diff --git a/c/include/libsbp/legacy/profiling.h b/c/include/libsbp/legacy/profiling.h
index 766059d7f5..624913e2ed 100644
--- a/c/include/libsbp/legacy/profiling.h
+++ b/c/include/libsbp/legacy/profiling.h
@@ -43,13 +43,14 @@ SBP_PACK_START
  */
 
 typedef struct SBP_ATTR_PACKED SBP_DEPRECATED {
-  u32 total_time;     /**< Total time spent in measurement point */
+  u32 total_time;     /**< Total time spent in measurement point
+                           (microseconds) */
   u16 num_executions; /**< Number of times measurement point has executed */
-  u32 min;            /**< Minimum execution time */
-  u32 max;            /**< Maximum execution time */
+  u32 min;            /**< Minimum execution time (microseconds) */
+  u32 max;            /**< Maximum execution time (microseconds) */
   u64 return_addr;    /**< Return address */
   u64 id;             /**< Unique ID */
-  u64 slice_time;     /**< CPU slice time */
+  u64 slice_time;     /**< CPU slice time (milliseconds) */
   u16 line;           /**< Line number */
   char func[0];       /**< Function name */
 } msg_measurement_point_t;
diff --git a/c/include/libsbp/profiling/MSG_MEASUREMENT_POINT.h b/c/include/libsbp/profiling/MSG_MEASUREMENT_POINT.h
index c066ff3365..33e6f26ad6 100644
--- a/c/include/libsbp/profiling/MSG_MEASUREMENT_POINT.h
+++ b/c/include/libsbp/profiling/MSG_MEASUREMENT_POINT.h
@@ -46,7 +46,7 @@ extern "C" {
  */
 typedef struct {
   /**
-   * Total time spent in measurement point
+   * Total time spent in measurement point (microseconds)
    */
   u32 total_time;
 
@@ -56,12 +56,12 @@ typedef struct {
   u16 num_executions;
 
   /**
-   * Minimum execution time
+   * Minimum execution time (microseconds)
    */
   u32 min;
 
   /**
-   * Maximum execution time
+   * Maximum execution time (microseconds)
    */
   u32 max;
 
@@ -76,7 +76,7 @@ typedef struct {
   u64 id;
 
   /**
-   * CPU slice time
+   * CPU slice time (milliseconds)
    */
   u64 slice_time;
 
diff --git a/docs/sbp.pdf b/docs/sbp.pdf
index 471e6bf4ac..a3e3ceb241 100644
Binary files a/docs/sbp.pdf and b/docs/sbp.pdf differ
diff --git a/haskell/src/SwiftNav/SBP/Profiling.hs b/haskell/src/SwiftNav/SBP/Profiling.hs
index 1b5fea774e..bf3e338297 100644
--- a/haskell/src/SwiftNav/SBP/Profiling.hs
+++ b/haskell/src/SwiftNav/SBP/Profiling.hs
@@ -45,19 +45,19 @@ msgMeasurementPoint = 0xCF00
 -- Swift's engineering teams.
 data MsgMeasurementPoint = MsgMeasurementPoint
   { _msgMeasurementPoint_total_time   :: !Word32
-    -- ^ Total time spent in measurement point
+    -- ^ Total time spent in measurement point (microseconds)
   , _msgMeasurementPoint_num_executions :: !Word16
     -- ^ Number of times measurement point has executed
   , _msgMeasurementPoint_min          :: !Word32
-    -- ^ Minimum execution time
+    -- ^ Minimum execution time (microseconds)
   , _msgMeasurementPoint_max          :: !Word32
-    -- ^ Maximum execution time
+    -- ^ Maximum execution time (microseconds)
   , _msgMeasurementPoint_return_addr  :: !Word64
     -- ^ Return address
   , _msgMeasurementPoint_id           :: !Word64
     -- ^ Unique ID
   , _msgMeasurementPoint_slice_time   :: !Word64
-    -- ^ CPU slice time
+    -- ^ CPU slice time (milliseconds)
   , _msgMeasurementPoint_line         :: !Word16
     -- ^ Line number
   , _msgMeasurementPoint_func         :: !Text
diff --git a/java/src/com/swiftnav/sbp/profiling/MsgMeasurementPoint.java b/java/src/com/swiftnav/sbp/profiling/MsgMeasurementPoint.java
index 26cb1d4ae3..d32e2e3ebe 100644
--- a/java/src/com/swiftnav/sbp/profiling/MsgMeasurementPoint.java
+++ b/java/src/com/swiftnav/sbp/profiling/MsgMeasurementPoint.java
@@ -31,16 +31,16 @@
 public class MsgMeasurementPoint extends SBPMessage {
     public static final int TYPE = 0xCF00;
 
-    /** Total time spent in measurement point */
+    /** Total time spent in measurement point (microseconds) */
     public long total_time;
 
     /** Number of times measurement point has executed */
     public int num_executions;
 
-    /** Minimum execution time */
+    /** Minimum execution time (microseconds) */
     public long min;
 
-    /** Maximum execution time */
+    /** Maximum execution time (microseconds) */
     public long max;
 
     /** Return address */
@@ -49,7 +49,7 @@ public class MsgMeasurementPoint extends SBPMessage {
     /** Unique ID */
     public BigInteger id;
 
-    /** CPU slice time */
+    /** CPU slice time (milliseconds) */
     public BigInteger slice_time;
 
     /** Line number */
diff --git a/javascript/sbp/profiling.js b/javascript/sbp/profiling.js
index a72ef10128..fd2f5a082f 100644
--- a/javascript/sbp/profiling.js
+++ b/javascript/sbp/profiling.js
@@ -31,13 +31,13 @@ let UInt64 = require('cuint').UINT64;
  * engineering teams.
  *
  * Fields in the SBP payload (`sbp.payload`):
- * @field total_time number (unsigned 32-bit int, 4 bytes) Total time spent in measurement point
+ * @field total_time number (unsigned 32-bit int, 4 bytes) Total time spent in measurement point (microseconds)
  * @field num_executions number (unsigned 16-bit int, 2 bytes) Number of times measurement point has executed
- * @field min number (unsigned 32-bit int, 4 bytes) Minimum execution time
- * @field max number (unsigned 32-bit int, 4 bytes) Maximum execution time
+ * @field min number (unsigned 32-bit int, 4 bytes) Minimum execution time (microseconds)
+ * @field max number (unsigned 32-bit int, 4 bytes) Maximum execution time (microseconds)
  * @field return_addr number (unsigned 64-bit int, 8 bytes) Return address
  * @field id number (unsigned 64-bit int, 8 bytes) Unique ID
- * @field slice_time number (unsigned 64-bit int, 8 bytes) CPU slice time
+ * @field slice_time number (unsigned 64-bit int, 8 bytes) CPU slice time (milliseconds)
  * @field line number (unsigned 16-bit int, 2 bytes) Line number
  * @field func string Function name
  *
diff --git a/kaitai/ksy/profiling.ksy b/kaitai/ksy/profiling.ksy
index cbcf6c381b..6acde05f09 100644
--- a/kaitai/ksy/profiling.ksy
+++ b/kaitai/ksy/profiling.ksy
@@ -28,7 +28,7 @@ types:
     seq:
       - id: total_time
         doc: |
-          Total time spent in measurement point
+          Total time spent in measurement point (microseconds)
         type: u4
       - id: num_executions
         doc: |
@@ -36,11 +36,11 @@ types:
         type: u2
       - id: min
         doc: |
-          Minimum execution time
+          Minimum execution time (microseconds)
         type: u4
       - id: max
         doc: |
-          Maximum execution time
+          Maximum execution time (microseconds)
         type: u4
       - id: return_addr
         doc: |
@@ -52,7 +52,7 @@ types:
         type: u8
       - id: slice_time
         doc: |
-          CPU slice time
+          CPU slice time (milliseconds)
         type: u8
       - id: line
         doc: |
diff --git a/python/sbp/profiling.py b/python/sbp/profiling.py
index 721352db6a..e097f99471 100644
--- a/python/sbp/profiling.py
+++ b/python/sbp/profiling.py
@@ -43,19 +43,19 @@ class MsgMeasurementPoint(SBP):
   sbp : SBP
     SBP parent object to inherit from.
   total_time : int
-    Total time spent in measurement point
+    Total time spent in measurement point (microseconds)
   num_executions : int
     Number of times measurement point has executed
   min : int
-    Minimum execution time
+    Minimum execution time (microseconds)
   max : int
-    Maximum execution time
+    Maximum execution time (microseconds)
   return_addr : int
     Return address
   id : int
     Unique ID
   slice_time : int
-    CPU slice time
+    CPU slice time (milliseconds)
   line : int
     Line number
   func : string
diff --git a/rust/sbp/src/messages/profiling.rs b/rust/sbp/src/messages/profiling.rs
index 755a4a2fce..bba31cb7d4 100644
--- a/rust/sbp/src/messages/profiling.rs
+++ b/rust/sbp/src/messages/profiling.rs
@@ -34,16 +34,16 @@ pub mod msg_measurement_point {
         /// The message sender_id
         #[cfg_attr(feature = "serde", serde(skip_serializing, alias = "sender"))]
         pub sender_id: Option<u16>,
-        /// Total time spent in measurement point
+        /// Total time spent in measurement point (microseconds)
         #[cfg_attr(feature = "serde", serde(rename = "total_time"))]
         pub total_time: u32,
         /// Number of times measurement point has executed
         #[cfg_attr(feature = "serde", serde(rename = "num_executions"))]
         pub num_executions: u16,
-        /// Minimum execution time
+        /// Minimum execution time (microseconds)
         #[cfg_attr(feature = "serde", serde(rename = "min"))]
         pub min: u32,
-        /// Maximum execution time
+        /// Maximum execution time (microseconds)
         #[cfg_attr(feature = "serde", serde(rename = "max"))]
         pub max: u32,
         /// Return address
@@ -52,7 +52,7 @@ pub mod msg_measurement_point {
         /// Unique ID
         #[cfg_attr(feature = "serde", serde(rename = "id"))]
         pub id: u64,
-        /// CPU slice time
+        /// CPU slice time (milliseconds)
         #[cfg_attr(feature = "serde", serde(rename = "slice_time"))]
         pub slice_time: u64,
         /// Line number
diff --git a/spec/yaml/swiftnav/sbp/profiling.yaml b/spec/yaml/swiftnav/sbp/profiling.yaml
index 11d1d525f0..11c5d41254 100644
--- a/spec/yaml/swiftnav/sbp/profiling.yaml
+++ b/spec/yaml/swiftnav/sbp/profiling.yaml
@@ -26,16 +26,16 @@ definitions:
     fields:
       - total_time:
           type: u32
-          desc: Total time spent in measurement point
+          desc: Total time spent in measurement point (microseconds)
       - num_executions:
           type: u16
           desc: Number of times measurement point has executed
       - min:
           type: u32
-          desc: Minimum execution time
+          desc: Minimum execution time (microseconds)
       - max:
           type: u32
-          desc: Maximum execution time
+          desc: Maximum execution time (microseconds)
       - return_addr:
           type: u64
           desc: Return address
@@ -44,7 +44,7 @@ definitions:
           desc: Unique ID
       - slice_time:
           type: u64
-          desc: CPU slice time
+          desc: CPU slice time (milliseconds)
       - line:
           type: u16
           desc: Line number