diff --git a/gr25/model/gps.go b/gr25/model/gps.go
index 3fc85af3..b6fc3faa 100644
--- a/gr25/model/gps.go
+++ b/gr25/model/gps.go
@@ -29,7 +29,7 @@ var GPSLongitude = mp.Message{
 }
 
 var GPSAltitude = mp.Message{
-	mp.NewField("gps_altitude", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+	mp.NewField("gps_altitude", 8, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
 		signals := []mp.Signal{}
 		signals = append(signals, mp.Signal{
 			Name:     "gps_altitude",
@@ -39,3 +39,123 @@ var GPSAltitude = mp.Message{
 		return signals
 	}),
 }
+
+var GPSPx = mp.Message{
+	mp.NewField("X_Theta", 2, mp.Signed, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "x_theta",
+			Value:    (float64(f.Value) * 0.01),
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("X_Acc", 2, mp.Signed, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "x_acc",
+			Value:    (float64(f.Value) * 0.01),
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("Status", 4, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "status",
+			Value:    float64(f.Value),
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+}
+
+var GPSQy = mp.Message{
+	mp.NewField("Y_Theta", 2, mp.Signed, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "y_theta",
+			Value:    float64(f.Value) * 0.001,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("Y_Acc", 2, mp.Signed, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "y_acc",
+			Value:    float64(f.Value) * 0.01,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("Status", 4, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "status",
+			Value:    float64(f.Value),
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+}
+
+var GPSRz = mp.Message{
+	mp.NewField("Z_Theta", 2, mp.Signed, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "z_theta",
+			Value:    float64(f.Value) * 0.001,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("Z_Acc", 2, mp.Signed, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "z_acc",
+			Value:    float64(f.Value) * 0.01,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("Status", 4, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "status",
+			Value:    float64(f.Value),
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+}
+
+var DGPS_UVW = mp.Message{
+	mp.NewField("DGPS_u", 2, mp.Signed, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "dgps_u",
+			Value:    float64(f.Value) * 0.01,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("DGPS_v", 2, mp.Signed, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "dgps_v",
+			Value:    float64(f.Value) * 0.01,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+	mp.NewField("DGPS_w", 2, mp.Signed, mp.LittleEndian, func(f mp.Field) []mp.Signal {
+		signals := []mp.Signal{}
+		signals = append(signals, mp.Signal{
+			Name:     "dgps_w",
+			Value:    float64(f.Value) * 0.01,
+			RawValue: f.Value,
+		})
+		return signals
+	}),
+}
diff --git a/gr25/model/message.go b/gr25/model/message.go
index 36a9c4e6..3b9726b7 100644
--- a/gr25/model/message.go
+++ b/gr25/model/message.go
@@ -30,6 +30,13 @@ var messageMap = map[int]mp.Message{
 	0x02A: TCMResourceUtil,
 	0x02B: DashWarningFlags,
 	0x02E: ECUPedals,
+	0x030: DGPS_UVW,
+	0x031: GPSLatitude,
+	0x032: GPSLongitude,
+	0x033: GPSAltitude,
+	0x034: GPSPx,
+	0x035: GPSQy,
+	0x036: GPSRz,
 }
 
 func GetMessage(id int) mp.Message {