diff --git a/libraries/AP_DAL/AP_DAL.h b/libraries/AP_DAL/AP_DAL.h
index 4ae6cf264ec..553c16b3164 100644
--- a/libraries/AP_DAL/AP_DAL.h
+++ b/libraries/AP_DAL/AP_DAL.h
@@ -270,6 +270,9 @@ public:
     void handle_message(const log_RISI &msg) {
         _ins.handle_message(msg);
     }
+    void handle_message(const log_RISJ &msg) {
+        _ins.handle_message(msg);
+    }
 
     void handle_message(const log_RASH &msg) {
         if (_airspeed == nullptr) {
diff --git a/libraries/AP_DAL/AP_DAL_InertialSensor.cpp b/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
index 5e3bbe15bdf..5a60f4799a9 100644
--- a/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
+++ b/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
@@ -8,7 +8,13 @@ AP_DAL_InertialSensor::AP_DAL_InertialSensor()
     for (uint8_t i=0; i<ARRAY_SIZE(_RISI); i++) {
         _RISI[i].instance = i;
     }
-
+    // seed RISJ with legacy defaults so replay of older logs (with no
+    // RISJ messages) still gives the EKF sane gyro bias clamp/init values.
+    for (uint8_t i=0; i<ARRAY_SIZE(_RISJ); i++) {
+        _RISJ[i].instance = i;
+        _RISJ[i].gyro_bias_limit = 0.5f;
+        _RISJ[i].gyro_bias_init_dps = 2.5f;
+    }
 }
 
 void AP_DAL_InertialSensor::start_frame()
@@ -41,13 +47,18 @@ void AP_DAL_InertialSensor::start_frame()
             RISI.get_delta_angle_ret = ins.get_delta_angle(i, RISI.delta_angle, RISI.delta_angle_dt);
         }
 
-        RISI.gyro_bias_limit = ins.get_gyro_bias_limit_rads(i);
-        RISI.gyro_bias_init_dps = ins.get_gyro_bias_init_dps(i);
-
         update_filtered(i);
 
         WRITE_REPLAY_BLOCK_IFCHANGED(RISI, RISI, old_RISI);
 
+        // RISJ holds per-instance gyro bias metadata. These are constants
+        // set by the backend, so the message is only written when changed.
+        log_RISJ &RISJ = _RISJ[i];
+        const log_RISJ old_RISJ = RISJ;
+        RISJ.gyro_bias_limit = ins.get_gyro_bias_limit_rads(i);
+        RISJ.gyro_bias_init_dps = ins.get_gyro_bias_init_dps(i);
+        WRITE_REPLAY_BLOCK_IFCHANGED(RISJ, RISJ, old_RISJ);
+
         // update sensor position
         pos[i] = ins.get_imu_pos_offset(i);
     }
diff --git a/libraries/AP_DAL/AP_DAL_InertialSensor.h b/libraries/AP_DAL/AP_DAL_InertialSensor.h
index a1458d8e408..0eb0f3e47b3 100644
--- a/libraries/AP_DAL/AP_DAL_InertialSensor.h
+++ b/libraries/AP_DAL/AP_DAL_InertialSensor.h
@@ -33,8 +33,8 @@ public:
     uint8_t get_first_usable_gyro(void) const { return _RISH.first_usable_gyro; };
 
     bool use_gyro(uint8_t instance) const { return _RISI[instance].use_gyro; }
-    float get_gyro_bias_limit(uint8_t instance) const { return _RISI[instance].gyro_bias_limit; }
-    float get_gyro_bias_init_dps(uint8_t instance) const { return _RISI[instance].gyro_bias_init_dps; }
+    float get_gyro_bias_limit(uint8_t instance) const { return _RISJ[instance].gyro_bias_limit; }
+    float get_gyro_bias_init_dps(uint8_t instance) const { return _RISJ[instance].gyro_bias_init_dps; }
     const Vector3f     &get_gyro(uint8_t i) const { return gyro_filtered[i]; }
     const Vector3f     &get_gyro() const { return get_gyro(_primary_gyro); }
     bool get_delta_angle(uint8_t i, Vector3f &delta_angle, float &delta_angle_dt) const {
@@ -59,10 +59,14 @@ public:
         pos[msg.instance] = AP::ins().get_imu_pos_offset(msg.instance);
         update_filtered(msg.instance);
     }
+    void handle_message(const log_RISJ &msg) {
+        _RISJ[msg.instance] = msg;
+    }
 
 private:
     struct log_RISH _RISH;
     struct log_RISI _RISI[INS_MAX_INSTANCES];
+    struct log_RISJ _RISJ[INS_MAX_INSTANCES];
     float alpha;
 
     // sensor positions
diff --git a/libraries/AP_DAL/LogStructure.h b/libraries/AP_DAL/LogStructure.h
index 169909a18ca..a7824544d85 100644
--- a/libraries/AP_DAL/LogStructure.h
+++ b/libraries/AP_DAL/LogStructure.h
@@ -19,6 +19,7 @@
     LOG_RFRN_MSG, \
     LOG_RISH_MSG, \
     LOG_RISI_MSG, \
+    LOG_RISJ_MSG, \
     LOG_RBRH_MSG, \
     LOG_RBRI_MSG, \
     LOG_RRNH_MSG, \
@@ -125,8 +126,6 @@ struct log_RISH {
 // @Field: DAZ: z-axis delta-angle
 // @Field: DVDT: delta-velocity-delta-time
 // @Field: DADT: delta-angle-delta-time
-// @Field: GBL: gyro bias limit (rad/s) for the EKF gyro bias state clamp
-// @Field: GBI: initial gyro bias 1-sigma uncertainty (deg/s)
 // @Field: Flags: use-accel, use-gyro, delta-vel-valid, delta-accel-valid
 // @Field: I: IMU instance
 struct log_RISI {
@@ -134,8 +133,6 @@ struct log_RISI {
     Vector3f delta_angle;
     float delta_velocity_dt;
     float delta_angle_dt;
-    float gyro_bias_limit;
-    float gyro_bias_init_dps;
     uint8_t use_accel:1;
     uint8_t use_gyro:1;
     uint8_t get_delta_velocity_ret:1;
@@ -144,6 +141,18 @@ struct log_RISI {
     uint8_t _end;
 };
 
+// @LoggerMessage: RISJ
+// @Description: Replay Inertial Sensor instance metadata (low-rate, only logged when changed)
+// @Field: GBL: gyro bias limit (rad/s) for the EKF gyro bias state clamp
+// @Field: GBI: initial gyro bias 1-sigma uncertainty (deg/s)
+// @Field: I: IMU instance
+struct log_RISJ {
+    float gyro_bias_limit;
+    float gyro_bias_init_dps;
+    uint8_t instance;
+    uint8_t _end;
+};
+
 // @LoggerMessage: REV2
 // @Description: Replay Event (EKF2)
 // @Field: Event: external event injected into EKF
@@ -619,7 +628,9 @@ struct log_RTER {
     { LOG_RISH_MSG, RLOG_SIZE(RISH),                                   \
       "RISH", "HBBfBB", "LR,PG,PA,LD,AC,GC", "------", "------" }, \
     { LOG_RISI_MSG, RLOG_SIZE(RISI),                                   \
-      "RISI", "ffffffffffBB", "DVX,DVY,DVZ,DAX,DAY,DAZ,DVDT,DADT,GBL,GBI,Flags,I", "-----------#", "------------" }, \
+      "RISI", "ffffffffBB", "DVX,DVY,DVZ,DAX,DAY,DAZ,DVDT,DADT,Flags,I", "---------#", "----------" }, \
+    { LOG_RISJ_MSG, RLOG_SIZE(RISJ),                                   \
+      "RISJ", "ffB", "GBL,GBI,I", "--#", "---" }, \
     { LOG_RASH_MSG, RLOG_SIZE(RASH),                                   \
       "RASH", "BB", "Primary,NumInst", "--", "--" },  \
     { LOG_RASI_MSG, RLOG_SIZE(RASI),                                   \