EM2040 low ping rate without KM Binary input from POS MV

[kjerram]

Symptoms

1. EM2040P showing a very low ping rate (~0.2 Hz or once every ~5 s) while attempting to map in typical depths of 10-100 m.
2. EM2040P gives error: “(K-Controller) ERROR: Output queue at max size. Data dropped. Dropped packets: 0. Data instance 2.”

Context

1. Newly installed EM2040P
2. EM2040P is running SIS 5.12.3, passes all BISTs, and tracks seafloor reasonably well despite the very large ping interval
3. POS MV 320 running POSView 11.7 and sending TSS1 attitude messages to the EM2040P

Solution (details below)

1. Updated SIS to 5.14.2, being very careful to delete ALL Kongsberg folders, files, and software from the machine prior to the update
2. WARNING: Failing to remove all files/software associated with earlier versions of SIS can result in communication errors (e.g., 'socket closed' preventing communication with the PU) that require a completely fresh install using a separate laptop cabled directly to the PU
3. Contacted Applanix technical support to enable KM Binary output (position, attitude, attitude velocity, and other parameters over ethernet)
4. Applanix provided an activation code specific to the POS serial number; this is applied in the POSConfig utility to enable KMB format ('Option 37')
5. Configured KM Binary ethernet output from the POS MV to the PU
6. Ping rate appears to have returned to normal

Troubleshooting process (Kongsberg and MAC support)

1. Noise testing reveals high levels above 6 kn, but this is not directly related to the low ping rate; the system tracks the seafloor reasonably well, despite the large ping interval and high noise levels
2. Checked all runtime parameters (e.g., not waiting for external triggers, reasonable depth gates, not 'searching' for the bottom and cycling through modes, max ping rate set to 50 Hz, not in 'sonar mode' with long range, etc.)
3. Per Kongsberg recommendation, checked the HWS network connections, specifically:
   a. ensuring 1 GB network connection,
   b. setting RX buffer size on the network interface card to 2048
   c. ensuring the HWS is using a PCI network card and not a USB network adapter,
   d. making sure all power options are set to Ultimate or High Performance for the PC5.
4. Logged telnet text files during bootup / operation and sent to Kongsberg technical support
5. Telnet logs indicated an issue receiving / parsing the TSS1 messages; Kongsberg recommended update to SIS 5.14.2 and use of KM Binary format