The NORSUB protocol is a proprietary communication standard with an NMEA-based format, designed to store the data listed below.
Data:
-
Roll, pitch, heading
-
Heave
Format:
$PNORSUB,T1,T2,roll,pitch,heading,heave,status*CS<CR><LF>
|
NORSUB protocol description |
|||||
|---|---|---|---|---|---|
|
FIELD N. |
FIELD |
DESCRIPTION |
UNIT |
TYPE |
NOTE |
|
0 |
$PNORSUB |
identifier |
- |
string |
Telegram identifier. |
|
1 |
T1 |
time for valid measurement (internal clock) |
[ms] |
uint32 |
Can store values from 0 to (2^32-1). |
|
2 |
T2 |
delay from T1 to telegram is sent |
[ms] |
uint32 |
Can store values from 0 to (2^32-1). |
|
3 |
roll |
roll angle |
[deg] |
DBL (%.4f) |
Floating-point number with four decimal places. |
|
4 |
pitch |
pitch angle |
[deg] |
DBL (%.4f) |
Floating-point number with four decimal places. |
|
5 |
heading |
heading angle |
[deg] |
DBL (%.4f) |
Floating-point number with four decimal places. Range: [0.001 - 359.9999]. |
|
6 |
heave |
heave |
[m] |
DBL (%.4f) |
Floating-point number with four decimal places. Sign: Positive (+) when z-down. |
|
7 |
status |
status |
- |
uint32 |
1: OK, 0: error. See health monitoring system for more details. |
|
8 |
CS |
NMEA checksum |
- |
HEX |
XOR of characters between $ and * |
Example:
NORSUB frame with example data is listed below.
$PNORSUB,203798,2,+0.117,-0.505,259.893,1.350,1*62<CR><LF>
|
Field 0 |
Field 1 |
Field 2 |
Field 3 |
Field 4 |
Field 5 |
Field 6 |
Field 7 |
Field 8 |
|---|---|---|---|---|---|---|---|---|
|
$PNORSUB |
203798 |
2 |
+0.117 |
-0.505 |
259.893 |
1.350 |
1 |
62 |
Decoded values:
-
T1
-
Raw value: 203798, decoded time: 203.798 seconds.
-
-
T2
-
Raw value: 2, decoded time: 0.002 seconds.
-
-
roll
-
Raw value: +0.117, decoded roll angle: 0.117 degrees.
-
-
pitch
-
Raw value: -0.505, decoded pitch angle: -0.505 degrees.
-
-
heading
-
Raw value: 259.893, decoded heading angle: 259.893 degrees.
-
-
heave
-
Raw value: 1.350, decoded heave: 1.35 m.
-
-
status
-
Raw value: 1, decoded status: OK.
-
-
checksum: 62
-
Created from XOR operations of characters between $ and * in the example frame.
-
Note
Unlike industry standards, the NORSUB protocol has a fixed reference frame for data (e.g., heave). However, the data's location (e.g., MRU or MP1) remains configurable.