Output protocols | norwegian-subsea

The MRU outputs both industry standard and custom NMEA/binary protocols.

Protocol overview

The following table gives an overview of the supported protocols.

NAME	TYPE	DATA
Custom NMEA	NMEA	All data from parameter list below
Custom Binary	Binary	All data from parameter list below
ATLAS	Binary	Roll, pitch, heave
GYROCOMPAS1	NMEA	Roll, pitch, heading, status
IFREMER VICTOR	Binary	Roll, pitch, heading, roll rate, pitch rate, yaw rate, acc x, acc y, acc z
MDL	ASCII	Roll, pitch, heading
NORSUB	NMEA	Roll, pitch, yaw, heave
NORSUB2	NMEA	Roll, pitch, yaw, heave, heave vel
NORSUB6	NMEA	Roll, pitch, yaw, surge, sway, heave, roll rate,pitch rate, yaw rate, surge vel, sway vel, heave vel, acc x, acc y, acc z
NORSUB6g	NMEA	Roll, pitch, yaw, surge, sway, heave, roll rate,pitch rate, yaw rate, surge vel, sway vel, heave vel, acc x, acc y, acc z (including gravity)
NORSUB7	NMEA	Roll, pitch, yaw, surge (body frame), sway (body frame), heave, roll rate,pitch rate, yaw rate, surge vel (body frame), sway vel (body frame), heave vel, acc x (body frame), acc y (body frame) acc z, period x, period y, period z, amplitude x, amplitude y, amplitude z, STATUS
NORSUB7b	NMEA	Roll, pitch, yaw, surge (body frame), sway (body frame), heave, roll rate,pitch rate, yaw rate, surge vel (body frame), sway vel (body frame), heave vel, acc x (body frame), acc y (body frame) acc z, period x, period y, period z, amplitude x, amplitude y, amplitude z, STATUS_A, STATUS_B
NORSUB8	NMEA	Roll, pitch, yaw, surge (NED frame), sway (NED frame), heave, roll rate,pitch rate, yaw rate, surge vel (NED frame), sway vel (NED frame), heave vel, acc x (NED frame), acc y (NED frame), acc z, period x, period y, period z, amplitude x, amplitude y, amplitude z, STATUS
NORSUB PRDID	NMEA	Pitch, roll
Tokimek PTVG	NMEA	Roll, pitch, yaw
RDI ADCP	NMEA	Roll, pitch, yaw
SMCA	NMEA	Roll, pitch, surge,sway, heave
SMCC	NMEA	Roll, pitch, yaw, surge, sway, heave, surge vel, sway vel, heave vel, acc x, acc y, acc z
SMCCg	NMEA	Roll, pitch, yaw, surge, sway, heave, surge vel, sway vel, heave vel, acc x, acc y, acc z (including gravity)
Simrad EM 3000	Binary	Roll, pitch, yaw, heave
TSS1	ASCII	Roll, pitch, heave, status

Parameter list

The following two tables show available parameters in each protocol.

NAME		NORSUB7b	NORSUB7	NORSUB6g	NORSUBB6	NORSUBB2	NORSUB	MDL	Ifremer Victor	Gyrocompas1	ATLAS
TYPE		ASCII	ASCII	ASCII	ASCII	ASCII	ASCII	ASCII	Binary	ASCII	ASCII
DATA	Roll	X	X	X	X	X	X	X	X	X	X
	Pitch	X	X	X	X	X	X	X	X	X	X
	Yaw	X	X	X	X	X	X
	Heading							X	X	X
	Roll rate	X	X	X	X				X
	Pitch rate	X	X	X	X				X
	Yaw rate	X	X	X	X				X
	Surge	X	X	X	X
	Sway	X	X	X	X
	Heave	X	X	X	X	X	X				X
	Surge velocity	X	X	X	X
	Sway velocity	X	X	X	X
	Heave velocity	X	X	X	X	X
	Surge acc.	X	X	X	X				X
	Sway acc.	X	X	X	X				X
	Heave acc.	X	X	X	X				X
	Heave acc. (incl. g)			X
	Surge period	X	X
	Sway period	X	X
	Heave period	X	X
	Surge amplitude	X	X
	Sway amplitude	X	X
	Heave amplitude	X	X
	STATUS		X
	STATUS_A	X
	STATUS_B	X

NAME		TSS1	Simrad EM 3000	SMCCg	SMCC	SMCA	RDI ADCP	Tokimek PTVG	NORSUB PRDID	NORSUBB8
TYPE		Binary	Binary	ASCII	ASCII	ASCII	ASCII	ASCII	ASCII	ASCII
DATA	Roll	X	X	X	X	X	X	X	X	X
	Pitch	X	X	X	X	X	X	X	X	X
	Yaw		X	X	X		X	X		X
	Heading
	Roll rate									X
	Pitch rate									X
	Yaw rate									X
	Surge			X	X	X				X
	Sway			X	X	X				X
	Heave	X	X	X	X	X				X
	Surge velocity			X	X					X
	Sway velocity			X	X					X
	Heave velocity			X	X					X
	Surge acc.			X	X					X
	Sway acc.			X	X					X
	Heave acc.			X	X					X
	Heave acc. (incl. g)			X
	Surge period									X
	Sway period									X
	Heave period									X
	Surge amplitude									X
	Sway amplitude									X
	Heave amplitude									X
	STATUS									X
	STATUS_A
	STATUS_B