diff --git a/python/README.md b/python/README.md
index 44a5da0b3c..a0c2548216 100644
--- a/python/README.md
+++ b/python/README.md
@@ -20,17 +20,12 @@ sudo pip install sbp
 Usage
 -----
 
-```shell
-# To run the tests and check for coverage:
-py.test -v --cov sbp tests/
-```
-
 ## Examples
 
 ### Simple example
 
-Receives SBP messages over a serial port, decodes `MSG_BASELINE` messages and
-prints them out.
+Receives SBP messages over a serial port, decodes `MSG_BASELINE`
+messages and prints them out.
 
 See the [`source code`](sbp/client/examples/simple.py).
 
@@ -42,8 +37,8 @@ $ python -m sbp.client.examples.simple -p /path/to/serial/port
 
 ### Sending SBP messages over UDP
 
-Receives SBP messages over a serial port and sends all incoming messages to a
-UDP socket.
+Receives SBP messages over a serial port and sends all incoming
+messages to a UDP socket.
 
 See the [`source code`](sbp/client/examples/udp.py).
 
@@ -53,6 +48,13 @@ Run this example with:
 $ python -m sbp.client.examples.udp -s /path/to/serial/port
 ```
 
+## Testing
+
+```shell
+# To run the tests and check for coverage:
+py.test -v --cov sbp tests/
+```
+
 License
 -------
 
diff --git a/python/sbp/__init__.py b/python/sbp/__init__.py
index 75ba70850d..b04b78e3e7 100755
--- a/python/sbp/__init__.py
+++ b/python/sbp/__init__.py
@@ -9,6 +9,7 @@
 # EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 # WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 
+from construct import *
 import base64
 import struct
 
@@ -63,6 +64,14 @@ class SBP(object):
 
   """
 
+  _parser = Struct("SBP",
+                   ULInt8('preamble'),
+                   ULInt16('msg_type'),
+                   ULInt16('sender'),
+                   ULInt8('length'),
+                   Bytes("payload", lambda ctx: ctx.length),
+                   ULInt16('crc'),)
+
   def __init__(self, msg_type=None, sender=None,
                length=None, payload=None, crc=None):
     self.preamble = SBP_PREAMBLE
@@ -89,6 +98,15 @@ def pack(self):
     framed_msg += struct.pack('<H', crc)
     return framed_msg
 
+  @staticmethod
+  def unpack(d):
+    """Unpack and return a framed binary message.
+
+    """
+    p = SBP._parser.parse(d)
+    assert p.preamble == SBP_PREAMBLE, "Invalid preamble 0x%x." % p.preamble
+    return SBP(p.msg_type, p.sender, p.length, p.payload, p.crc)
+
   def __repr__(self):
     p = (self.preamble, self.msg_type, self.sender, self.length,
          self.payload, self.crc)
diff --git a/python/sbp/client/main.py b/python/sbp/client/main.py
index 548b9dc969..8f2133c67d 100755
--- a/python/sbp/client/main.py
+++ b/python/sbp/client/main.py
@@ -133,7 +133,6 @@ def main():
   reset = args.reset
   input_filename = args.input_filename[0]
   log_filename = args.log_filename[0]
-
   # Driver with context
   with get_driver(use_ftdi, input_filename, port, baud) as driver:
     # Logger with context
@@ -143,10 +142,8 @@ def main():
         handler.add_callback(lambda msg: sys.stdout.write(msg.payload), SBP_MSG_PRINT)
         handler.add_callback(logger)
         handler.start()
-
         if reset:
           handler.send(SBP_RESET, "")
-
         try:
           if timeout is None:
             while True:
diff --git a/python/tests/sbp/build_test_data.py b/python/tests/sbp/build_test_data.py
new file mode 100755
index 0000000000..b39f9ea4a1
--- /dev/null
+++ b/python/tests/sbp/build_test_data.py
@@ -0,0 +1,242 @@
+#!/usr/bin/env python
+# Copyright (C) 2015 Swift Navigation Inc.
+# Contact: Bhaskar Mookerji <mookerji@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+"""
+Command line utility for reading an SBP log and generating
+YAML-formatted unit test data. This largely samples a set messages
+from a existing log, gathers them by module, formats them to YAML, and
+writes them out to files.
+
+Running this command from the top level,
+
+  python tests/sbp/build_test_data.py --log_file <log_file>,
+
+produces test_<module name>.yaml files in directory the command is
+written. The produced file looks like:
+
+description: Unit tests for swiftnav.sbp.acquisition v0.23.
+generated_on: 2015-03-22 17:40:06.567183
+package: sbp.acquisition
+tests:
+- msg:
+    fields:
+      cf: -7742.43212890625
+      cp: 272.0
+      prn: 24
+      snr: 18.77777862548828
+    module: sbp.acquisition
+    name: MsgAcqResult
+  msg_type: '0x15'
+  raw_packet: VRUAzAQN5DiWQQAAiEN18/HFGLWs
+  sbp:
+    crc: '0xacb5'
+    length: 13
+    msg_type: '0x15'
+    payload: 5DiWQQAAiEN18/HFGA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+For the sake of readability, some of the fields that are typically
+displayed as hex, such as SBP message type, crc, and preamble are cast
+into hex strings.
+
+"""
+
+from sbp.table import _SBP_TABLE
+from sbp.client.loggers.pickle_logger import PickleLogIterator
+import base64
+import datetime
+import sbp
+import warnings
+import yaml
+
+def _to_readable_dict(msg):
+  """
+  Format an SBP message's attributes for a preferred YAML output.
+
+  Parameters
+  ----------
+  msg : :class: `SBP`
+    A parsed SBP message.
+
+  Returns
+  ----------
+  dict
+
+  """
+  return {'preamble': hex(msg.preamble),
+          'msg_type': hex(msg.msg_type),
+          'sender': hex(msg.sender),
+          'length': msg.length,
+          'payload': base64.standard_b64encode(msg.payload),
+          'crc': hex(msg.crc)}
+
+def walk_json_dict(coll):
+  """
+  Flatten a parsed SBP object into a dicts and lists, which are
+  compatible for YAML output.
+
+  Parameters
+  ----------
+  test_map : dict
+
+  """
+  if isinstance(coll, dict):
+    return dict((k, walk_json_dict(v)) for (k, v) in coll.iteritems())
+  elif hasattr(coll, '__iter__'):
+    return [walk_json_dict(dict(seq.items())) for seq in coll]
+  else:
+    return coll
+
+def dump_modules_to_yaml(test_map):
+  """
+  Take unit test data data from test, format as YAML, and write to
+  local files.
+
+  Parameters
+  ----------
+  test_map : dict
+    Dictionary mapping SBP message type to instances of SBP object to be used
+    for making unit test cases.
+
+  """
+  for k, v in test_map.iteritems():
+    item = {'package': k,
+            'description': "Unit tests for swiftnav.%s v%s." \
+              % (k, sbp.__version__),
+            'generated_on': datetime.datetime.now(),
+            'version': sbp.__version__,
+            'tests': v}
+    d = yaml.dump(item, explicit_start=True,
+                  default_flow_style=False,
+                  explicit_end=True)
+    filename = "test_"+k.split(".")[-1]+".yaml"
+    with open(filename, 'w') as f:
+      f.write(d.replace('\n- ', '\n\n- '))
+
+def gather_by_module(test_table):
+  """
+  Join accumulated unit test data by module.
+
+  Parameters
+  ----------
+  test_table : dict
+    A dict mapping an SBP message type to a list of parsed SBP
+    objects.
+
+  Returns
+  ----------
+  A dict mapping an SBP module to a list of parsed SBP objects.
+
+  """
+  output = {}
+  for k, v in test_table.iteritems():
+    if not v:
+      continue
+    module = v[0]['msg']['module']
+    if output.get(module, None):
+      output[module] += v
+    else:
+      output[module] = v
+  return output
+
+_TO_REMOVE=['preamble', 'msg_type', 'sender', 'length', 'payload', 'crc']
+
+def mk_readable_msg(msg, keys=_TO_REMOVE):
+  """
+  Produces a unit test case from a parsed SBP message. The case
+  includes the raw output, the SBP message with unparsed payload, and
+  the parsed SBP message
+
+  Parameters
+  ----------
+  msg : Subclass of :class: `SBP`.
+    Parsed SBP message.
+  keys : list
+    List of keys to remove from the rendered
+
+  Returns
+  ----------
+  A dict formatted for a unit test case.
+
+  """
+  f = walk_json_dict(msg.__dict__)
+  # Message includes fields from the SBP message it inherits from, so
+  # remove those.
+  for k in keys:
+    del f[k]
+  i = {'raw_packet' : base64.standard_b64encode(msg.pack()),
+       'msg_type'   : hex(msg.msg_type),
+       'sbp'        : _to_readable_dict(msg),
+       'msg'        : { 'module' : msg.__class__.__module__,
+                        'name' : msg.__class__.__name__,
+                        'fields' : f if f else None}}
+  return i
+
+def get_args():
+  """
+  Get and parse command line arguments.
+  """
+  import argparse
+  parser = argparse.ArgumentParser(description="Swift Navigation SBP Client.")
+  parser.add_argument("-l", "--log_file",
+                      default=[None], nargs=1,
+                      help="use input file to read SBP messages from.")
+  parser.add_argument("-j", "--json",
+                      action="store_true",
+                      help="JSON serialize SBP messages.")
+  parser.add_argument("-v", "--verbose",
+                      action="store_true",
+                      help="print extra debugging information.")
+  return parser.parse_args()
+
+def main():
+  """
+  Get command line configuration, read log data, and write out
+  YAML-formatted unit test data.
+
+  """
+  args = get_args()
+  log_datafile = args.log_file[0]
+  json = args.json
+  verbose = args.verbose
+  if json:
+    assert False, "JSON formatted log input not implemented yet."
+  if verbose:
+    assert False, "Verbose output not implemented yet."
+  # Build
+  num_test_cases = 5
+  message_table = _SBP_TABLE
+  test_table = dict((k, []) for (k, v) in message_table.copy().iteritems())
+  with open(log_datafile, 'r+') as f:
+    with PickleLogIterator(f) as log:
+      for delta, timestamp, msg in log.next():
+        try:
+          i = mk_readable_msg(msg)
+        except TypeError as ex_info:
+          # Note data errors as they come up, but don't crash the test
+          # generation.
+          out = "Warning! %s for message 0x00%x." % (ex_info.message, msg.msg_type)
+          warnings.warn(out, RuntimeWarning)
+          continue
+        # For a given SBP message type, sample only num_test_cases
+        # hopefully unique cases. Assume that messages that are likely
+        # to be identical are consecutive, so coompare any new message
+        # with the most recent one.
+        if len(test_table[msg.msg_type]) <= num_test_cases:
+          if len(test_table[msg.msg_type]) == 0:
+            test_table[msg.msg_type].append(i)
+          elif test_table[msg.msg_type][-1] != i:
+            test_table[msg.msg_type].append(i)
+  dump_modules_to_yaml(gather_by_module(test_table))
+
+if __name__ == "__main__":
+  main()
diff --git a/python/tests/sbp/test_navigation.py b/python/tests/sbp/test_navigation.py
new file mode 100755
index 0000000000..e2384ba687
--- /dev/null
+++ b/python/tests/sbp/test_navigation.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python
+# Copyright (C) 2015 Swift Navigation Inc.
+# Contact: Bhaskar Mookerji <mookerji@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+from utils import assert_package
+
+def test_package():
+  FILEPATH = "../spec/tests/yaml/swiftnav/sbp/test_navigation.yaml"
+  MODULE_NAME = "sbp.navigation"
+  assert_package(FILEPATH, MODULE_NAME)
diff --git a/python/tests/sbp/test_observation.py b/python/tests/sbp/test_observation.py
new file mode 100755
index 0000000000..6b1cfd8307
--- /dev/null
+++ b/python/tests/sbp/test_observation.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python
+# Copyright (C) 2015 Swift Navigation Inc.
+# Contact: Bhaskar Mookerji <mookerji@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+from utils import assert_package
+
+def test_package():
+  FILEPATH = "../spec/tests/yaml/swiftnav/sbp/test_observation.yaml"
+  MODULE_NAME = "sbp.observation"
+  assert_package(FILEPATH, MODULE_NAME)
diff --git a/python/tests/sbp/test_piksi.py b/python/tests/sbp/test_piksi.py
new file mode 100755
index 0000000000..0bc7d1c003
--- /dev/null
+++ b/python/tests/sbp/test_piksi.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python
+# Copyright (C) 2015 Swift Navigation Inc.
+# Contact: Bhaskar Mookerji <mookerji@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+from utils import assert_package
+
+def test_package():
+  FILEPATH = "../spec/tests/yaml/swiftnav/sbp/test_piksi.yaml"
+  MODULE_NAME = "sbp.piksi"
+  assert_package(FILEPATH, MODULE_NAME)
diff --git a/python/tests/sbp/test_standard.py b/python/tests/sbp/test_standard.py
new file mode 100755
index 0000000000..c7d1465e6b
--- /dev/null
+++ b/python/tests/sbp/test_standard.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python
+# Copyright (C) 2015 Swift Navigation Inc.
+# Contact: Bhaskar Mookerji <mookerji@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+from utils import assert_package
+
+def test_package():
+  FILEPATH = "../spec/tests/yaml/swiftnav/sbp/test_standard.yaml"
+  MODULE_NAME = "sbp.standard"
+  assert_package(FILEPATH, MODULE_NAME)
diff --git a/python/tests/sbp/test_tracking.py b/python/tests/sbp/test_tracking.py
new file mode 100755
index 0000000000..c2010da6b2
--- /dev/null
+++ b/python/tests/sbp/test_tracking.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python
+# Copyright (C) 2015 Swift Navigation Inc.
+# Contact: Bhaskar Mookerji <mookerji@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+from utils import assert_package
+
+def test_package():
+  FILEPATH = "../spec/tests/yaml/swiftnav/sbp/test_tracking.yaml"
+  MODULE_NAME = "sbp.tracking"
+  assert_package(FILEPATH, MODULE_NAME)
diff --git a/python/tests/sbp/utils.py b/python/tests/sbp/utils.py
new file mode 100755
index 0000000000..9ef479dfb0
--- /dev/null
+++ b/python/tests/sbp/utils.py
@@ -0,0 +1,126 @@
+#!/usr/bin/env python
+# Copyright (C) 2015 Swift Navigation Inc.
+# Contact: Bhaskar Mookerji <mookerji@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+"""
+Utilities for running YAML-defined unit tests.
+"""
+
+from sbp import SBP
+from sbp.table import dispatch
+import base64
+import yaml
+
+def _assert_sbp(sbp, test_case):
+  """
+  Assert that a proper SBP parsing from a raw package of data.
+
+  Parameters
+  ----------
+  sbp : :class: `SBP`
+    SBP message parsed from unit test's raw packet.
+  test_case : dict
+    Unit test case parsed from YAML.
+
+  """
+  assert sbp.crc == int(test_case['crc'], 0), "Invalid crc."
+  assert sbp.msg_type == int(test_case['msg_type'], 0), "Invalid msg_type."
+  assert sbp.sender == int(test_case['sender'], 0), "Invalid sender."
+  assert sbp.length == test_case['length'], "Invalid length."
+  assert base64.standard_b64encode(sbp.payload) == test_case['payload'], \
+    "Invalid payload."
+
+def field_eq(p, e):
+  """
+  Checks the field values of a parsed message for equality against
+  some ground truth value.
+
+  Parameters
+  ----------
+  p : object with dict-like attributed access
+    Parsed field contents.
+  e : object with dict-like attributed access
+    Expected field contents.
+
+  Returns
+  ----------
+  True if fields are equal, else False.
+
+  """
+  if isinstance(e, dict):
+    k = e.keys()[0]
+    if isinstance(e[k], list):
+      return k == p.keys()[0] and all(field_eq(i, j) for (i, j) in zip(p[k], e[k]))
+    elif isinstance(e[k], dict):
+      return k == p.keys()[0] and all(field_eq(p[k][i], j) for (i, j) in e[k].iteritems())
+    else:
+      return k == p.keys()[0] and all(field_eq(p[i], j) for (i, j) in e.iteritems())
+  else:
+    return p == e
+
+def _assert_msg(msg, test_case):
+  """
+  Asserts that the parsed payload of an SBP message has the expected
+  field values.
+
+  Parameters
+  ----------
+  msg : Parsed SBP message.
+    Parsed SBP message.
+  test_case : dict
+    Unit test case for this message.
+
+  """
+  assert msg.__class__.__name__ == test_case['name']
+  if test_case['fields']:
+    for field_name, field_value in test_case['fields'].iteritems():
+      assert field_eq(msg.__dict__[field_name], field_value), \
+        "Unequal field values: got %s, but expected %s!" \
+        % (msg.__dict__[field_name], field_value)
+
+def _assert_sane_package(pkg_name, pkg):
+  """
+  Sanity check the package collection of tests before actually
+  running the tests.
+
+  Parameters
+  ----------
+  pkg_name : str
+    Name of package to test
+  pkg : dict
+    Parsed contents of YAML file.
+
+  """
+  assert pkg_name in pkg['description'], "Not the right package!"
+  assert pkg_name in pkg['package'], "Not the right package!"
+  assert len(pkg['tests']) > 0, "Package has no tests!"
+
+def assert_package(test_filename, pkg_name):
+  """
+  Runs unit tests for message bindings by reading a YAML unit test
+  specification, parsing a raw packet for each test, and then
+  asserting that SBP messages and parsed payloads have their intended
+  values.
+
+  Parameters
+  ----------
+  test_filename : str
+    Filepath to unit test specifications
+  pkg_name : str
+    Name of package to test
+
+  """
+  with open(test_filename, 'r+') as f:
+    pkg = yaml.load(f.read())
+    _assert_sane_package(pkg_name, pkg)
+    for test_case in pkg['tests']:
+      sbp = SBP.unpack(base64.standard_b64decode(test_case['raw_packet']))
+      _assert_sbp(sbp, test_case['sbp'])
+      _assert_msg(dispatch(sbp), test_case['msg'])
diff --git a/spec/tests/yaml/swiftnav/sbp/test_acquisition.yaml b/spec/tests/yaml/swiftnav/sbp/test_acquisition.yaml
new file mode 100644
index 0000000000..0a799f3faf
--- /dev/null
+++ b/spec/tests/yaml/swiftnav/sbp/test_acquisition.yaml
@@ -0,0 +1,115 @@
+---
+description: Unit tests for swiftnav.sbp.acquisition v0.23.
+generated_on: 2015-03-24 11:31:59.657065
+package: sbp.acquisition
+tests:
+
+- msg:
+    fields:
+      cf: -7742.43212890625
+      cp: 272.0
+      prn: 24
+      snr: 18.77777862548828
+    module: sbp.acquisition
+    name: MsgAcqResult
+  msg_type: '0x15'
+  raw_packet: VRUAzAQN5DiWQQAAiEN18/HFGLWs
+  sbp:
+    crc: '0xacb5'
+    length: 13
+    msg_type: '0x15'
+    payload: 5DiWQQAAiEN18/HFGA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cf: -1998.0469970703125
+      cp: 493.0
+      prn: 25
+      snr: 14.44444465637207
+    module: sbp.acquisition
+    name: MsgAcqResult
+  msg_type: '0x15'
+  raw_packet: VRUAzAQNchxnQQCA9kOBwfnEGce/
+  sbp:
+    crc: '0xbfc7'
+    length: 13
+    msg_type: '0x15'
+    payload: chxnQQCA9kOBwfnEGQ==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cf: 4245.849609375
+      cp: 759.5
+      prn: 26
+      snr: 15.11111068725586
+    module: sbp.acquisition
+    name: MsgAcqResult
+  msg_type: '0x15'
+  raw_packet: VRUAzAQNHMdxQQDgPUTMroRFGn/x
+  sbp:
+    crc: '0xf17f'
+    length: 13
+    msg_type: '0x15'
+    payload: HMdxQQDgPUTMroRFGg==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cf: -749.2676391601562
+      cp: 209.0
+      prn: 28
+      snr: 17.44444465637207
+    module: sbp.acquisition
+    name: MsgAcqResult
+  msg_type: '0x15'
+  raw_packet: VRUAzAQNOY6LQQAAUUMhUTvEHDz7
+  sbp:
+    crc: '0xfb3c'
+    length: 13
+    msg_type: '0x15'
+    payload: OY6LQQAAUUMhUTvEHA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cf: 249.75587463378906
+      cp: 928.5
+      prn: 29
+      snr: 16.55555534362793
+    module: sbp.acquisition
+    name: MsgAcqResult
+  msg_type: '0x15'
+  raw_packet: VRUAzAQNx3GEQQAgaESBwXlDHRDR
+  sbp:
+    crc: '0xd110'
+    length: 13
+    msg_type: '0x15'
+    payload: x3GEQQAgaESBwXlDHQ==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cf: -2997.070556640625
+      cp: 188.0
+      prn: 0
+      snr: 53.125
+    module: sbp.acquisition
+    name: MsgAcqResult
+  msg_type: '0x15'
+  raw_packet: VRUAzAQNAIBUQgAAPEMhUTvFAG2F
+  sbp:
+    crc: '0x856d'
+    length: 13
+    msg_type: '0x15'
+    payload: AIBUQgAAPEMhUTvFAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+version: '0.23'
+...
diff --git a/spec/tests/yaml/swiftnav/sbp/test_navigation.yaml b/spec/tests/yaml/swiftnav/sbp/test_navigation.yaml
new file mode 100644
index 0000000000..e8e8915510
--- /dev/null
+++ b/spec/tests/yaml/swiftnav/sbp/test_navigation.yaml
@@ -0,0 +1,1009 @@
+---
+description: Unit tests for swiftnav.sbp.navigation v0.23.
+generated_on: 2015-03-24 11:31:59.478763
+package: sbp.navigation
+tests:
+
+- msg:
+    fields:
+      flags: 0
+      ns: 130676
+      tow: 416205300
+      wn: 1836
+    module: sbp.navigation
+    name: MsgGPSTime
+  msg_type: '0x100'
+  raw_packet: VQABzAQLLAf0yc4YdP4BAAACjQ==
+  sbp:
+    crc: '0x8d02'
+    length: 11
+    msg_type: '0x100'
+    payload: LAf0yc4YdP4BAAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      ns: -130616
+      tow: 416205400
+      wn: 1836
+    module: sbp.navigation
+    name: MsgGPSTime
+  msg_type: '0x100'
+  raw_packet: VQABzAQLLAdYys4YyAH+/wADyg==
+  sbp:
+    crc: '0xca03'
+    length: 11
+    msg_type: '0x100'
+    payload: LAdYys4YyAH+/wA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      ns: 107849
+      tow: 416205500
+      wn: 1836
+    module: sbp.navigation
+    name: MsgGPSTime
+  msg_type: '0x100'
+  raw_packet: VQABzAQLLAe8ys4YSaUBAADhdQ==
+  sbp:
+    crc: '0x75e1'
+    length: 11
+    msg_type: '0x100'
+    payload: LAe8ys4YSaUBAAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      ns: -107738
+      tow: 416205600
+      wn: 1836
+    module: sbp.navigation
+    name: MsgGPSTime
+  msg_type: '0x100'
+  raw_packet: VQABzAQLLAcgy84YJlv+/wDA5g==
+  sbp:
+    crc: '0xe6c0'
+    length: 11
+    msg_type: '0x100'
+    payload: LAcgy84YJlv+/wA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      ns: 107941
+      tow: 416205700
+      wn: 1836
+    module: sbp.navigation
+    name: MsgGPSTime
+  msg_type: '0x100'
+  raw_packet: VQABzAQLLAeEy84YpaUBAADoXw==
+  sbp:
+    crc: '0x5fe8'
+    length: 11
+    msg_type: '0x100'
+    payload: LAeEy84YpaUBAAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      ns: -376443
+      tow: 416271985
+      wn: 1836
+    module: sbp.navigation
+    name: MsgGPSTime
+  msg_type: '0x100'
+  raw_packet: VQABzAQLLAdxzs8YhUH6/wBhmg==
+  sbp:
+    crc: '0x9a61'
+    length: 11
+    msg_type: '0x100'
+    payload: LAdxzs8YhUH6/wA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 8
+      tow: 416205300
+      x: -2704370.23071671
+      y: -4263209.768852571
+      z: 3884632.160476233
+    module: sbp.navigation
+    name: MsgPosECEF
+  msg_type: '0x200'
+  raw_packet: VQACzAQg9MnOGAogiB35oUTBauE0cUpDUME2fIoULKNNQQAACACt5Q==
+  sbp:
+    crc: '0xe5ad'
+    length: 32
+    msg_type: '0x200'
+    payload: 9MnOGAogiB35oUTBauE0cUpDUME2fIoULKNNQQAACAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 8
+      tow: 416205400
+      x: -2704370.231990972
+      y: -4263209.238942821
+      z: 3884632.515552627
+    module: sbp.navigation
+    name: MsgPosECEF
+  msg_type: '0x200'
+  raw_packet: VQACzAQgWMrOGFPhsR35oUTB1NZKT0pDUMHkoP1BLKNNQQAACAAiMA==
+  sbp:
+    crc: '0x3022'
+    length: 32
+    msg_type: '0x200'
+    payload: WMrOGFPhsR35oUTB1NZKT0pDUMHkoP1BLKNNQQAACAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 8
+      tow: 416205500
+      x: -2704370.798992603
+      y: -4263208.685579704
+      z: 3884631.6499627293
+    module: sbp.navigation
+    name: MsgPosECEF
+  msg_type: '0x200'
+  raw_packet: VQACzAQgvMrOGL5jRWb5oUTBsongK0pDUMGN+jHTK6NNQQAACACEnw==
+  sbp:
+    crc: '0x9f84'
+    length: 32
+    msg_type: '0x200'
+    payload: vMrOGL5jRWb5oUTBsongK0pDUMGN+jHTK6NNQQAACAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 8
+      tow: 416205600
+      x: -2704368.695420795
+      y: -4263206.244835725
+      z: 3884630.888898498
+    module: sbp.navigation
+    name: MsgPosECEF
+  msg_type: '0x200'
+  raw_packet: VQACzAQgIMvOGHKMA1n4oUTBdmOrj0lDUMENbcdxK6NNQQAACADcEA==
+  sbp:
+    crc: '0x10dc'
+    length: 32
+    msg_type: '0x200'
+    payload: IMvOGHKMA1n4oUTBdmOrj0lDUMENbcdxK6NNQQAACAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 8
+      tow: 416205700
+      x: -2704368.2897845428
+      y: -4263205.365082516
+      z: 3884630.2962536444
+    module: sbp.navigation
+    name: MsgPosECEF
+  msg_type: '0x200'
+  raw_packet: VQACzAQghMvOGO+oFyX4oUTBD4NdV0lDUMGxo+slK6NNQQAACAACyg==
+  sbp:
+    crc: '0xca02'
+    length: 32
+    msg_type: '0x200'
+    payload: hMvOGO+oFyX4oUTBD4NdV0lDUMGxo+slK6NNQQAACAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 6
+      tow: 416271985
+      x: -2704373.5406212616
+      y: -4263208.295121756
+      z: 3884631.5700485427
+    module: sbp.navigation
+    name: MsgPosECEF
+  msg_type: '0x200'
+  raw_packet: VQACzAQgcc7PGNcTM8X6oUTBXUbjEkpDUMHEWffIK6NNQQAABgAnbA==
+  sbp:
+    crc: '0x6c27'
+    length: 32
+    msg_type: '0x200'
+    payload: cc7PGNcTM8X6oUTBXUbjEkpDUMHEWffIK6NNQQAABgA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 5
+      tow: 416300100
+      x: -3180
+      y: -5284
+      z: 5345
+    module: sbp.navigation
+    name: MsgBaselineECEF
+  msg_type: '0x202'
+  raw_packet: VQICzAQURDzQGJTz//9c6///4RQAAAAABQDKIw==
+  sbp:
+    crc: '0x23ca'
+    length: 20
+    msg_type: '0x202'
+    payload: RDzQGJTz//9c6///4RQAAAAABQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 5
+      tow: 416300200
+      x: -3182
+      y: -5286
+      z: 5355
+    module: sbp.navigation
+    name: MsgBaselineECEF
+  msg_type: '0x202'
+  raw_packet: VQICzAQUqDzQGJLz//9a6///6xQAAAAABQB2Ew==
+  sbp:
+    crc: '0x1376'
+    length: 20
+    msg_type: '0x202'
+    payload: qDzQGJLz//9a6///6xQAAAAABQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 5
+      tow: 416300300
+      x: -4147
+      y: -5905
+      z: 6375
+    module: sbp.navigation
+    name: MsgBaselineECEF
+  msg_type: '0x202'
+  raw_packet: VQICzAQUDD3QGM3v///v6P//5xgAAAAABQBrRQ==
+  sbp:
+    crc: '0x456b'
+    length: 20
+    msg_type: '0x202'
+    payload: DD3QGM3v///v6P//5xgAAAAABQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 5
+      tow: 416300400
+      x: -4145
+      y: -5905
+      z: 6384
+    module: sbp.navigation
+    name: MsgBaselineECEF
+  msg_type: '0x202'
+  raw_packet: VQICzAQUcD3QGM/v///v6P//8BgAAAAABQBDlA==
+  sbp:
+    crc: '0x9443'
+    length: 20
+    msg_type: '0x202'
+    payload: cD3QGM/v///v6P//8BgAAAAABQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 5
+      tow: 416300500
+      x: 2500
+      y: -6211
+      z: 9117
+    module: sbp.navigation
+    name: MsgBaselineECEF
+  msg_type: '0x202'
+  raw_packet: VQICzAQU1D3QGMQJAAC95///nSMAAAAABQCjNQ==
+  sbp:
+    crc: '0x35a3'
+    length: 20
+    msg_type: '0x202'
+    payload: 1D3QGMQJAAC95///nSMAAAAABQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 5
+      tow: 416300600
+      x: 2498
+      y: -6215
+      z: 9130
+    module: sbp.navigation
+    name: MsgBaselineECEF
+  msg_type: '0x202'
+  raw_packet: VQICzAQUOD7QGMIJAAC55///qiMAAAAABQBNYQ==
+  sbp:
+    crc: '0x614d'
+    length: 20
+    msg_type: '0x202'
+    payload: OD7QGMIJAAC55///qiMAAAAABQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: -8146
+      e: 145
+      flags: 0
+      h_accuracy: 0
+      n: 477
+      n_sats: 5
+      tow: 416300100
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgBaselineNED
+  msg_type: '0x203'
+  raw_packet: VQMCzAQWRDzQGN0BAACRAAAALuD//wAAAAAFACRG
+  sbp:
+    crc: '0x4624'
+    length: 22
+    msg_type: '0x203'
+    payload: RDzQGN0BAACRAAAALuD//wAAAAAFAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: -8154
+      e: 145
+      flags: 0
+      h_accuracy: 0
+      n: 482
+      n_sats: 5
+      tow: 416300200
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgBaselineNED
+  msg_type: '0x203'
+  raw_packet: VQMCzAQWqDzQGOIBAACRAAAAJuD//wAAAAAFAHX2
+  sbp:
+    crc: '0xf675'
+    length: 22
+    msg_type: '0x203'
+    payload: qDzQGOIBAACRAAAAJuD//wAAAAAFAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: -9600
+      e: -338
+      flags: 0
+      h_accuracy: 0
+      n: 657
+      n_sats: 5
+      tow: 416300300
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgBaselineNED
+  msg_type: '0x203'
+  raw_packet: VQMCzAQWDD3QGJECAACu/v//gNr//wAAAAAFADw4
+  sbp:
+    crc: '0x383c'
+    length: 22
+    msg_type: '0x203'
+    payload: DD3QGJECAACu/v//gNr//wAAAAAFAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: -9604
+      e: -337
+      flags: 0
+      h_accuracy: 0
+      n: 665
+      n_sats: 5
+      tow: 416300400
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgBaselineNED
+  msg_type: '0x203'
+  raw_packet: VQMCzAQWcD3QGJkCAACv/v//fNr//wAAAAAFAKqV
+  sbp:
+    crc: '0x95aa'
+    length: 22
+    msg_type: '0x203'
+    payload: cD3QGJkCAACv/v//fNr//wAAAAAFAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: -8655
+      e: 5438
+      flags: 0
+      h_accuracy: 0
+      n: 4844
+      n_sats: 5
+      tow: 416300500
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgBaselineNED
+  msg_type: '0x203'
+  raw_packet: VQMCzAQW1D3QGOwSAAA+FQAAMd7//wAAAAAFAMMO
+  sbp:
+    crc: '0xec3'
+    length: 22
+    msg_type: '0x203'
+    payload: 1D3QGOwSAAA+FQAAMd7//wAAAAAFAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: -8667
+      e: 5438
+      flags: 0
+      h_accuracy: 0
+      n: 4852
+      n_sats: 5
+      tow: 416300600
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgBaselineNED
+  msg_type: '0x203'
+  raw_packet: VQMCzAQWOD7QGPQSAAA+FQAAJd7//wAAAAAFAEum
+  sbp:
+    crc: '0xa64b'
+    length: 22
+    msg_type: '0x203'
+    payload: OD7QGPQSAAA+FQAAJd7//wAAAAAFAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 8
+      tow: 416205300
+      x: 4
+      y: -43
+      z: 12
+    module: sbp.navigation
+    name: MsgVelECEF
+  msg_type: '0x204'
+  raw_packet: VQQCzAQU9MnOGAQAAADV////DAAAAAAACAB4Mw==
+  sbp:
+    crc: '0x3378'
+    length: 20
+    msg_type: '0x204'
+    payload: 9MnOGAQAAADV////DAAAAAAACAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 8
+      tow: 416205400
+      x: 20
+      y: 37
+      z: 12
+    module: sbp.navigation
+    name: MsgVelECEF
+  msg_type: '0x204'
+  raw_packet: VQQCzAQUWMrOGBQAAAAlAAAADAAAAAAACAB5ww==
+  sbp:
+    crc: '0xc379'
+    length: 20
+    msg_type: '0x204'
+    payload: WMrOGBQAAAAlAAAADAAAAAAACAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 8
+      tow: 416205500
+      x: -21
+      y: -6
+      z: -50
+    module: sbp.navigation
+    name: MsgVelECEF
+  msg_type: '0x204'
+  raw_packet: VQQCzAQUvMrOGOv////6////zv///wAACAAT8w==
+  sbp:
+    crc: '0xf313'
+    length: 20
+    msg_type: '0x204'
+    payload: vMrOGOv////6////zv///wAACAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 8
+      tow: 416205600
+      x: 2
+      y: 4
+      z: 19
+    module: sbp.navigation
+    name: MsgVelECEF
+  msg_type: '0x204'
+  raw_packet: VQQCzAQUIMvOGAIAAAAEAAAAEwAAAAAACABVyg==
+  sbp:
+    crc: '0xca55'
+    length: 20
+    msg_type: '0x204'
+    payload: IMvOGAIAAAAEAAAAEwAAAAAACAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 8
+      tow: 416205700
+      x: -16
+      y: -61
+      z: 30
+    module: sbp.navigation
+    name: MsgVelECEF
+  msg_type: '0x204'
+  raw_packet: VQQCzAQUhMvOGPD////D////HgAAAAAACAArKw==
+  sbp:
+    crc: '0x2b2b'
+    length: 20
+    msg_type: '0x204'
+    payload: hMvOGPD////D////HgAAAAAACAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      accuracy: 0
+      flags: 0
+      n_sats: 6
+      tow: 416271985
+      x: 16
+      y: 19
+      z: -21
+    module: sbp.navigation
+    name: MsgVelECEF
+  msg_type: '0x204'
+  raw_packet: VQQCzAQUcc7PGBAAAAATAAAA6////wAABgCoyA==
+  sbp:
+    crc: '0xc8a8'
+    length: 20
+    msg_type: '0x204'
+    payload: cc7PGBAAAAATAAAA6////wAABgA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: -34
+      e: 26
+      flags: 0
+      h_accuracy: 0
+      n: -11
+      n_sats: 8
+      tow: 416205300
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgVelNED
+  msg_type: '0x205'
+  raw_packet: VQUCzAQW9MnOGPX///8aAAAA3v///wAAAAAIAPO1
+  sbp:
+    crc: '0xb5f3'
+    length: 22
+    msg_type: '0x205'
+    payload: 9MnOGPX///8aAAAA3v///wAAAAAIAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: 26
+      e: -3
+      flags: 0
+      h_accuracy: 0
+      n: 34
+      n_sats: 8
+      tow: 416205400
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgVelNED
+  msg_type: '0x205'
+  raw_packet: VQUCzAQWWMrOGCIAAAD9////GgAAAAAAAAAIABRf
+  sbp:
+    crc: '0x5f14'
+    length: 22
+    msg_type: '0x205'
+    payload: WMrOGCIAAAD9////GgAAAAAAAAAIAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: 18
+      e: -15
+      flags: 0
+      h_accuracy: 0
+      n: -49
+      n_sats: 8
+      tow: 416205500
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgVelNED
+  msg_type: '0x205'
+  raw_packet: VQUCzAQWvMrOGM/////x////EgAAAAAAAAAIAK+M
+  sbp:
+    crc: '0x8caf'
+    length: 22
+    msg_type: '0x205'
+    payload: vMrOGM/////x////EgAAAAAAAAAIAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: -8
+      e: -1
+      flags: 0
+      h_accuracy: 0
+      n: 18
+      n_sats: 8
+      tow: 416205600
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgVelNED
+  msg_type: '0x205'
+  raw_packet: VQUCzAQWIMvOGBIAAAD/////+P///wAAAAAIALjr
+  sbp:
+    crc: '0xebb8'
+    length: 22
+    msg_type: '0x205'
+    payload: IMvOGBIAAAD/////+P///wAAAAAIAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: -66
+      e: 19
+      flags: 0
+      h_accuracy: 0
+      n: -13
+      n_sats: 8
+      tow: 416205700
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgVelNED
+  msg_type: '0x205'
+  raw_packet: VQUCzAQWhMvOGPP///8TAAAAvv///wAAAAAIAHbX
+  sbp:
+    crc: '0xd776'
+    length: 22
+    msg_type: '0x205'
+    payload: hMvOGPP///8TAAAAvv///wAAAAAIAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      d: 32
+      e: 3
+      flags: 0
+      h_accuracy: 0
+      n: -1
+      n_sats: 6
+      tow: 416271985
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgVelNED
+  msg_type: '0x205'
+  raw_packet: VQUCzAQWcc7PGP////8DAAAAIAAAAAAAAAAGAFAy
+  sbp:
+    crc: '0x3250'
+    length: 22
+    msg_type: '0x205'
+    payload: cc7PGP////8DAAAAIAAAAAAAAAAGAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      gdop: 65535
+      hdop: 0
+      pdop: 65535
+      tdop: 64519
+      tow: 4294967292
+      vdop: 0
+    module: sbp.navigation
+    name: MsgDops
+  msg_type: '0x206'
+  raw_packet: VQYCzAQO/P////////8H/AAAAAAgJQ==
+  sbp:
+    crc: '0x2520'
+    length: 14
+    msg_type: '0x206'
+    payload: /P////////8H/AAAAAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      gdop: 269
+      hdop: 340
+      pdop: 243
+      tdop: 114
+      tow: 416272900
+      vdop: 73
+    module: sbp.navigation
+    name: MsgDops
+  msg_type: '0x206'
+  raw_packet: VQYCzAQOBNLPGA0B8wByAFQBSQCvIw==
+  sbp:
+    crc: '0x23af'
+    length: 14
+    msg_type: '0x206'
+    payload: BNLPGA0B8wByAFQBSQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      gdop: 269
+      hdop: 340
+      pdop: 243
+      tdop: 114
+      tow: 416273900
+      vdop: 73
+    module: sbp.navigation
+    name: MsgDops
+  msg_type: '0x206'
+  raw_packet: VQYCzAQO7NXPGA0B8wByAFQBSQDC4w==
+  sbp:
+    crc: '0xe3c2'
+    length: 14
+    msg_type: '0x206'
+    payload: 7NXPGA0B8wByAFQBSQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      gdop: 269
+      hdop: 340
+      pdop: 243
+      tdop: 114
+      tow: 416274900
+      vdop: 73
+    module: sbp.navigation
+    name: MsgDops
+  msg_type: '0x206'
+  raw_packet: VQYCzAQO1NnPGA0B8wByAFQBSQBmXQ==
+  sbp:
+    crc: '0x5d66'
+    length: 14
+    msg_type: '0x206'
+    payload: 1NnPGA0B8wByAFQBSQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      gdop: 269
+      hdop: 339
+      pdop: 243
+      tdop: 114
+      tow: 416275900
+      vdop: 73
+    module: sbp.navigation
+    name: MsgDops
+  msg_type: '0x206'
+  raw_packet: VQYCzAQOvN3PGA0B8wByAFMBSQD9VA==
+  sbp:
+    crc: '0x54fd'
+    length: 14
+    msg_type: '0x206'
+    payload: vN3PGA0B8wByAFMBSQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      gdop: 269
+      hdop: 339
+      pdop: 243
+      tdop: 114
+      tow: 416276900
+      vdop: 73
+    module: sbp.navigation
+    name: MsgDops
+  msg_type: '0x206'
+  raw_packet: VQYCzAQOpOHPGA0B8wByAFMBSQBKTA==
+  sbp:
+    crc: '0x4c4a'
+    length: 14
+    msg_type: '0x206'
+    payload: pOHPGA0B8wByAFMBSQA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      h_accuracy: 0
+      height: 1.0012943775156375
+      lat: 37.76243173344967
+      lon: -122.38902888953618
+      n_sats: 8
+      tow: 416205300
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgPosLLH
+  msg_type: '0x201'
+  raw_packet: VQECzAQi9MnOGKlM8FyX4UJAdHBt2eWYXsDOktFATQXwPwAAAAAIAFSJ
+  sbp:
+    crc: '0x8954'
+    length: 34
+    msg_type: '0x201'
+    payload: 9MnOGKlM8FyX4UJAdHBt2eWYXsDOktFATQXwPwAAAAAIAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      h_accuracy: 0
+      height: 0.8655268744638001
+      lat: 37.76243672765506
+      lon: -122.3890321231515
+      n_sats: 8
+      tow: 416205400
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgPosLLH
+  msg_type: '0x201'
+  raw_packet: VQECzAQiWMrOGBxG1YaX4UJA3YH95uWYXsAgMnRqZbLrPwAAAAAIADHn
+  sbp:
+    crc: '0xe731'
+    length: 34
+    msg_type: '0x201'
+    payload: WMrOGBxG1YaX4UJA3YH95uWYXsAgMnRqZbLrPwAAAAAIAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      h_accuracy: 0
+      height: 0.20615086902140606
+      lat: 37.76243146475766
+      lon: -122.38904092086298
+      n_sats: 8
+      tow: 416205500
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgPosLLH
+  msg_type: '0x201'
+  raw_packet: VQECzAQivMrOGKtJr1qX4UJAYvrjC+aYXsDilD7UJmPKPwAAAAAIAErr
+  sbp:
+    crc: '0xeb4a'
+    length: 34
+    msg_type: '0x201'
+    payload: vMrOGKtJr1qX4UJAYvrjC+aYXsDilD7UJmPKPwAAAAAIAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      h_accuracy: 0
+      height: -2.7800915061277087
+      lat: 37.762443632655156
+      lon: -122.38903559942881
+      n_sats: 8
+      tow: 416205600
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgPosLLH
+  msg_type: '0x201'
+  raw_packet: VQECzAQiIMvOGA+mwcCX4UJAsiGS9eWYXsCrpZWdoD0GwAAAAAAIAJG3
+  sbp:
+    crc: '0xb791'
+    length: 34
+    msg_type: '0x201'
+    payload: IMvOGA+mwcCX4UJAsiGS9eWYXsCrpZWdoD0GwAAAAAAIAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      h_accuracy: 0
+      height: -3.9020938562345213
+      lat: 37.76244470914511
+      lon: -122.38903706026538
+      n_sats: 8
+      tow: 416205700
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgPosLLH
+  msg_type: '0x201'
+  raw_packet: VQECzAQihMvOGKtkycmX4UJAZbGy++WYXsAumdP7fDcPwAAAAAAIAIa8
+  sbp:
+    crc: '0xbc86'
+    length: 34
+    msg_type: '0x201'
+    payload: hMvOGKtkycmX4UJAZbGy++WYXsAumdP7fDcPwAAAAAAIAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+      h_accuracy: 0
+      height: 1.057562688832796
+      lat: 37.76242461187733
+      lon: -122.3890695682817
+      n_sats: 6
+      tow: 416271985
+      v_accuracy: 0
+    module: sbp.navigation
+    name: MsgPosLLH
+  msg_type: '0x201'
+  raw_packet: VQECzAQicc7PGN3WMiGX4UJA4egLhOaYXsBgG6DaxuvwPwAAAAAGAK4U
+  sbp:
+    crc: '0x14ae'
+    length: 34
+    msg_type: '0x201'
+    payload: cc7PGN3WMiGX4UJA4egLhOaYXsBgG6DaxuvwPwAAAAAGAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+version: '0.23'
+...
diff --git a/spec/tests/yaml/swiftnav/sbp/test_observation.yaml b/spec/tests/yaml/swiftnav/sbp/test_observation.yaml
new file mode 100644
index 0000000000..ea5aa74e11
--- /dev/null
+++ b/spec/tests/yaml/swiftnav/sbp/test_observation.yaml
@@ -0,0 +1,369 @@
+---
+description: Unit tests for swiftnav.sbp.observation v0.23.
+generated_on: 2015-03-24 11:31:59.766910
+package: sbp.observation
+tests:
+
+- msg:
+    fields:
+      header:
+        ObservationHeader:
+          n_obs: 32
+          t:
+            ObsGPSTime:
+              tow: 416205400
+              wn: 1836
+      obs:
+        PackedObsContent:
+        - L:
+            CarrierPhase:
+              f: 174
+              i: -235696
+          P: 2231495077
+          cn0: 21
+          lock: 38768
+          prn: 0
+        - L:
+            CarrierPhase:
+              f: 19
+              i: 13563
+          P: 1869850003
+          cn0: 25
+          lock: 21056
+          prn: 2
+        - L:
+            CarrierPhase:
+              f: 103
+              i: 106804
+          P: 2298000000
+          cn0: 17
+          lock: 54429
+          prn: 5
+        - L:
+            CarrierPhase:
+              f: 117
+              i: 129163
+          P: 2179721960
+          cn0: 26
+          lock: 37300
+          prn: 8
+        - L:
+            CarrierPhase:
+              f: 121
+              i: 224769
+          P: 2082264686
+          cn0: 26
+          lock: 7258
+          prn: 15
+        - L:
+            CarrierPhase:
+              f: 26
+              i: 131900
+          P: 1993973655
+          cn0: 46
+          lock: 54534
+          prn: 22
+        - L:
+            CarrierPhase:
+              f: 219
+              i: -235729
+          P: 2194259129
+          cn0: 27
+          lock: 64155
+          prn: 30
+    module: sbp.observation
+    name: MsgObs
+  msg_type: '0x45'
+  raw_packet: VUUAzARiWMrOGCwHIKXpAYVQZ/z/rhVwlwCTpXNv+zQAABMZQFICgLL4iDShAQBnEZ3UBejq64GL+AEAdRq0kQhu1hx8AW4DAHkaWhwPl5/ZdjwDAgAaLgbVFrm8yYIvZ/z/2xub+h4ucA==
+  sbp:
+    crc: '0x702e'
+    length: 98
+    msg_type: '0x45'
+    payload: WMrOGCwHIKXpAYVQZ/z/rhVwlwCTpXNv+zQAABMZQFICgLL4iDShAQBnEZ3UBejq64GL+AEAdRq0kQhu1hx8AW4DAHkaWhwPl5/ZdjwDAgAaLgbVFrm8yYIvZ/z/2xub+h4=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      header:
+        ObservationHeader:
+          n_obs: 33
+          t:
+            ObsGPSTime:
+              tow: 416205400
+              wn: 1836
+      obs:
+        PackedObsContent:
+        - L:
+            CarrierPhase:
+              f: 156
+              i: -183560
+          P: 2074245293
+          cn0: 29
+          lock: 53285
+          prn: 31
+    module: sbp.observation
+    name: MsgObs
+  msg_type: '0x45'
+  raw_packet: VUUAzAQUWMrOGCwHIa14onv4Mv3/nB0l0B/KDw==
+  sbp:
+    crc: '0xfca'
+    length: 20
+    msg_type: '0x45'
+    payload: WMrOGCwHIa14onv4Mv3/nB0l0B8=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      header:
+        ObservationHeader:
+          n_obs: 32
+          t:
+            ObsGPSTime:
+              tow: 416205600
+              wn: 1836
+      obs:
+        PackedObsContent:
+        - L:
+            CarrierPhase:
+              f: 242
+              i: -236295
+          P: 2231513016
+          cn0: 20
+          lock: 38768
+          prn: 0
+        - L:
+            CarrierPhase:
+              f: 210
+              i: 13594
+          P: 1869856131
+          cn0: 26
+          lock: 21056
+          prn: 2
+        - L:
+            CarrierPhase:
+              f: 183
+              i: 107132
+          P: 2298000000
+          cn0: 19
+          lock: 54429
+          prn: 5
+        - L:
+            CarrierPhase:
+              f: 215
+              i: 129687
+          P: 2179718442
+          cn0: 26
+          lock: 37300
+          prn: 8
+        - L:
+            CarrierPhase:
+              f: 132
+              i: 225342
+          P: 2082260424
+          cn0: 27
+          lock: 7258
+          prn: 15
+        - L:
+            CarrierPhase:
+              f: 3
+              i: 132239
+          P: 1993973752
+          cn0: 49
+          lock: 54534
+          prn: 22
+        - L:
+            CarrierPhase:
+              f: 225
+              i: -236348
+          P: 2194277408
+          cn0: 26
+          lock: 64155
+          prn: 30
+    module: sbp.observation
+    name: MsgObs
+  msg_type: '0x45'
+  raw_packet: VUUAzARiIMvOGCwHILgvAoX5ZPz/8hRwlwCDvXNvGjUAANIaQFICgLL4iHyiAQC3E53UBSrd64GX+gEA1xq0kQjIxRx8PnADAIQbWhwP+J/Zdo8EAgADMQbVFiAEyoLEZPz/4Rqb+h6sFg==
+  sbp:
+    crc: '0x16ac'
+    length: 98
+    msg_type: '0x45'
+    payload: IMvOGCwHILgvAoX5ZPz/8hRwlwCDvXNvGjUAANIaQFICgLL4iHyiAQC3E53UBSrd64GX+gEA1xq0kQjIxRx8PnADAIQbWhwP+J/Zdo8EAgADMQbVFiAEyoLEZPz/4Rqb+h4=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      header:
+        ObservationHeader:
+          n_obs: 33
+          t:
+            ObsGPSTime:
+              tow: 416205600
+              wn: 1836
+      obs:
+        PackedObsContent:
+        - L:
+            CarrierPhase:
+              f: 211
+              i: -184045
+          P: 2074260983
+          cn0: 28
+          lock: 53285
+          prn: 31
+    module: sbp.observation
+    name: MsgObs
+  msg_type: '0x45'
+  raw_packet: VUUAzAQUIMvOGCwHIfe1onsTMf3/0xwl0B+YSg==
+  sbp:
+    crc: '0x4a98'
+    length: 20
+    msg_type: '0x45'
+    payload: IMvOGCwHIfe1onsTMf3/0xwl0B8=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      header:
+        ObservationHeader:
+          n_obs: 16
+          t:
+            ObsGPSTime:
+              tow: 416271000
+              wn: 1836
+      obs:
+        PackedObsContent:
+        - L:
+            CarrierPhase:
+              f: 92
+              i: 8209
+          P: 1871702242
+          cn0: 45
+          lock: 20410
+          prn: 2
+        - L:
+            CarrierPhase:
+              f: 171
+              i: 49927
+          P: 2298000000
+          cn0: 12
+          lock: 63838
+          prn: 5
+        - L:
+            CarrierPhase:
+              f: 126
+              i: 134157
+          P: 2178477396
+          cn0: 19
+          lock: 44760
+          prn: 8
+        - L:
+            CarrierPhase:
+              f: 7
+              i: 143721
+          P: 2080732352
+          cn0: 27
+          lock: 5189
+          prn: 15
+        - L:
+            CarrierPhase:
+              f: 70
+              i: -142917
+          P: 2200152385
+          cn0: 19
+          lock: 16647
+          prn: 30
+        - L:
+            CarrierPhase:
+              f: 109
+              i: -111250
+          P: 2079310706
+          cn0: 43
+          lock: 51160
+          prn: 31
+    module: sbp.observation
+    name: MsgObs
+  msg_type: '0x45'
+  raw_packet: VUUAAABVmMrPGCwHEOLoj28RIAAAXC26TwKAsviIB8MAAKsMXvkFVO3YgQ0MAgB+E9iuCMB0BXxpMQIABxtFFA9BqSODu9H9/0YTB0EecsPve25N/v9tK9jHH4zE
+  sbp:
+    crc: '0xc48c'
+    length: 85
+    msg_type: '0x45'
+    payload: mMrPGCwHEOLoj28RIAAAXC26TwKAsviIB8MAAKsMXvkFVO3YgQ0MAgB+E9iuCMB0BXxpMQIABxtFFA9BqSODu9H9/0YTB0EecsPve25N/v9tK9jHHw==
+    preamble: '0x55'
+    sender: '0x0'
+
+- msg:
+    fields:
+      header:
+        ObservationHeader:
+          n_obs: 16
+          t:
+            ObsGPSTime:
+              tow: 416271200
+              wn: 1836
+      obs:
+        PackedObsContent:
+        - L:
+            CarrierPhase:
+              f: 154
+              i: 8251
+          P: 1871707673
+          cn0: 45
+          lock: 20410
+          prn: 2
+        - L:
+            CarrierPhase:
+              f: 243
+              i: 50266
+          P: 2298000000
+          cn0: 14
+          lock: 63838
+          prn: 5
+        - L:
+            CarrierPhase:
+              f: 32
+              i: 134699
+          P: 2178473393
+          cn0: 21
+          lock: 44760
+          prn: 8
+        - L:
+            CarrierPhase:
+              f: 174
+              i: 144306
+          P: 2080727580
+          cn0: 28
+          lock: 5189
+          prn: 15
+        - L:
+            CarrierPhase:
+              f: 72
+              i: -143519
+          P: 2200170036
+          cn0: 19
+          lock: 16647
+          prn: 30
+        - L:
+            CarrierPhase:
+              f: 144
+              i: -111721
+          P: 2079326011
+          cn0: 43
+          lock: 51160
+          prn: 31
+    module: sbp.observation
+    name: MsgObs
+  msg_type: '0x45'
+  raw_packet: VUUAAABVYMvPGCwHEBn+j287IAAAmi26TwKAsviIWsQAAPMOXvkFsd3YgSsOAgAgFdiuCBxiBXyyMwIArhxFFA807iODYc/9/0gTB0EeO//ve5dL/v+QK9jHH/cy
+  sbp:
+    crc: '0x32f7'
+    length: 85
+    msg_type: '0x45'
+    payload: YMvPGCwHEBn+j287IAAAmi26TwKAsviIWsQAAPMOXvkFsd3YgSsOAgAgFdiuCBxiBXyyMwIArhxFFA807iODYc/9/0gTB0EeO//ve5dL/v+QK9jHHw==
+    preamble: '0x55'
+    sender: '0x0'
+version: '0.23'
+...
diff --git a/spec/tests/yaml/swiftnav/sbp/test_piksi.yaml b/spec/tests/yaml/swiftnav/sbp/test_piksi.yaml
new file mode 100644
index 0000000000..251635a01c
--- /dev/null
+++ b/spec/tests/yaml/swiftnav/sbp/test_piksi.yaml
@@ -0,0 +1,561 @@
+---
+description: Unit tests for swiftnav.sbp.piksi v0.23.
+generated_on: 2015-03-24 11:31:59.676598
+package: sbp.piksi
+tests:
+
+- msg:
+    fields: null
+    module: sbp.piksi
+    name: MsgPrint
+  msg_type: '0x10'
+  raw_packet: VRAAzAQhSU5GTzogYWNxOiByZXN0YXJ0aW5nIFBSTiBzZWFyY2gKJEs=
+  sbp:
+    crc: '0x4b24'
+    length: 33
+    msg_type: '0x10'
+    payload: SU5GTzogYWNxOiByZXN0YXJ0aW5nIFBSTiBzZWFyY2gK
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields: null
+    module: sbp.piksi
+    name: MsgPrint
+  msg_type: '0x10'
+  raw_packet: VRAAzAQYSU5GTzogUGlrc2kgU3RhcnRpbmcuLi4KvEU=
+  sbp:
+    crc: '0x45bc'
+    length: 24
+    msg_type: '0x10'
+    payload: SU5GTzogUGlrc2kgU3RhcnRpbmcuLi4K
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields: null
+    module: sbp.piksi
+    name: MsgPrint
+  msg_type: '0x10'
+  raw_packet: VRAAzAQqSU5GTzogRmlybXdhcmUgVmVyc2lvbjogdjAuMTQtMzktZzViZjNmZWEK0R0=
+  sbp:
+    crc: '0x1dd1'
+    length: 42
+    msg_type: '0x10'
+    payload: SU5GTzogRmlybXdhcmUgVmVyc2lvbjogdjAuMTQtMzktZzViZjNmZWEK
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields: null
+    module: sbp.piksi
+    name: MsgPrint
+  msg_type: '0x10'
+  raw_packet: VRAAzAQiSU5GTzogQnVpbHQ6IE1hciAxOSAyMDE1IDE5OjA3OjAxCuQh
+  sbp:
+    crc: '0x21e4'
+    length: 34
+    msg_type: '0x10'
+    payload: SU5GTzogQnVpbHQ6IE1hciAxOSAyMDE1IDE5OjA3OjAxCg==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields: null
+    module: sbp.piksi
+    name: MsgPrint
+  msg_type: '0x10'
+  raw_packet: VRAAzARBSU5GTzogTm8gdGVsZW1ldHJ5IHJhZGlvIGZvdW5kIG9uIFVBUlRBLCBza2lwcGluZyBjb25maWd1cmF0aW9uLgpSUA==
+  sbp:
+    crc: '0x5052'
+    length: 65
+    msg_type: '0x10'
+    payload: SU5GTzogTm8gdGVsZW1ldHJ5IHJhZGlvIGZvdW5kIG9uIFVBUlRBLCBza2lwcGluZyBjb25maWd1cmF0aW9uLgo=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields: null
+    module: sbp.piksi
+    name: MsgPrint
+  msg_type: '0x10'
+  raw_packet: VRAAzARBSU5GTzogTm8gdGVsZW1ldHJ5IHJhZGlvIGZvdW5kIG9uIFVBUlRCLCBza2lwcGluZyBjb25maWd1cmF0aW9uLgr4bw==
+  sbp:
+    crc: '0x6ff8'
+    length: 65
+    msg_type: '0x10'
+    payload: SU5GTzogTm8gdGVsZW1ldHJ5IHJhZGlvIGZvdW5kIG9uIFVBUlRCLCBza2lwcGluZyBjb25maWd1cmF0aW9uLgo=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cpu: 0
+      name: "main\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0"
+      stack_free: 2452
+    module: sbp.piksi
+    name: MsgThreadState
+  msg_type: '0x17'
+  raw_packet: VRcAzAQabWFpbgAAAAAAAAAAAAAAAAAAAAAAAJQJAADk0Q==
+  sbp:
+    crc: '0xd1e4'
+    length: 26
+    msg_type: '0x17'
+    payload: bWFpbgAAAAAAAAAAAAAAAAAAAAAAAJQJAAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cpu: 512
+      name: "idle\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0"
+      stack_free: 36
+    module: sbp.piksi
+    name: MsgThreadState
+  msg_type: '0x17'
+  raw_packet: VRcAzAQaaWRsZQAAAAAAAAAAAAAAAAAAAAAAAiQAAACNdA==
+  sbp:
+    crc: '0x748d'
+    length: 26
+    msg_type: '0x17'
+    payload: aWRsZQAAAAAAAAAAAAAAAAAAAAAAAiQAAAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cpu: 371
+      name: "NAP ISR\0\0\0\0\0\0\0\0\0\0\0\0\0"
+      stack_free: 1884
+    module: sbp.piksi
+    name: MsgThreadState
+  msg_type: '0x17'
+  raw_packet: VRcAzAQaTkFQIElTUgAAAAAAAAAAAAAAAABzAVwHAADfqA==
+  sbp:
+    crc: '0xa8df'
+    length: 26
+    msg_type: '0x17'
+    payload: TkFQIElTUgAAAAAAAAAAAAAAAABzAVwHAAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cpu: 1
+      name: "SBP\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0"
+      stack_free: 3052
+    module: sbp.piksi
+    name: MsgThreadState
+  msg_type: '0x17'
+  raw_packet: VRcAzAQaU0JQAAAAAAAAAAAAAAAAAAAAAAABAOwLAAB7Lw==
+  sbp:
+    crc: '0x2f7b'
+    length: 26
+    msg_type: '0x17'
+    payload: U0JQAAAAAAAAAAAAAAAAAAAAAAABAOwLAAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cpu: 10
+      name: "manage acq\0\0\0\0\0\0\0\0\0\0"
+      stack_free: 2428
+    module: sbp.piksi
+    name: MsgThreadState
+  msg_type: '0x17'
+  raw_packet: VRcAzAQabWFuYWdlIGFjcQAAAAAAAAAAAAAKAHwJAAATBw==
+  sbp:
+    crc: '0x713'
+    length: 26
+    msg_type: '0x17'
+    payload: bWFuYWdlIGFjcQAAAAAAAAAAAAAKAHwJAAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      cpu: 0
+      name: "manage track\0\0\0\0\0\0\0\0"
+      stack_free: 2332
+    module: sbp.piksi
+    name: MsgThreadState
+  msg_type: '0x17'
+  raw_packet: VRcAzAQabWFuYWdlIHRyYWNrAAAAAAAAAAAAABwJAABdMw==
+  sbp:
+    crc: '0x335d'
+    length: 26
+    msg_type: '0x17'
+    payload: bWFuYWdlIHRyYWNrAAAAAAAAAAAAABwJAAA=
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      latency:
+        Latency:
+          avg: -1
+          current: -1
+          lmax: 0
+          lmin: 0
+      uart_a:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 0
+          tx_throughput: 0.0
+      uart_b:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 0
+          tx_throughput: 0.0
+      uart_ftdi:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 16
+          tx_throughput: 12.40000057220459
+    module: sbp.piksi
+    name: MsgUartState
+  msg_type: '0x18'
+  raw_packet: VRgAzAQ6AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAGdmRkEAAAAAAAAAABAA/////wAAAAAAAAAA/////3h7
+  sbp:
+    crc: '0x7b78'
+    length: 58
+    msg_type: '0x18'
+    payload: AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAGdmRkEAAAAAAAAAABAA/////wAAAAAAAAAA/////w==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      latency:
+        Latency:
+          avg: -1
+          current: -1
+          lmax: 0
+          lmin: 0
+      uart_a:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 0
+          tx_throughput: 0.0
+      uart_b:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 0
+          tx_throughput: 0.0
+      uart_ftdi:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 0
+          tx_throughput: 0.06599999964237213
+    module: sbp.piksi
+    name: MsgUartState
+  msg_type: '0x18'
+  raw_packet: VRgAzAQ6AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAIrhz0AAAAAAAAAAAAA/////wAAAAAAAAAA/////7If
+  sbp:
+    crc: '0x1fb2'
+    length: 58
+    msg_type: '0x18'
+    payload: AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAIrhz0AAAAAAAAAAAAA/////wAAAAAAAAAA/////w==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      latency:
+        Latency:
+          avg: -1
+          current: -1
+          lmax: 0
+          lmin: 0
+      uart_a:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 0
+          tx_throughput: 0.0
+      uart_b:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 0
+          tx_throughput: 0.0
+      uart_ftdi:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 10
+          tx_throughput: 0.13899999856948853
+    module: sbp.piksi
+    name: MsgUartState
+  msg_type: '0x18'
+  raw_packet: VRgAzAQ6AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAARWDj4AAAAAAAAAAAoA/////wAAAAAAAAAA/////zVV
+  sbp:
+    crc: '0x5535'
+    length: 58
+    msg_type: '0x18'
+    payload: AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAARWDj4AAAAAAAAAAAoA/////wAAAAAAAAAA/////w==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      latency:
+        Latency:
+          avg: -1
+          current: -1
+          lmax: 0
+          lmin: 0
+      uart_a:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 0
+          tx_throughput: 0.0
+      uart_b:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 0
+          tx_throughput: 0.0
+      uart_ftdi:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 0
+          tx_throughput: 0.06599999964237213
+    module: sbp.piksi
+    name: MsgUartState
+  msg_type: '0x18'
+  raw_packet: VRgAzAQ6AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAIrhz0AAAAAAAAAAAAA/////wAAAAAAAAAA/////7If
+  sbp:
+    crc: '0x1fb2'
+    length: 58
+    msg_type: '0x18'
+    payload: AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAIrhz0AAAAAAAAAAAAA/////wAAAAAAAAAA/////w==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      latency:
+        Latency:
+          avg: -1
+          current: -1
+          lmax: 0
+          lmin: 0
+      uart_a:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0051282052882015705
+          tx_buffer_level: 0
+          tx_throughput: 0.0
+      uart_b:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 2
+          tx_throughput: 0.061538465321063995
+      uart_ftdi:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 38
+          tx_throughput: 0.5139999985694885
+    module: sbp.piksi
+    name: MsgUartState
+  msg_type: '0x18'
+  raw_packet: VRgAzAQ6AAAAAIEKqDsAAAAAAADCD3w9AAAAAAAAAAACAIGVAz8AAAAAAAAAACYA/////wAAAAAAAAAA/////+Gy
+  sbp:
+    crc: '0xb2e1'
+    length: 58
+    msg_type: '0x18'
+    payload: AAAAAIEKqDsAAAAAAADCD3w9AAAAAAAAAAACAIGVAz8AAAAAAAAAACYA/////wAAAAAAAAAA/////w==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      latency:
+        Latency:
+          avg: -1
+          current: -1
+          lmax: 0
+          lmin: 0
+      uart_a:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 2
+          tx_throughput: 0.012000000104308128
+      uart_b:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 2
+          tx_throughput: 0.012000000104308128
+      uart_ftdi:
+        UARTChannel:
+          crc_error_count: 0
+          io_error_count: 0
+          rx_buffer_level: 0
+          rx_throughput: 0.0
+          tx_buffer_level: 50
+          tx_throughput: 1.2130000591278076
+    module: sbp.piksi
+    name: MsgUartState
+  msg_type: '0x18'
+  raw_packet: VRgAzAQ6pptEPAAAAAAAAAAAAgCmm0Q8AAAAAAAAAAACAJZDmz8AAAAAAAAAADIA/////wAAAAAAAAAA/////0h+
+  sbp:
+    crc: '0x7e48'
+    length: 58
+    msg_type: '0x18'
+    payload: pptEPAAAAAAAAAAAAgCmm0Q8AAAAAAAAAAACAJZDmz8AAAAAAAAAADIA/////wAAAAAAAAAA/////w==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      num_hyps: 0
+    module: sbp.piksi
+    name: MsgIarState
+  msg_type: '0x19'
+  raw_packet: VRkAzAQEAAAAAPs6
+  sbp:
+    crc: '0x3afb'
+    length: 4
+    msg_type: '0x19'
+    payload: AAAAAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      num_hyps: 1
+    module: sbp.piksi
+    name: MsgIarState
+  msg_type: '0x19'
+  raw_packet: VRkAzAQEAQAAAE9M
+  sbp:
+    crc: '0x4c4f'
+    length: 4
+    msg_type: '0x19'
+    payload: AQAAAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      num_hyps: 972
+    module: sbp.piksi
+    name: MsgIarState
+  msg_type: '0x19'
+  raw_packet: VRkAzAQEzAMAAD2f
+  sbp:
+    crc: '0x9f3d'
+    length: 4
+    msg_type: '0x19'
+    payload: zAMAAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      num_hyps: 971
+    module: sbp.piksi
+    name: MsgIarState
+  msg_type: '0x19'
+  raw_packet: VRkAzAQEywMAABDO
+  sbp:
+    crc: '0xce10'
+    length: 4
+    msg_type: '0x19'
+    payload: ywMAAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      num_hyps: 967
+    module: sbp.piksi
+    name: MsgIarState
+  msg_type: '0x19'
+  raw_packet: VRkAzAQExwMAACKB
+  sbp:
+    crc: '0x8122'
+    length: 4
+    msg_type: '0x19'
+    payload: xwMAAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      num_hyps: 957
+    module: sbp.piksi
+    name: MsgIarState
+  msg_type: '0x19'
+  raw_packet: VRkAzAQEvQMAAPyr
+  sbp:
+    crc: '0xabfc'
+    length: 4
+    msg_type: '0x19'
+    payload: vQMAAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields: null
+    module: sbp.piksi
+    name: MsgBootloaderHandshake
+  msg_type: '0xb0'
+  raw_packet: VbAAzAQEdjEuMuhE
+  sbp:
+    crc: '0x44e8'
+    length: 4
+    msg_type: '0xb0'
+    payload: djEuMg==
+    preamble: '0x55'
+    sender: '0x4cc'
+version: '0.23'
+...
diff --git a/spec/tests/yaml/swiftnav/sbp/test_standard.yaml b/spec/tests/yaml/swiftnav/sbp/test_standard.yaml
new file mode 100644
index 0000000000..71512b5c36
--- /dev/null
+++ b/spec/tests/yaml/swiftnav/sbp/test_standard.yaml
@@ -0,0 +1,37 @@
+---
+description: Unit tests for swiftnav.sbp.standard v0.23.
+generated_on: 2015-03-24 11:31:59.831529
+package: sbp.standard
+tests:
+
+- msg:
+    fields:
+      reserved: 0
+    module: sbp.standard
+    name: MsgStartup
+  msg_type: '0xff00'
+  raw_packet: VQD/zAQEAAAAAJY/
+  sbp:
+    crc: '0x3f96'
+    length: 4
+    msg_type: '0xff00'
+    payload: AAAAAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      flags: 0
+    module: sbp.standard
+    name: MsgHeartbeat
+  msg_type: '0xffff'
+  raw_packet: Vf//zAQEAAAAAKuz
+  sbp:
+    crc: '0xb3ab'
+    length: 4
+    msg_type: '0xffff'
+    payload: AAAAAA==
+    preamble: '0x55'
+    sender: '0x4cc'
+version: '0.23'
+...
diff --git a/spec/tests/yaml/swiftnav/sbp/test_tracking.yaml b/spec/tests/yaml/swiftnav/sbp/test_tracking.yaml
new file mode 100644
index 0000000000..42f6c26c7d
--- /dev/null
+++ b/spec/tests/yaml/swiftnav/sbp/test_tracking.yaml
@@ -0,0 +1,301 @@
+---
+description: Unit tests for swiftnav.sbp.tracking v0.23.
+generated_on: 2015-03-24 11:31:59.432050
+package: sbp.tracking
+tests:
+
+- msg:
+    fields:
+      states:
+        TrackingChannelState:
+        - cn0: 5.2681565284729
+          prn: 0
+          state: 1
+        - cn0: 1.2068965435028076
+          prn: 27
+          state: 1
+        - cn0: 6.305882453918457
+          prn: 2
+          state: 1
+        - cn0: 11.842391014099121
+          prn: 7
+          state: 1
+        - cn0: 6.406779766082764
+          prn: 8
+          state: 1
+        - cn0: 7.05142879486084
+          prn: 15
+          state: 1
+        - cn0: 11.536842346191406
+          prn: 22
+          state: 1
+        - cn0: 6.736263751983643
+          prn: 30
+          state: 1
+        - cn0: 7.245614051818848
+          prn: 31
+          state: 1
+        - cn0: 4.375722408294678
+          prn: 5
+          state: 1
+        - cn0: -1.0
+          prn: 14
+          state: 0
+    module: sbp.tracking
+    name: MsgTrackingState
+  msg_type: '0x16'
+  raw_packet: VRYAzARCAQC9lKhAARuWe5o/AQLKyclAAQdvej1BAQhXBM1AAQ9OpeFAARboljhBAR55j9dAAR8S3OdAAQXrBYxAAA4AAIC/Oek=
+  sbp:
+    crc: '0xe939'
+    length: 66
+    msg_type: '0x16'
+    payload: AQC9lKhAARuWe5o/AQLKyclAAQdvej1BAQhXBM1AAQ9OpeFAARboljhBAR55j9dAAR8S3OdAAQXrBYxAAA4AAIC/
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      states:
+        TrackingChannelState:
+        - cn0: 5.247252941131592
+          prn: 0
+          state: 1
+        - cn0: 0.9884393215179443
+          prn: 27
+          state: 1
+        - cn0: 6.298121929168701
+          prn: 2
+          state: 1
+        - cn0: 12.005524635314941
+          prn: 7
+          state: 1
+        - cn0: 6.464088439941406
+          prn: 8
+          state: 1
+        - cn0: 6.468208312988281
+          prn: 15
+          state: 1
+        - cn0: 11.792552947998047
+          prn: 22
+          state: 1
+        - cn0: 6.596590995788574
+          prn: 30
+          state: 1
+        - cn0: 7.169590473175049
+          prn: 31
+          state: 1
+        - cn0: 5.035502910614014
+          prn: 5
+          state: 1
+        - cn0: -1.0
+          prn: 14
+          state: 0
+    module: sbp.tracking
+    name: MsgTrackingState
+  msg_type: '0x16'
+  raw_packet: VRYAzARCAQB/6adAARtcCn0/AQI3islAAQehFkBBAQjQ2c5AAQ+Q+85AARZMrjxBAR5GF9NAAR9JbeVAAQXXIqFAAA4AAIC/tIc=
+  sbp:
+    crc: '0x87b4'
+    length: 66
+    msg_type: '0x16'
+    payload: AQB/6adAARtcCn0/AQI3islAAQehFkBBAQjQ2c5AAQ+Q+85AARZMrjxBAR5GF9NAAR9JbeVAAQXXIqFAAA4AAIC/
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      states:
+        TrackingChannelState:
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+        - cn0: 4.526627063751221
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+          state: 1
+        - cn0: -1.0
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+    module: sbp.tracking
+    name: MsgTrackingState
+  msg_type: '0x16'
+  raw_packet: VRYAzARCAQCYfplAARunrGk/AQKyvMdAAQclK0lBAQhEOMRAAQ+MLtZAARbEAj5BAR79ZttAAR/mnuZAAQUh2pBAAA4AAIC/5Rg=
+  sbp:
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+    length: 66
+    msg_type: '0x16'
+    payload: AQCYfplAARunrGk/AQKyvMdAAQclK0lBAQhEOMRAAQ+MLtZAARbEAj5BAR79ZttAAR/mnuZAAQUh2pBAAA4AAIC/
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
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+        TrackingChannelState:
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+          state: 0
+        - cn0: -1.0
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+          state: 0
+    module: sbp.tracking
+    name: MsgTrackingState
+  msg_type: '0x16'
+  raw_packet: VRYAzARCAQAPDz9BAAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/z2Q=
+  sbp:
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+    length: 66
+    msg_type: '0x16'
+    payload: AQAPDz9BAAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      states:
+        TrackingChannelState:
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+          state: 1
+        - cn0: 7.107142925262451
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+        - cn0: -1.0
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+          state: 0
+        - cn0: -1.0
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+          state: 0
+    module: sbp.tracking
+    name: MsgTrackingState
+  msg_type: '0x16'
+  raw_packet: VRYAzARCAQDHcZxAAQK3beNAAAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC//pI=
+  sbp:
+    crc: '0x92fe'
+    length: 66
+    msg_type: '0x16'
+    payload: AQDHcZxAAQK3beNAAAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/
+    preamble: '0x55'
+    sender: '0x4cc'
+
+- msg:
+    fields:
+      states:
+        TrackingChannelState:
+        - cn0: 2.6417911052703857
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+          state: 1
+        - cn0: 3.7407407760620117
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+        - cn0: -1.0
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+        - cn0: -1.0
+          prn: 0
+          state: 0
+    module: sbp.tracking
+    name: MsgTrackingState
+  msg_type: '0x16'
+  raw_packet: VRYAzARCAQAbEylAAQJMaG9AAAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/nbQ=
+  sbp:
+    crc: '0xb49d'
+    length: 66
+    msg_type: '0x16'
+    payload: AQAbEylAAQJMaG9AAAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/AAAAAIC/
+    preamble: '0x55'
+    sender: '0x4cc'
+version: '0.23'
+...