
@@ -414,36 +414,91 @@
 $(makeJSON "_msgTrackingIq_" ''MsgTrackingIq)
 $(makeLenses ''MsgTrackingIq)
 
-msgTrackingIqDep :: Word16
-msgTrackingIqDep = 0x001C
+-- | TrackingChannelCorrelationDep.
+--
+-- Structure containing in-phase and quadrature correlation components.
+data TrackingChannelCorrelationDep = TrackingChannelCorrelationDep
+  { _trackingChannelCorrelationDep_I :: !Int32
+    -- ^ In-phase correlation
+  , _trackingChannelCorrelationDep_Q :: !Int32
+    -- ^ Quadrature correlation
+  } deriving ( Show, Read, Eq )
 
--- | SBP class for message MSG_TRACKING_IQ_DEP (0x001C).
+instance Binary TrackingChannelCorrelationDep where
+  get = do
+    _trackingChannelCorrelationDep_I <- fromIntegral <$> getWord32le
+    _trackingChannelCorrelationDep_Q <- fromIntegral <$> getWord32le
+    pure TrackingChannelCorrelationDep {..}
+
+  put TrackingChannelCorrelationDep {..} = do
+    (putWord32le . fromIntegral) _trackingChannelCorrelationDep_I
+    (putWord32le . fromIntegral) _trackingChannelCorrelationDep_Q
+
+$(makeJSON "_trackingChannelCorrelationDep_" ''TrackingChannelCorrelationDep)
+$(makeLenses ''TrackingChannelCorrelationDep)
+
+msgTrackingIqDepB :: Word16
+msgTrackingIqDepB = 0x002C
+
+-- | SBP class for message MSG_TRACKING_IQ_DEP_B (0x002C).
 --
+-- When enabled, a tracking channel can output the correlations at each update
+-- interval.
+data MsgTrackingIqDepB = MsgTrackingIqDepB
+  { _msgTrackingIqDepB_channel :: !Word8
+    -- ^ Tracking channel of origin
+  , _msgTrackingIqDepB_sid   :: !GnssSignal
+    -- ^ GNSS signal identifier
+  , _msgTrackingIqDepB_corrs :: ![TrackingChannelCorrelationDep]
+    -- ^ Early, Prompt and Late correlations
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgTrackingIqDepB where
+  get = do
+    _msgTrackingIqDepB_channel <- getWord8
+    _msgTrackingIqDepB_sid <- get
+    _msgTrackingIqDepB_corrs <- replicateM 3 get
+    pure MsgTrackingIqDepB {..}
+
+  put MsgTrackingIqDepB {..} = do
+    putWord8 _msgTrackingIqDepB_channel
+    put _msgTrackingIqDepB_sid
+    mapM_ put _msgTrackingIqDepB_corrs
+
+$(makeSBP 'msgTrackingIqDepB ''MsgTrackingIqDepB)
+$(makeJSON "_msgTrackingIqDepB_" ''MsgTrackingIqDepB)
+$(makeLenses ''MsgTrackingIqDepB)
+
+msgTrackingIqDepA :: Word16
+msgTrackingIqDepA = 0x001C
+
+-- | SBP class for message MSG_TRACKING_IQ_DEP_A (0x001C).
+--
 -- Deprecated.
-data MsgTrackingIqDep = MsgTrackingIqDep
-  { _msgTrackingIqDep_channel :: !Word8
+data MsgTrackingIqDepA = MsgTrackingIqDepA
+  { _msgTrackingIqDepA_channel :: !Word8
     -- ^ Tracking channel of origin
-  , _msgTrackingIqDep_sid   :: !GnssSignalDep
+  , _msgTrackingIqDepA_sid   :: !GnssSignalDep
     -- ^ GNSS signal identifier
-  , _msgTrackingIqDep_corrs :: ![TrackingChannelCorrelation]
+  , _msgTrackingIqDepA_corrs :: ![TrackingChannelCorrelationDep]
     -- ^ Early, Prompt and Late correlations
   } deriving ( Show, Read, Eq )
 
-instance Binary MsgTrackingIqDep where
+instance Binary MsgTrackingIqDepA where
   get = do
-    _msgTrackingIqDep_channel <- getWord8
-    _msgTrackingIqDep_sid <- get
-    _msgTrackingIqDep_corrs <- replicateM 3 get
-    pure MsgTrackingIqDep {..}
+    _msgTrackingIqDepA_channel <- getWord8
+    _msgTrackingIqDepA_sid <- get
+    _msgTrackingIqDepA_corrs <- replicateM 3 get
+    pure MsgTrackingIqDepA {..}
 
-  put MsgTrackingIqDep {..} = do
-    putWord8 _msgTrackingIqDep_channel
-    put _msgTrackingIqDep_sid
-    mapM_ put _msgTrackingIqDep_corrs
+  put MsgTrackingIqDepA {..} = do
+    putWord8 _msgTrackingIqDepA_channel
+    put _msgTrackingIqDepA_sid
+    mapM_ put _msgTrackingIqDepA_corrs
 
-$(makeSBP 'msgTrackingIqDep ''MsgTrackingIqDep)
-$(makeJSON "_msgTrackingIqDep_" ''MsgTrackingIqDep)
-$(makeLenses ''MsgTrackingIqDep)
+$(makeSBP 'msgTrackingIqDepA ''MsgTrackingIqDepA)
+$(makeJSON "_msgTrackingIqDepA_" ''MsgTrackingIqDepA)
+$(makeLenses ''MsgTrackingIqDepA)
 
 -- | TrackingChannelStateDepA.
 --
diff --git a/src/SwiftNav/SBP/Vehicle.hs b/src/SwiftNav/SBP/Vehicle.hs
--- a/src/SwiftNav/SBP/Vehicle.hs
+++ b/src/SwiftNav/SBP/Vehicle.hs
@@ -65,7 +65,7 @@
 
   put MsgOdometry {..} = do
     putWord32le _msgOdometry_tow
-    putWord32le $ fromIntegral _msgOdometry_velocity
+    (putWord32le . fromIntegral) _msgOdometry_velocity
     putWord8 _msgOdometry_flags
 
 $(makeSBP 'msgOdometry ''MsgOdometry)