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Drivers Manual

Kongsberg KMALL - 20

Description

Driver that decodes bathymetry data, seabed imagery (for raw storage) and water column data from the latest models Kongsberg multibeam echosounders equipped with firmware that supports the new "KMall" protocol

For raw data processing the driver can optionally store raw bathymetry and seabed image records in the Qinsy database.

Supported systems:

  • EM2040P
  • Kongsberg is working on releasing the format for other systems

Driver Information

Driver Kongsberg KMALL Interface Type UDP Driver Class Type
UTC Driver (question) Yes Input / Output Input Executable DrvQpsFreeBase.exe 
Related Systems

Related Pages

Coding Notes

Driver decodes the following datagrams:

Raw range and depth, #MRZ

Bathymetry and imagery data

Water column #MWC

Water column data

The #MRZ message contains both 'raw' data (beam angle and travel time) and geo-referenced footprints (X,Y,Z). Of these two, only the raw data is decoded by the driver.

LICENSING

The following items are licensed by Kongsberg. The data is not sent from the PU if the license is not there. Note that Kongsberg supports soft licenses. 

  • Water column logging
  • Water column display
  • Extra detections

System Interfacing

The multibeam system can be controlled from Kongsberg's K-controller utility.


This utility is also used to configure IP addresses and ports used.

Please note that due to the communication technology used by Kongsberg (UDP multicast), you have to select an IP address from the multicast range (224.0.0.0 to 239.255.255.255).

Phase Center offsets (PCO) used by QINSy

Device

Tx PCO

RX PCO

Comment

EM2040P

port: -104,2,15

0,204,32

The x,y,z positions for the 3 TX line arrays are relative to the center of the sonar head face.
The x,y,z positions of the RX line array are relative to the centre of the sonar head face.
See figure by 'Kongsberg EM Series Multibeam echo sounder EM datagram formats, 850-160692/V July 2016 © Kongsberg Maritime AS' on this page.


center: 0,2,6




starboard: 104,2,15



EM2040P Installation Offsets

For the EM 2040P, the TX and RX arrays are integrated into a common sonar head. The transducer arrays are not placed at the center of the sonar head.
For most EM echosounders separate x,y,z installation parameters are given for the RX and the TX arrays.
For EM 2040P the installation parameters entered by the operator refers to a reference point on the face of the sonar head. This point is not marked on the sonar head.
The reference point used is the intersection between two diagonal lines drawn between the bumpers on the sonar head face.


Acknowledgement:  Text and Figure by Kongsberg EM Series Multibeam echo sounder EM datagram formats, 850-160692/V July 2016 © Kongsberg Maritime AS


System Configuration

Preferably a direct cross-over network cable should be used to transfer the data. This will minimize the chances of any dropped packets.

Packet loss

A 'Balanced' (default) power plan on the PC can cause package dropouts from the second head. This can be solved by changing the power plan on the PC from 'Balanced' to 'High Performance' when using a Windows7 pc.

Auxiliary data

Please note that the driver does not decode auxiliary sensors interfaced into the unit, such as position, motion, heading, etc. These external sensors will have to be interfaced directly to Qinsy as well.

FAQ

FAQ ON UPGRADING TO USE K-CONTROLLER AND KMALL FORMAT

Coming from an old setup (either using SIS as controller or using the EM Controller in Qinsy) the following  needs to be considered:

  1. Changes in cabling: User can rewire the SV sensor to the processing unit directly.
  2. Entering geometry in the K-Controller: For a Qinsy setup it is not needed to enter the full geometry. However, for Kongsberg support purposes it could be useful. There is the option of logging in KMall format in the K-Controller, and Kongsberg prefers that when supporting with problems. Problem finding is made easier if the offsets are correct.
  3. How to use the K-controller: Kongsberg has a reference manual available: 'K-Controller Installation and runtime controller for EM multibeam echo sounders'.
  4. It is no longer possible to use the EM-controller in Qinsy with the new format. It is not possible to change settings from Qinsy.
  5. Which Kongsberg multibeam models are supported: Beginning 2019 the EM 2040P is supported with EM2040C, EM2040 and EM712 expected later during the year.
  6. Qinsy databases will be larger in size. More data is being sent and stored when raw data logging is on.

Qinsy Configuration

Multibeam System


Main Head

Copy the IP address and port number settings from the 'Input Setup' page of the K-Controller:


Only single head systems are supported at this time.

Driver Specific Parameters



Selected preset Raw Bathymetry Storage Raw Seabed Image Storage Water Column Usage
FM Geocoder Toolbox (FMGT) (tick) (tick) (error)
FM Midwater (FMMW)

(tick)

(error)

(tick)

FM Geocoder Toolbox (FMGT & FM Midwater (FMMW)

(tick)

(tick)

(tick)

XTF Export

(tick)

(tick)

(error)

Info

Please use the Preset so the needed data packages are decoded.

Setting Option (bold=default) Description
Manufacturer Kongsberg
Model

Other/EM122/EM302/EM710/EM2040/EM2040C/EM2040M/EM2040P

For the systems in this list you can now enter the reference point as node. See Knowledge Base document 'How-to Kongsberg Multibeam - Reference Position'
Raw Bathymetry Storage* Disabled/Enabled

When Enabled the Raw (original) Bathymetry packets (#MRC) and the Runtime Settings (#IOP) are stored in the database for usage in Fledermaus.

Raw Seabed Image Storage** Disabled/Enabled When Enabled the Seabed Image (#MRC) is stored in the database for usage in Fledermaus.
Water Column Usage Disabled/Enabled When Enabled the Water column data is decoded by the Driver.
The STORAGE of the water column is activated with a setting in the Controller's Session Setup - Database page.


Multibeam Echosounder Parameters


EM2040P

The offset of the transmit and receive transducers are known by Qinsy.

Therefore you only need to enter the Reference node of the Head.


Roll/Pitch/Heading offset These are the offsets between the reference frame of the Motion sensor (which is usually aligned with the vessel frame) and the reference frame of the multibeam head.
Max. Beams per ping This is the maximum amount of points we decode from the multibeam.
Sound Velocity We use the sound velocity from the unit (measured near the head).
Echosounder Stabilization Not applicable.


Echosounder Accuracy Parameters


Multibeam Echosounder Corrections