NORSUB PRDID | norwegian-subsea

The NORSUB PRDID protocol is a proprietary communication standard with an NMEA-based format, designed to store the data listed below.

Data:

Roll, pitch

Format:

$PRDID,pitch,roll,*CS<CR><LF>

NORSUB PRDID protocol description
FIELD N.	FIELD	DESCRIPTION	UNIT	TYPE	NOTE
0	$PRDID	identifier	-	String	Telegram identifier.
1	pitch	pitch	[deg]	DBL (%3.2f)	Floating-point number with two decimal places. ‘3' is minimum width (including digits, decimal point, and decimal places), ‘.2’ specifies two decimal places and 'f’ is floating-point number.
2	roll	roll	[deg]	DBL (%3.2f)	Floating-point number with two decimal places. ‘3' is minimum width (including digits, decimal point, and decimal places), ‘.2’ specifies two decimal places and 'f’ is floating-point number.
3	CS	checksum	-	HEX	XOR of characters between $ and *

Example:

NORSUB PRDID frame with raw example data is listed below.

$PRDID,-000.49,-000.14,*61<CR><LF>

Field 0	Field 1	Field 2	Field 3
$PRDID	-000.49	-000.14	61

Decoded values:

pitch
- Raw value: -000.49, decoded pitch angle: -0.49 degrees.
roll
- Raw value: -000.14, decoded roll angle: -0.14 degrees.
Checksum: 61
- Created from XOR operations of characters between $ and * in the example frame.

Note

Unlike industry standards, the NORSUB PRDID protocol has a fixed reference frame for data (e.g., heave). However, the data's location (e.g., MRU or MP1) remains configurable.