diff --git a/ProtocolDefinitions b/ProtocolDefinitions
index 74aef15..bca58e7 160000
--- a/ProtocolDefinitions
+++ b/ProtocolDefinitions
@@ -1 +1 @@
-Subproject commit 74aef15c8407448f2e37d2671445df537d3fa8d7
+Subproject commit bca58e73ff5ee164e2825291907967aee408517c
diff --git a/blueye/protocol/protos.py b/blueye/protocol/protos.py
index fe983e1..eed3c27 100644
--- a/blueye/protocol/protos.py
+++ b/blueye/protocol/protos.py
@@ -276,7 +276,6 @@
     'AquaTrollDevice',
     'AquaTrollDeviceStatus',
     'AquaTrollParameter',
-    'AquaTrollParameterBlock',
     'AquaTrollProbeMetadata',
     'AquaTrollProbeMetadataTel',
     'AquaTrollQuality',
@@ -305,6 +304,7 @@
     'BatteryBQ40Z50',
     'BatteryBQ40Z50Tel',
     'BatteryTel',
+    'BinlogRecord',
     'CPUTemperature',
     'CPUTemperatureTel',
     'CalibrateDvlGyroCtrl',
@@ -519,5 +519,5 @@
     'WaypointCommand',
     'WeatherVaningCtrl',
     'WeatherVaningState',
-'BinlogRecord',
+'AquaTrollParameterBlock',
 )
diff --git a/blueye/protocol/types/__init__.py b/blueye/protocol/types/__init__.py
index 5f257d9..4b95c39 100644
--- a/blueye/protocol/types/__init__.py
+++ b/blueye/protocol/types/__init__.py
@@ -15,6 +15,24 @@
 # limitations under the License.
 #
 
+from .aquatroll import (
+    AquaTrollParameterBlock,
+    AquaTrollSensorMetadata,
+    AquaTrollSensorMetadataArray,
+    AquaTrollProbeMetadata,
+    AquaTrollSensorParameters,
+    AquaTrollSensorParametersArray,
+    SetAquaTrollParameterUnit,
+    SetAquaTrollConnectionStatus,
+    Type,
+    AquaTrollDevice,
+    AquaTrollQuality,
+    AquaTrollParameter,
+    AquaTrollUnit,
+    AquaTrollSensor,
+    AquaTrollSensorStatus,
+    AquaTrollDeviceStatus,
+)
 from .message_formats import (
     BinlogRecord,
     MotionInput,
@@ -106,66 +124,6 @@
     GuestPortError,
     MultibeamFrequencyMode,
 )
-from .aquatroll import (
-    AquaTrollParameterBlock,
-    AquaTrollSensorMetadata,
-    AquaTrollSensorMetadataArray,
-    AquaTrollProbeMetadata,
-    AquaTrollSensorParameters,
-    AquaTrollSensorParametersArray,
-    SetAquaTrollParameterUnit,
-    SetAquaTrollConnectionStatus,
-    Type,
-    AquaTrollDevice,
-    AquaTrollQuality,
-    AquaTrollParameter,
-    AquaTrollUnit,
-    AquaTrollSensor,
-    AquaTrollSensorStatus,
-    AquaTrollDeviceStatus,
-)
-from .control import (
-    MotionInputCtrl,
-    TiltVelocityCtrl,
-    LightsCtrl,
-    GuestportLightsCtrl,
-    LaserCtrl,
-    PilotGPSPositionCtrl,
-    WatchdogCtrl,
-    RecordCtrl,
-    TakePictureCtrl,
-    StartCalibrationCtrl,
-    CancelCalibrationCtrl,
-    FinishCalibrationCtrl,
-    AutoHeadingCtrl,
-    AutoDepthCtrl,
-    AutoAltitudeCtrl,
-    StationKeepingCtrl,
-    WeatherVaningCtrl,
-    AutoPilotSurgeYawCtrl,
-    AutoPilotHeaveCtrl,
-    RunMissionCtrl,
-    PauseMissionCtrl,
-    ClearMissionCtrl,
-    ResetPositionCtrl,
-    ResetOdometerCtrl,
-    CalibrateDvlGyroCtrl,
-    TiltStabilizationCtrl,
-    WaterDensityCtrl,
-    PingerConfigurationCtrl,
-    SystemTimeCtrl,
-    GripperCtrl,
-    GenericServoCtrl,
-    MultibeamServoCtrl,
-    DeactivateGuestPortsCtrl,
-    ActivateGuestPortsCtrl,
-    RestartGuestPortsCtrl,
-    SetAquaTrollParameterUnitCtrl,
-    SetAquaTrollConnectionStatusCtrl,
-    SetMultibeamConfigCtrl,
-    ActivateMultibeamCtrl,
-    DeactivateMultibeamCtrl,
-)
 from .mission_planning import (
     Mission,
     Instruction,
@@ -278,8 +236,66 @@
     GetTelemetryReq,
     GetTelemetryRep,
 )
+from .control import (
+    MotionInputCtrl,
+    TiltVelocityCtrl,
+    LightsCtrl,
+    GuestportLightsCtrl,
+    LaserCtrl,
+    PilotGPSPositionCtrl,
+    WatchdogCtrl,
+    RecordCtrl,
+    TakePictureCtrl,
+    StartCalibrationCtrl,
+    CancelCalibrationCtrl,
+    FinishCalibrationCtrl,
+    AutoHeadingCtrl,
+    AutoDepthCtrl,
+    AutoAltitudeCtrl,
+    StationKeepingCtrl,
+    WeatherVaningCtrl,
+    AutoPilotSurgeYawCtrl,
+    AutoPilotHeaveCtrl,
+    RunMissionCtrl,
+    PauseMissionCtrl,
+    ClearMissionCtrl,
+    ResetPositionCtrl,
+    ResetOdometerCtrl,
+    CalibrateDvlGyroCtrl,
+    TiltStabilizationCtrl,
+    WaterDensityCtrl,
+    PingerConfigurationCtrl,
+    SystemTimeCtrl,
+    GripperCtrl,
+    GenericServoCtrl,
+    MultibeamServoCtrl,
+    DeactivateGuestPortsCtrl,
+    ActivateGuestPortsCtrl,
+    RestartGuestPortsCtrl,
+    SetAquaTrollParameterUnitCtrl,
+    SetAquaTrollConnectionStatusCtrl,
+    SetMultibeamConfigCtrl,
+    ActivateMultibeamCtrl,
+    DeactivateMultibeamCtrl,
+)
 
 __all__ = (
+    'AquaTrollParameterBlock',
+    'AquaTrollSensorMetadata',
+    'AquaTrollSensorMetadataArray',
+    'AquaTrollProbeMetadata',
+    'AquaTrollSensorParameters',
+    'AquaTrollSensorParametersArray',
+    'SetAquaTrollParameterUnit',
+    'SetAquaTrollConnectionStatus',
+    'Type',
+    'AquaTrollDevice',
+    'AquaTrollQuality',
+    'AquaTrollParameter',
+    'AquaTrollUnit',
+    'AquaTrollSensor',
+    'AquaTrollSensorStatus',
+    'AquaTrollDeviceStatus',
     'BinlogRecord',
     'MotionInput',
     'Lights',
@@ -369,62 +385,6 @@
     'GuestPortDetachStatus',
     'GuestPortError',
     'MultibeamFrequencyMode',
-    'AquaTrollParameterBlock',
-    'AquaTrollSensorMetadata',
-    'AquaTrollSensorMetadataArray',
-    'AquaTrollProbeMetadata',
-    'AquaTrollSensorParameters',
-    'AquaTrollSensorParametersArray',
-    'SetAquaTrollParameterUnit',
-    'SetAquaTrollConnectionStatus',
-    'Type',
-    'AquaTrollDevice',
-    'AquaTrollQuality',
-    'AquaTrollParameter',
-    'AquaTrollUnit',
-    'AquaTrollSensor',
-    'AquaTrollSensorStatus',
-    'AquaTrollDeviceStatus',
-    'MotionInputCtrl',
-    'TiltVelocityCtrl',
-    'LightsCtrl',
-    'GuestportLightsCtrl',
-    'LaserCtrl',
-    'PilotGPSPositionCtrl',
-    'WatchdogCtrl',
-    'RecordCtrl',
-    'TakePictureCtrl',
-    'StartCalibrationCtrl',
-    'CancelCalibrationCtrl',
-    'FinishCalibrationCtrl',
-    'AutoHeadingCtrl',
-    'AutoDepthCtrl',
-    'AutoAltitudeCtrl',
-    'StationKeepingCtrl',
-    'WeatherVaningCtrl',
-    'AutoPilotSurgeYawCtrl',
-    'AutoPilotHeaveCtrl',
-    'RunMissionCtrl',
-    'PauseMissionCtrl',
-    'ClearMissionCtrl',
-    'ResetPositionCtrl',
-    'ResetOdometerCtrl',
-    'CalibrateDvlGyroCtrl',
-    'TiltStabilizationCtrl',
-    'WaterDensityCtrl',
-    'PingerConfigurationCtrl',
-    'SystemTimeCtrl',
-    'GripperCtrl',
-    'GenericServoCtrl',
-    'MultibeamServoCtrl',
-    'DeactivateGuestPortsCtrl',
-    'ActivateGuestPortsCtrl',
-    'RestartGuestPortsCtrl',
-    'SetAquaTrollParameterUnitCtrl',
-    'SetAquaTrollConnectionStatusCtrl',
-    'SetMultibeamConfigCtrl',
-    'ActivateMultibeamCtrl',
-    'DeactivateMultibeamCtrl',
     'Mission',
     'Instruction',
     'DepthSetPoint',
@@ -531,4 +491,44 @@
     'SetPubFrequencyRep',
     'GetTelemetryReq',
     'GetTelemetryRep',
+    'MotionInputCtrl',
+    'TiltVelocityCtrl',
+    'LightsCtrl',
+    'GuestportLightsCtrl',
+    'LaserCtrl',
+    'PilotGPSPositionCtrl',
+    'WatchdogCtrl',
+    'RecordCtrl',
+    'TakePictureCtrl',
+    'StartCalibrationCtrl',
+    'CancelCalibrationCtrl',
+    'FinishCalibrationCtrl',
+    'AutoHeadingCtrl',
+    'AutoDepthCtrl',
+    'AutoAltitudeCtrl',
+    'StationKeepingCtrl',
+    'WeatherVaningCtrl',
+    'AutoPilotSurgeYawCtrl',
+    'AutoPilotHeaveCtrl',
+    'RunMissionCtrl',
+    'PauseMissionCtrl',
+    'ClearMissionCtrl',
+    'ResetPositionCtrl',
+    'ResetOdometerCtrl',
+    'CalibrateDvlGyroCtrl',
+    'TiltStabilizationCtrl',
+    'WaterDensityCtrl',
+    'PingerConfigurationCtrl',
+    'SystemTimeCtrl',
+    'GripperCtrl',
+    'GenericServoCtrl',
+    'MultibeamServoCtrl',
+    'DeactivateGuestPortsCtrl',
+    'ActivateGuestPortsCtrl',
+    'RestartGuestPortsCtrl',
+    'SetAquaTrollParameterUnitCtrl',
+    'SetAquaTrollConnectionStatusCtrl',
+    'SetMultibeamConfigCtrl',
+    'ActivateMultibeamCtrl',
+    'DeactivateMultibeamCtrl',
 )
diff --git a/blueye/protocol/types/message_formats.py b/blueye/protocol/types/message_formats.py
index 570193f..4a85499 100644
--- a/blueye/protocol/types/message_formats.py
+++ b/blueye/protocol/types/message_formats.py
@@ -305,6 +305,7 @@ class GuestPortDeviceID(proto.Enum):
     GUEST_PORT_DEVICE_ID_BLUEYE_MULTIBEAM_HEAD_SERVO = 35
     GUEST_PORT_DEVICE_ID_CERULEAN_OMNISCAN_450FS = 36
     GUEST_PORT_DEVICE_ID_CERULEAN_OMNISCAN_450SS = 37
+    GUEST_PORT_DEVICE_ID_BLUEYE_GNSS_DEVICE = 38
 
 
 class GuestPortNumber(proto.Enum):