diff --git a/docs/sbp.pdf b/docs/sbp.pdf
index e289c7d043..44787beec2 100644
Binary files a/docs/sbp.pdf and b/docs/sbp.pdf differ
diff --git a/spec/yaml/swiftnav/sbp/solution_meta.yaml b/spec/yaml/swiftnav/sbp/solution_meta.yaml
index 48ac1bb0d7..66fa3584ef 100644
--- a/spec/yaml/swiftnav/sbp/solution_meta.yaml
+++ b/spec/yaml/swiftnav/sbp/solution_meta.yaml
@@ -32,6 +32,14 @@ definitions:
            type: u8
            desc: The type of sensor
            fields:
+             - 5-7:
+                 desc: Reserved
+             - 3-4:
+                 desc: Whether this sensor input was actually used or not
+                 values:
+                   - 0: Unknown
+                   - 1: Received and used
+                   - 2: Received but not used
              - 0-2:
                  desc: The type of sensor
                  values:
@@ -43,14 +51,6 @@ definitions:
                    - 5: IMU Sensor (see IMUInputType)
                    - 6: Reserved
                    - 7: Reserved
-             - 3-4:
-                 desc: Whether this sensor input was actually used or not
-                 values:
-                   - 0: Unknown
-                   - 1: Received and used
-                   - 2: Received but not used
-             - 5-7:
-                 desc: Reserved
        - flags:
            type: u8
            units: (XX)InputType
@@ -87,6 +87,8 @@ definitions:
            type: u8
            desc: Bits for reason why it cannot align (yet)
            fields:
+             - 3-7:
+                 desc: Reserved
              - 0-2:
                  desc: Bits for reason why it cannot align (yet)
                  values:
@@ -98,8 +100,6 @@ definitions:
                    - 5: Reserved
                    - 6: Reserved
                    - 7: Reserved
-             - 3-7:
-                 desc: Reserved
        - last_used_gnss_pos_tow:
            type: u32
            units: ms
@@ -136,14 +136,14 @@ definitions:
            type: u8
            desc: flags that store all relevant info specific to this sensor type.
            fields:
+             - 2-7:
+                 desc: Reserved
              - 0-1:
                  desc: Type of GNSS measurement
                  values:
                    - 0: GNSS Position
                    - 1: GNSS Velocity Doppler
                    - 2: GNSS Velocity Displacement
-             - 2-7:
-                 desc: Reserved
 
  # for IMU sensors
  - IMUInputType:
@@ -159,11 +159,15 @@ definitions:
            type: u8
            desc: flags that store all relevant info specific to this sensor type.
            fields:
-             - 0-1:
-                 desc: IMU architecture
+             - 6-7:
+                 desc: Reserved
+             - 4-5:
+                 desc: Time status
                  values:
-                   - 0: 6-axis MEMS
-                   - 1: Other type
+                   - 0: Reference epoch is start of current GPS week
+                   - 1: Reference epoch is time of system startup
+                   - 2: Reference epoch is unknown
+                   - 3: Reference epoch is last PPS
              - 2-3:
                  desc: IMU Grade
                  values:
@@ -171,15 +175,11 @@ definitions:
                    - 1: Tactical grade
                    - 2: Intermediate Grade
                    - 3: Superior (Marine / Aviation) Grade
-             - 4-5:
-                 desc: Time status
+             - 0-1:
+                 desc: IMU architecture
                  values:
-                   - 0: Reference epoch is start of current GPS week
-                   - 1: Reference epoch is time of system startup
-                   - 2: Reference epoch is unknown
-                   - 3: Reference epoch is last PPS
-             - 6-7:
-                 desc: Reserved
+                   - 0: 6-axis MEMS
+                   - 1: Other type
 
  # for Odometry sensors
  - OdoInputType:
@@ -195,13 +195,15 @@ definitions:
            type: u8
            desc: flags that store all relevant info specific to this sensor type.
            fields:
-             - 0-1:
-                 desc: Odometer class
+             - 6-7:
+                 desc: Reserved
+             - 4-5:
+                 desc: Rate
                  values:
-                   - 0: Single or averaged ticks
-                   - 1: Single or averaged speed
-                   - 2: Multi-dimensional ticks
-                   - 3: Multi-dimensional speed
+                   - 0: Fixed incoming rate
+                   - 1: Incoming when triggered by minimum distance or speed
+                   - 2: Reserved
+                   - 3: Reserved
              - 2-3:
                  desc: Odometer grade
                  values:
@@ -209,12 +211,10 @@ definitions:
                    - 1: Medium Grade
                    - 2: Superior Grade
                    - 3: Reserved
-             - 4-5:
-                 desc: Rate
+             - 0-1:
+                 desc: Odometer class
                  values:
-                   - 0: Fixed incoming rate
-                   - 1: Incoming when triggered by minimum distance or speed
-                   - 2: Reserved
-                   - 3: Reserved
-             - 6-7:
-                 desc: Reserved
+                   - 0: Single or averaged ticks
+                   - 1: Single or averaged speed
+                   - 2: Multi-dimensional ticks
+                   - 3: Multi-dimensional speed
diff --git a/spec/yaml/swiftnav/sbp/system.yaml b/spec/yaml/swiftnav/sbp/system.yaml
index fd3f069f7c..9e383e57b0 100644
--- a/spec/yaml/swiftnav/sbp/system.yaml
+++ b/spec/yaml/swiftnav/sbp/system.yaml
@@ -334,8 +334,15 @@ definitions:
            type: u8
            desc: Status flags (reserved)
            fields:
-             - 4-7:
+             - 6-7:
                  desc: Reserved
+             - 4-5:
+                 desc: Time quality
+                 values:
+                   - 0: Unknown, CPU local, or Invalid
+                   - 1: Coarse (order of 1ms)
+                   - 2: Propagated
+                   - 3: Finer or Finest
              - 2-3:
                  desc: Solution Group type
                  values: