diff --git a/src/definitions/ping360.json b/src/definitions/ping360.json
index 7903a079..d1f6bf77 100644
--- a/src/definitions/ping360.json
+++ b/src/definitions/ping360.json
@@ -37,29 +37,31 @@
                         "name": "angle",
                         "type": "u16",
                         "description": "Head angle",
-                        "units": "gradian"
+                        "units": "gradians"
                     },
                     {
                         "name": "transmit_duration",
                         "type": "u16",
-                        "description": "Acoustic transmission duration (1~1000 microseconds)",
-                        "units": "microsecond"
+                        "description": "Acoustic transmission duration (1~1000 us)",
+                        "units": "microseconds"
                     },
                     {
                         "name": "sample_period",
                         "type": "u16",
-                        "description": "Time interval between individual signal intensity samples in 25nsec increments (80 to 40000 == 2 microseconds to 1000 microseconds)"
+                        "description": "Time interval between individual signal intensity samples in 25 ns increments (80 to 40000 == 2 to 1000 us)",
+                        "units": "eicosapenta-nanoseconds"
                     },
                     {
                         "name": "transmit_frequency",
                         "type": "u16",
-                        "description": "Acoustic operating frequency. Frequency range is 500kHz to 1000kHz, however it is only practical to use say 650kHz to 850kHz due to the narrow bandwidth of the acoustic receiver.",
-                        "units": "kHz"
+                        "description": "Acoustic operating frequency (500~1000 kHz). It is only practical to use say 650 to 850 kHz due to the narrow bandwidth of the acoustic receiver.",
+                        "units": "kilohertz"
                     },
                     {
                         "name": "number_of_samples",
                         "type": "u16",
-                        "description": "Number of samples per reflected signal"
+                        "description": "Number of samples per reflected signal (supported values: 200~1200)",
+                        "units": "samples"
                     },
                     {
                         "name": "data",
@@ -75,7 +77,7 @@
             },
             "auto_device_data": {
                 "id": 2301,
-                "description": "[NOT RELEASED] Extended version of *device_data* with *auto_transmit* information. The sensor emits this message when in *auto_transmit* mode.",
+                "description": "**[NOT RELEASED]** Extended version of `device_data` with `auto_transmit` information. The sensor emits this message when in `auto_transmit` mode.",
                 "payload": [
                     {
                         "name": "mode",
@@ -91,53 +93,55 @@
                         "name": "angle",
                         "type": "u16",
                         "description": "Head angle",
-                        "units": "gradian"
+                        "units": "gradians"
                     },
                     {
                         "name": "transmit_duration",
                         "type": "u16",
-                        "description": "Acoustic transmission duration (1~1000 microseconds)",
-                        "units": "microsecond"
+                        "description": "Acoustic transmission duration (1~1000 us)",
+                        "units": "microseconds"
                     },
                     {
                         "name": "sample_period",
                         "type": "u16",
-                        "description": "Time interval between individual signal intensity samples in 25nsec increments (80 to 40000 == 2 microseconds to 1000 microseconds)"
+                        "description": "Time interval between individual signal intensity samples in 25 ns increments (80 to 40000 == 2 to 1000 us)",
+                        "units": "eicosapenta-nanoseconds"
                     },
                     {
                         "name": "transmit_frequency",
                         "type": "u16",
-                        "description": "Acoustic operating frequency. Frequency range is 500kHz to 1000kHz, however it is only practical to use say 650kHz to 850kHz due to the narrow bandwidth of the acoustic receiver.",
-                        "units": "kHz"
+                        "description": "Acoustic operating frequency (500~1000 kHz). It is only practical to use say 650 to 850 kHz due to the narrow bandwidth of the acoustic receiver.",
+                        "units": "kilohertz"
                     },
                     {
                         "name": "start_angle",
                         "type": "u16",
-                        "description": "Head angle to begin scan sector for autoscan in gradians (0~399 = 0~360 degrees).",
-                        "units": "gradian"
+                        "description": "Head angle to begin scan sector for autoscan (0~399 = 0~360 degrees).",
+                        "units": "gradians"
                     },
                     {
                         "name": "stop_angle",
                         "type": "u16",
-                        "description": "Head angle to end scan sector for autoscan in gradians (0~399 = 0~360 degrees).",
-                        "units": "gradian"
+                        "description": "Head angle to end scan sector for autoscan (0~399 = 0~360 degrees).",
+                        "units": "gradians"
                     },
                     {
                         "name": "num_steps",
                         "type": "u8",
                         "description": "Number of 0.9 degree motor steps between pings for auto scan (1~10 = 0.9~9.0 degrees)",
-                        "units": "gradian"
+                        "units": "gradians"
                     },
                     {
                         "name": "delay",
                         "type": "u8",
                         "description": "An additional delay between successive transmit pulses (0~100 ms). This may be necessary for some programs to avoid collisions on the RS485 USRT.",
-                        "units": "millisecond"
+                        "units": "milliseconds"
                     },
                     {
                         "name": "number_of_samples",
                         "type": "u16",
-                        "description": "Number of samples per reflected signal"
+                        "description": "Number of samples per reflected signal (supported values: 200~1200)",
+                        "units": "samples"
                     },
                     {
                         "name": "data",
@@ -171,7 +175,7 @@
             },
             "transducer": {
                 "id": 2601,
-                "description": "The transducer will apply the commanded settings. The sonar will reply with a `ping360_data` message. If the `transmit` field is 0, the sonar will not transmit after locating the transducer, and the `data` field in the `ping360_data` message reply will be empty. If the `transmit` field is 1, the sonar will make an acoustic transmission after locating the transducer, and the resulting data will be uploaded in the `data` field of the `ping360_data` message reply. To allow for the worst case response time the command timeout should be set to 4000 msec.",
+                "description": "The transducer will apply the commanded settings. The sonar will reply with a `device_data` message. If the `transmit` field is 0, the sonar will not transmit after locating the transducer, and the `data` field in the `device_data` message reply will be empty. If the `transmit` field is 1, the sonar will make an acoustic transmission after locating the transducer, and the resulting data will be uploaded in the `data` field of the `device_data` message reply. To allow for the worst case response time the command timeout should be set to 4000 msec.",
                 "payload": [
                     {
                         "name": "mode",
@@ -187,29 +191,31 @@
                         "name": "angle",
                         "type": "u16",
                         "description": "Head angle",
-                        "units": "gradian"
+                        "units": "gradians"
                     },
                     {
                         "name": "transmit_duration",
                         "type": "u16",
-                        "description": "Acoustic transmission duration (1~1000 microseconds)",
-                        "units": "microsecond"
+                        "description": "Acoustic transmission duration (1~1000 us)",
+                        "units": "microseconds"
                     },
                     {
                         "name": "sample_period",
                         "type": "u16",
-                        "description": "Time interval between individual signal intensity samples in 25nsec increments (80 to 40000 == 2 microseconds to 1000 microseconds)"
+                        "description": "Time interval between individual signal intensity samples in 25 ns increments (80 to 40000 == 2 to 1000 us)",
+                        "units": "eicosapenta-nanoseconds"
                     },
                     {
                         "name": "transmit_frequency",
                         "type": "u16",
-                        "description": "Acoustic operating frequency. Frequency range is 500kHz to 1000kHz, however it is only practical to use say 650kHz to 850kHz due to the narrow bandwidth of the acoustic receiver.",
-                        "units": "kHz"
+                        "description": "Acoustic operating frequency (500~1000 kHz). It is only practical to use say 650 to 850 kHz due to the narrow bandwidth of the acoustic receiver.",
+                        "units": "kilohertz"
                     },
                     {
                         "name": "number_of_samples",
                         "type": "u16",
-                        "description": "Number of samples per reflected signal"
+                        "description": "Number of samples per reflected signal (supported values: 200~1200)",
+                        "units": "samples"
                     },
                     {
                         "name": "transmit",
@@ -225,7 +231,7 @@
             },
             "auto_transmit": {
                 "id": 2602,
-                "description": "Extended *transducer* message with auto-scan function. The sonar will automatically scan the region between start_angle and end_angle and send auto_device_data messages as soon as new data is available. Send a line break to stop scanning (and also begin the autobaudrate procedure). Alternatively, a motor_off message may be sent (but retrys might be necessary on the half-duplex RS485 interface).",
+                "description": "**[NOT RELEASED]** Extended `transducer` message with auto-scan function. The sonar will automatically scan the region between `start_angle` and `end_angle` and send `auto_device_data` messages as soon as new data is available. Send a line break to stop scanning (and also begin the autobaudrate procedure). Alternatively, a `motor_off` message may be sent (but retries might be necessary on the half-duplex RS485 interface).",
                 "payload": [
                     {
                         "name": "mode",
@@ -240,48 +246,50 @@
                     {
                         "name": "transmit_duration",
                         "type": "u16",
-                        "description": "Acoustic transmission duration (1~1000 microseconds)",
-                        "units": "microsecond"
+                        "description": "Acoustic transmission duration (1~1000 us)",
+                        "units": "microseconds"
                     },
                     {
                         "name": "sample_period",
                         "type": "u16",
-                        "description": "Time interval between individual signal intensity samples in 25nsec increments (80 to 40000 == 2 microseconds to 1000 microseconds)"
+                        "description": "Time interval between individual signal intensity samples in 25 ns increments (80 to 40000 == 2 to 1000 us)",
+                        "units": "eicosapenta-nanoseconds"
                     },
                     {
                         "name": "transmit_frequency",
                         "type": "u16",
-                        "description": "Acoustic operating frequency. Frequency range is 500kHz to 1000kHz, however it is only practical to use say 650kHz to 850kHz due to the narrow bandwidth of the acoustic receiver.",
-                        "units": "kHz"
+                        "description": "Acoustic operating frequency (500~1000 kHz). It is only practical to use say 650 to 850 kHz due to the narrow bandwidth of the acoustic receiver.",
+                        "units": "kilohertz"
                     },
                     {
                         "name": "number_of_samples",
                         "type": "u16",
-                        "description": "Number of samples per reflected signal"
+                        "description": "Number of samples per reflected signal (supported values: 200~1200)",
+                        "units": "samples"
                     },
                     {
                         "name": "start_angle",
                         "type": "u16",
-                        "description": "Head angle to begin scan sector for autoscan in gradians (0~399 = 0~360 degrees).",
-                        "units": "gradian"
+                        "description": "Head angle to begin scan sector for autoscan (0~399 = 0~360 degrees).",
+                        "units": "gradians"
                     },
                     {
                         "name": "stop_angle",
                         "type": "u16",
-                        "description": "Head angle to end scan sector for autoscan in gradians (0~399 = 0~360 degrees).",
-                        "units": "gradian"
+                        "description": "Head angle to end scan sector for autoscan (0~399 = 0~360 degrees).",
+                        "units": "gradians"
                     },
                     {
                         "name": "num_steps",
                         "type": "u8",
                         "description": "Number of 0.9 degree motor steps between pings for auto scan (1~10 = 0.9~9.0 degrees)",
-                        "units": "gradian"
+                        "units": "gradians"
                     },
                     {
                         "name": "delay",
                         "type": "u8",
                         "description": "An additional delay between successive transmit pulses (0~100 ms). This may be necessary for some programs to avoid collisions on the RS485 USRT.",
-                        "units": "millisecond"
+                        "units": "milliseconds"
                     }
                 ]
             },