NORSUB
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.