diff --git a/utils/mil_msgs/CMakeLists.txt b/utils/mil_msgs/CMakeLists.txt
index a65ab09c..a023a1dc 100644
--- a/utils/mil_msgs/CMakeLists.txt
+++ b/utils/mil_msgs/CMakeLists.txt
@@ -22,7 +22,8 @@ add_message_files(FILES
   PoseTwistStamped.msg
   PoseTwist.msg
   VelocityMeasurements.msg
-  Float64Stamped.msg
+  DepthStamped.msg
+  RangeStamped.msg
   VelocityMeasurement.msg
   Acceleration.msg
 )
diff --git a/utils/mil_msgs/msg/DepthStamped.msg b/utils/mil_msgs/msg/DepthStamped.msg
new file mode 100644
index 00000000..87158d40
--- /dev/null
+++ b/utils/mil_msgs/msg/DepthStamped.msg
@@ -0,0 +1,4 @@
+Header header
+
+# A depth in meters
+float64 depth
diff --git a/utils/mil_msgs/msg/Float64Stamped.msg b/utils/mil_msgs/msg/Float64Stamped.msg
deleted file mode 100644
index 5c2f1136..00000000
--- a/utils/mil_msgs/msg/Float64Stamped.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-Header header
-float64 data
diff --git a/utils/mil_msgs/msg/RangeStamped.msg b/utils/mil_msgs/msg/RangeStamped.msg
new file mode 100644
index 00000000..a9381076
--- /dev/null
+++ b/utils/mil_msgs/msg/RangeStamped.msg
@@ -0,0 +1,4 @@
+Header header
+
+# A range in meters
+float64 range