dwcaress
commented
4 years ago Thanks for raising this issue. Please go ahead and make a data sample available. What system was used to collect the problem data?
Cheers, Dave
On Mar 2, 2020, at 3:40 AM, anbj notifications@github.com wrote:
The Kongsberg kmall format has been revised and is now in rev G (01.11.2019). As far as I can tell the implementation of the KMall-format in MB-System is based on rev. F of the datagram description.
I've tried to use MB-System 5.7.6beta31 with kmall-files in presumably rev. G, and getting into trouble. Sample file can be supplied if necessary.
E.g. 1
$ mbnavlist -I file.kmall
The MBF_KEMKMALL module skipped data between identified data records. Something is broken, most likely the data... However, the data may include a data record type that we haven't seen yet, or there could be an error in the code. If skipped data are reported multiple times, we recommend you post a problem description through the discussion list available at https://listserver.mbari.org/sympa/arc/mbsystem and make a data sample available. Have a nice day... MBF_KEMKMALL skipped 25568 bytes before record #CHE at file pos 28818 Segmentation fault (core dumped)
e.g. 2
$ mbnavlist -I file2.kmall
The MBF_KEMKMALL module skipped data between identified data records. Something is broken, most likely the data... However, the data may include a data record type that we haven't seen yet, or there could be an error in the code. If skipped data are reported multiple times, we recommend you post a problem description through the discussion list available at https://listserver.mbari.org/sympa/arc/mbsystem and make a data sample available. Have a nice day... MBF_KEMKMALL skipped 45870 bytes before record #SKM at file pos 52582
The datagram description may be downloaded from Kongsbergs website; https://www.kongsberg.com/maritime/support/document-and-downloads/software-downloads/; "KMALL - Datagram description Rev:G". The changes between rev. F to rev. G is (quote from the document):
Rev G. 01 NOV 2019 Code changes:
FCF datagram, new datagram for backscatter calibration
MRZ datagram, updated to version 1
Line 880: float bsCorrectionOffset_dB - Backscatter offset set in the installation menu. Line 881: uint8_t lambertsLawApplied - Beam intensity data corrected as seabed image data (Lambert and normal incidence corrections). Line 882: uint8_t iceWindow - Ice window installed. Line 883: uint16_t padding4 - Padding for byte alignment. Line 905: Description changed: float txNominalSourceLevel_dB; - Actual SL = txNominalSourceLevel_dB + highVoltageLevel_dB. Unit dB re 1 microPascal. Line 916: float highVoltageLevel_dB - 20log(Measured high voltage power level at TX pulse or Nominal high voltage power level). This parameter will also include the effect of user selected transmit power reduction (transmitPower_dB) and mammal protection. Actual SL = txNominalSourceLevel_dB + highVoltageLevel_dB. Unit dB. Line 917: float sectorTrackingCorr_dB - Backscatter correction added in sector tracking mode. Unit dB. Line 918: float effectiveSignalLength_sec - Signal length used for backscatter footprint calculation. This compensates for the TX pulse tapering and the RX filter bandwidths. Unit second.
MWC datagram, updated to version 1
Line 1163: float detectedRangeInSamplesHighResolution - The same information as in detectedRangeInSamples with higher resolution. Two way range in samples. Approximation to calculated distance from tx to bottom detection [meters] = soundVelocity_mPerSec detectedRangeInSamples / (sampleFreq_Hz 2). The detected range is set to zero when the beam has no bottom detection.
SVT datagram
Line 515, 516: Kongsberg sound velocity datagrams KSSIS 80 and KSSIS 43 added.
— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub, or unsubscribe.
David W. Caress Principal Engineer Seafloor Mapping Lab
Monterey Bay Aquarium Research Institute 7700 Sandholdt Road Moss Landing, CA 95039
caress@mbari.org http://www.mbari.org/~caress/
Phone: 831-775-1775
anbj
The Kongsberg kmall format has been revised and is now in rev G (01.11.2019). As far as I can tell the implementation of the KMall-format in MB-System is based on rev. F of the datagram description.
I've tried to use MB-System 5.7.6beta31 with kmall-files in presumably rev. G, and getting into trouble. Sample file can be supplied if necessary.
E.g. 1
e.g. 2
The datagram description may be downloaded from Kongsbergs website; https://www.kongsberg.com/maritime/support/document-and-downloads/software-downloads/; "KMALL - Datagram description Rev:G". The changes between rev. F to rev. G is (quote from the document):