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NORSUB2

The NORSUB2 protocol is a proprietary communication standard with an NMEA-based format, designed to store the data listed below.

Data:

  • Roll, pitch, heading

  • Heave

  • Heave velocity

Format:

$PNORSUB2,T1,T2,roll,pitch,heading,heave,heave_vel,status*CS<CR><LF>

NORSUB2 protocol description

FIELD N.

FIELD

DESCRIPTION

UNIT

TYPE

NOTE

0

$PNORSUB2

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

heave_vel

heave velocity

[m/s]

DBL (%.4f)

Floating-point number with four decimal places.

Sign: Positive (+) when z-down.

8

status

full status message

-

uint32

1: OK, 0: error. See health monitoring system for more details.

9

CS

NMEA checksum

-

HEX

XOR of characters between $ and *

Example:

NORSUB2 frame with example data is listed below.

$PNORSUB2,203798,2,+0.117,-0.505,259.893,1.350,0.023,1*62<CR><LF>

Field 0

Field 1

Field 2

Field 3

Field 4

Field 5

Field 6

Field 7

Field 8

Field 9

$PNORSUB2

203798

2

+0.117

-0.505

259.893

1.350

0.023

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.

  • heave velocity

    • Raw value: 0.023, decoded heave velocity: 0.023 m/s.

  • checksum: 62

    • Created from XOR operations of characters between $ and * in the example frame.


Note

Unlike industry standards, the NORSUB2 protocol has a fixed reference frame for data (e.g., heave). However, the data's location (e.g., MRU or MP1) remains configurable.