OVERALL – BeamworX 2022.

2 Release Notes

1 Introduction
Release Date: 28 june 2022
Welcome to the second release of the BeamworX software suite for 2022,
a bundled installer of all the well-known BeamworX programs:
AutoClean (+ Raw Processing + SBEdit), AutoPatch, NavAQ and some
more tools.
This release contains mainly bugs fixed and small improvements.
New NavAQ drivers: Trimble/Applanix GSOF, SyQwest Echosounders,
Edgetech Sub-bottom Profiler.
The following issues were fixed:

Key T Summary

CL-1155 Auto Script - add more functions

CL-1192 Improve reporting when project is missing a bwxres file

CL-1193 Chart View Properties, Inspection Area, auto Bearing default off

CL-1194 Raw Import - Hangs on corrupt bwxraw file

CL-1196 Enable/Disable Files by area

CL-1197 Backscatter Processor - Optimize speed

CL-1198 Boulder Detection - Various Improvements

CL-1201 Export Points, by multi selected areas

CL-1202 Missing track file message unclear

CL-1203 Volume Calculation - allow select different layers

CL-1206 Result Import, User defined ASCII, respect FP Height on Survey datum

CL-1208 Raw Import - When config file does not exist disable the view/edit button

CL-1209 Project may not be saved when license check fails

CL-1211 Raw Import - fix gap between splitted files for formats other than bwxraw, e.g. Kongsberg ALL

CL-1212 GeoLocator Import CAD, also import objects with only one point

CL-1213 Add Files wizard, setting "Copy BwxRaw FIles to project folder" Default off

CL-1214 Selected Area - Add Area (e.g. square meters) in copy to clipboard list

CL-1215 Extend Analyze functionality to check integrity of bwxres files

CL-1216 Support for Mean THU and TVU

CL-1217 Exporting, the found existing files message box gets too big

Introduction – 1
 OVERALL – BeamworX 2022.2 Release Notes

Key T Summary

CL-1218 Raw Import - KMALL flags for motion sensors not interpreted correctly

CL-1219 Improve Color Scale Fixed interval label precision

NAV-347 New Driver - Trimble/Applanix Binary GSOF Driver

NAV-615 Chartview, Forward looking Various Improvements

NAV-676 Changed Driver - EdgeTech Sub Bottom Profiler

NAV-756 View layer(CAD/Geotiff/Web Service) add name/description in layer overview

NAV-757 Choose Common Design Layer for Dredging

NAV-758 Custom Selected Survey and Design layer not properly supported

NAV-762 Calibrate Tool Object

NAV-769 Chart View settings, add system selection for coverage

NAV-770 Dredge Status Translation not retrieved correctly on startup

NAV-771 Trigger logging or output on specific value change

NAV-772 Graph display - Add Extra (4th) graph

NAV-773 Import grid - place import files filter LandXML above all the gdal grids

NAV-775 Generic Driver - Decode Geographical Position

NAV-776 Fill Multibeam Simulator Intensity/Quality with item data

NAV-778 Crash when USBL System is used and Geodetics is set to Not Used

NAV-779 XTF Export- QINSy Single beam records not exported

NAV-780 Export 7k - Record Type selection set to all fails

NAV-781 Add Item for Mbe Swath Width

NAV-782 Add Item for Mbe Swath Opening Angle

NAV-783 Kongsberg KMALL -Decoded pulse length and beam width not same for mbe and bs

NAV-784 Add Kalman Filter

NAV-785 InertialLabs Driver - Support Heave

NAV-786 Chart View - Trail is still shown for hidden vehicles

NAV-787 Vehicle linking - Combining motion sensor with relative heading fails to compute

NAV-788 Importing DXF - Z value lost

NAV-789 Velodyne driver - Change default IP address to 0.0.0.0

NAV-790 Simulation Driver - Speed input not in m/sec

Introduction – 2
 OVERALL – BeamworX 2022.2 Release Notes

Key T Summary

NAV-791 Logger/Generic output Driver - output on split event is not working

NAV-792 View layer CAD add setting for label font height

NAV-793 Output Drivers - Set Default IP to 255.255.255.255

NAV-794 Chart View, Vehicle"Over size symbol", increase size

NAV-796 Chart View - Chart features: North Arrow choose corner

NAV-797 Edgetech Bathy Driver - Can NOT Connect anymore

NAV-799 Add option to show and change all device to arrival time or decoded time

NAV-800 Strip specified raw packets (e.g. Water Column) from BWXRAW file

NAV-801 Shape files - labels not imported

NAV-802 Support Mercator Projection

NAV-804 Create and View GTX files from Geodetic controls

NAV-805 New Driver - SyQwest Echosounder

PA-237 KMALL Reports motion with Date 1-1-1970, correct this time with file start time from header

TO-163 Universal Data Viewer - support Extended XTF viewing

TO-165 When BwxRaw files are read only the Backscatter is not processed

TO-166 SBEdit - intensity traces are not loaded when BwxRaw file is read only

TO-168 Improve reading QPS Geoid bin file

TO-169 Geoid creation - Lon/Lat/Height checking file, position all zero.

TO-170 S7k Snippets, support local sample rate

TO-171 Import VRF VORF Files

TO-172 Add Geoid Conversion Functionality to Edit CRS Dialog

70 issues

Introduction – 3
 OVERALL – BeamworX 2022.2 Release Notes

2 AutoClean

CL-1155 - Auto Script - add more functions DONE

AutoClean can be commanded to execute some tasks by starting it with a so-called “AutoScript file as a command
line parameter. This simple text file contains some commands that AutoClean can automatically execute without
any user intervention.
The following commands are supported: CreateProject, Filter, Export Points, Exit.

Example of a script file that

#CreateProject, Name = Test, ParentFolder = C:\temp, GridCellSize = 1.0, ImportFolder

= "C:\SurveyData\laser\calibration", Filter = "*.bwxraw", ConfigFile = "Optech
Polaris.xml", TrajectoryFile = "sbet_200609T.out", trajectorybasedate = 07-06-2020
//A Comment should be preceded by a double forward slash
#Filter, group = "Bwx Detail"
#ExportPoints, format = fau, outputfolder = c:\\temp, onlyaccepted
#Exit

CL-1192 - Improve reporting when project is missing a bwxres file DONE

When a bwxres file is missing from the project it is now reported to the user when the project is opened or the
Project Properties dialog is closed.

AutoClean – 4
 OVERALL – BeamworX 2022.2 Release Notes

CL-1193 - Chart View Properties, Inspection Area, auto Bearing default off DONE

The Auto Bearing option aligns the orientation of an inspection area automatically to the the closest survey line
bearing.
This option is now default switched off, it is not easy to understand for novice users.

AutoClean – 5
 OVERALL – BeamworX 2022.2 Release Notes

CL-1194 - Raw Import - Hangs on corrupt bwxraw file DONE

R2Sonic parser crashed on an invalid packet. This is prevented in the future by more exact size checking.

CL-1196 - Enable/Disable Files by area DONE

Point Files can be selected in the Project Properties dialog by area selection. So first define a Selected Area, say to
cover half the survey. Then in the Project Properties this area can be selected. now all the files wholly or partly
contained in this area are checked.

CL-1197 - Backscatter Processor - Optimize speed DONE

AutoClean – 6
 OVERALL – BeamworX 2022.2 Release Notes

Various code changes to make the Backscatter Processor faster. By utilizing another form of disk access the
processor runs up to 50% faster.
CL-1198 - Boulder Detection - Various Improvements DONE
Various Improvements:
1 Save to GL List
Add an option to the dialog. User can choose between:
-Selected Area List
-Geo Locator full area.
-Geo Locator top position only.
For Geo Locator we have some meta fields. These can be used for height above seabed, width and length, area
respectively.
2 Selected Areas, add combobox to change area.
3 Naming Options
Add More options for labelling
-Make the encoding of properties in name optional
-Make the Prefix User Definable

CL-1201 - Export Points, by multi selected areas DONE

Selection of multiple areas, for each area a point file can be created with the name of the area.
There are now 4 file modes:

AutoClean – 7
 OVERALL – BeamworX 2022.2 Release Notes

1. Export to one file (exists)

2. Export to individual files (exists)
3. Export to individual files per area (new)
4. Export to one file per area (new)

CL-1202 - Missing track file message unclear DONE

This message can pop up on startup in base a bwxtrk file is missing.

this was not so clear, it was changed to:

AutoClean – 8
 OVERALL – BeamworX 2022.2 Release Notes

CL-1203 - Volume Calculation - allow select different layers DONE

Volume Calculation: Sometimes the client asks the volume between the max grid attribute (instead of mean) and
the reference layer.
Improvements:
1- Select min/mean/max for survey layer.
2- Select either reference or design layer.

CL-1206 - Result Import, User defined ASCII, respect FP Height on Survey datum DONE
Importing user defined ASCII data.
Allow the user not to convert the Height by respecting the setting Survey Datum E/N/H for height but WGS-84 for
horizontal position.

AutoClean – 9
 OVERALL – BeamworX 2022.2 Release Notes

CL-1208 - Raw Import - When config file does not exist disable the view/edit button DONE
Survey Configuration, previously the View/Edit button just did nothing when you click on it when the file does not
exist. Now the button will be disabled to show that file does not exist.

AutoClean – 10
 OVERALL – BeamworX 2022.2 Release Notes

CL-1209 - Project may not be saved when license check fails DONE
Bug Fix. There were scenario’s possible that the project is closed without saving when dongle check fails. This way
the Geolocators may for example not have been saved. This is now prevented.

CL-1211 - Raw Import - fix gap between splitted files for formats other than bwxraw, e.g. Kongsberg ALL DONE

When multiple Kongsberg ALL files were imported, small gaps on the file transition were not processed. This can
also occur with XTF although the gaps are smaller.

AutoClean – 11
 OVERALL – BeamworX 2022.2 Release Notes

CL-1212 - GeoLocator Import CAD, also import objects with only one point DONE
Import Geo Locators from CAD, e.g. DXF.
Only polylines with two or more points could be imported. If a file only contained single points the import would
just fail. The minimum point count is now set to 1. This means that all point and poly lines are now previewed in the
import dialog.

AutoClean – 12
 OVERALL – BeamworX 2022.2 Release Notes

CL-1213 - Add Files wizard, setting "Copy BwxRaw FIles to project folder" Default off DONE
The option “Copy Bwxraw…” is now by default set to OFF to assist novice users.

CL-1214 - Selected Area - Add Area (e.g. square meters) in copy to clipboard list DONE
Sometimes clients need to know the area of a Selected Area. This info is now added to the clipboard export option
after the number of points, e.g. for parsing to excel.

AutoClean – 13
 OVERALL – BeamworX 2022.2 Release Notes

CL-1215 - Extend Analyze functionality to check integrity of bwxres files DONE

Analyze functionality now also checks bwxres files for corruption. Corrupt files are selected so user can quickly
remove them.

AutoClean – 14
 OVERALL – BeamworX 2022.2 Release Notes

CL-1216 - Support for Mean THU and TVU DONE

In the previous version 2022.1 we introduced THU max and TVU max grid layer. It is now also possible to view or
export the THU and TVU Mean layer.

CL-1217 - Exporting, the found existing files message box gets too big DONE
Export points, tracks, profiles. There is a chance that the “Do you want to overwrite files gets too big on some
machines, depending on the export path length. Then Yes/no buttons fall outside the screen. The folder name is
removed from the reported file names now.

CL-1218 - Raw Import - KMALL flags for motion sensors not interpreted correctly DONE
Bug Fix. The SKM attitude message contains “valid” flags that were not correctly read. In this case this meant that
packets with only pitch/roll/heave were not accepted by the program.

CL-1219 - Improve Color Scale Fixed interval label precision DONE

Number label precision on the color scale when using fixed interval did not make sense.
From now on it will depend on the user defined interval:
1.0 => 0 digits behind dot.
0.5 => 1 digit behind dot.

AutoClean – 15
 OVERALL – BeamworX 2022.2 Release Notes

0.25=> 2 digits..
0.251 => 3 digits…

AutoClean – 16
 OVERALL – BeamworX 2022.2 Release Notes

3 NavAQ

NAV-347 - New Driver - Trimble/Applanix Binary GSOF Driver DONE

New Driver to decode the binary GSOF data. This can be use for both stand alone Trimble receivers or for the
Applanix AP+ platform. The latter outputs various INS related messages #63 to #68.

NAV-615 - Chartview, Forward looking Various Improvements DONE

Various improvements:
1. Allow Forward looking in North Up mode.
2. Improved Heading Up forward looking mode, in combination with tight recenter mode it was not working
well.
3. Add minimum speed for forward looking. User value in knots. When speed falls below it hen use center
position.

NavAQ – 17
 OVERALL – BeamworX 2022.2 Release Notes

NAV-676 - Changed Driver - EdgeTech Sub Bottom Profiler DONE

Edgetech Driver was changed, it can now read two channel sub-bottom data as a single Beam Echosounder.
This supports the 3400 system and others.

NavAQ – 18
 OVERALL – BeamworX 2022.2 Release Notes

NAV-756 - View layer(CAD/Geotiff/Web Service) add name/description in layer overview DONE

NavAQ – 19
 OVERALL – BeamworX 2022.2 Release Notes

When many CAD/Geotiff layers are added it is not easy to keep the overview. The name of the file is now shown in
the list view.

NAV-757 - Choose Common Design Layer for Dredging DONE

In the Preferences you can choose a “common reference” layer for dredging. This layer can be selected in profile
display and chart view too. This makes it possible to change the design/reference layer in one place only (The
Preference dialog) and all displays will follow automatically.

NavAQ – 20
 OVERALL – BeamworX 2022.2 Release Notes

NAV-758 - Custom Selected Survey and Design layer not properly supported DONE
Bug Fix. The Numerical values “Bucket – Above Reference” and “Bucket – Above Survey” are filled with zero when a
custom layer is selected as the dredging layer. This is now fixed, it will depend on the common ref layer setting.

NAV-762 - Calibrate Tool Object DONE

New Option to calibrate a pitch offset angle of a dredge tool vehicle.
User can enter a known height and which offset location is used for calibration.
After logging some data the C-O is automatically calculated and set after the calibration.

NavAQ – 21
 OVERALL – BeamworX 2022.2 Release Notes

NAV-769 - Chart View settings, add system selection for coverage DONE
For multibeams and/or lasers the outerbeams can be visualized in the chart view.
This can now be enabled per system.

NAV-770 - Dredge Status Translation not retrieved correctly on startup DONE

Bug Fix. The dredging status translation did not work correctly after closing/re-opening NavAQ.
This is now fixed.
NAV-771 - Trigger logging or output on specific value change DONE
The generic logging or an output driver can trigger (write a line) when an item updates.
It is however desired for many scenario’s that it logs only on a change.
This change can be broad e.g. “any” or narrow: e.g. from 0 to 1.
For example: with an excavator blocks needs to be placed on a dam.
When uses pressed the foot pedal an update should be made.
We can now log the position of the bucket now just once when the foot pedal is depressed when we select this foot
pedal observation and trigger on it but with a change from 0 to 1.

NavAQ – 22
 OVERALL – BeamworX 2022.2 Release Notes

NAV-772 - Graph display - Add Extra (4th) graph DONE

An extra data item can now be visualized in the Graph Display.

NAV-773 - Import grid - place import files filter LandXML above all the gdal grids DONE
Import Grid Dialog. The entry “LandXML” should be placed Above all “GRID” entries.
In AutoClean this is already the case but not in NavAQ.
NAV-775 - Generic Driver - Decode Geographical Position DONE

NavAQ – 23
 OVERALL – BeamworX 2022.2 Release Notes

Client requested to decode a NMEA GGA message with a slot ID.

Previously the decoding of any lat-lon-hgt position was not supported in our generic driver. It only supported
decoding easting-northing-height. Now it also supports lat-lon-height positions.

NAV-776 - Fill Multibeam Simulator Intensity/Quality with item data DONE

For using a magnetometer it is handy to visualize the nanotestla values in the grid.
This can be done now by selecting an external observation for the intensity or the quality in the Advanced Settings
of a multibeam simulator. Result is that grid will be filled with these values.

NavAQ – 24
 OVERALL – BeamworX 2022.2 Release Notes

NAV-778 - Crash when USBL System is used and Geodetics is set to Not Used DONE
Bug Fix. When a USBL system is added the program crashed on closing survey config dialog.
This happens only when Geodetics are set to not used.

NAV-779 - XTF Export- QINSy Single beam records not exported DONE
Bug Fix. QPS single beam records (0type 26) were not exported at all.
NAV-780 - Export 7k - Record Type selection set to all fails DONE
Bug Fix. When you press select all records and re-opened the dialog then it jumped back to other records.
Workaround was to select only the ones you need.

NavAQ – 25
 OVERALL – BeamworX 2022.2 Release Notes

NAV-781 - Add Item for Mbe Swath Width DONE

New Item “Swath Width“ was added for display in numerical/graph displays but also exports.
This is the horizontal distance between outer footprints.

NAV-782 - Add Item for Mbe Swath Opening Angle DONE

Same as “Swath Width”, now also the netto opening angle. This generic item, can be used for text display, graphs
etc. Item Name = “Swath Opening Angle”

NavAQ – 26
 OVERALL – BeamworX 2022.2 Release Notes

NAV-783 - Kongsberg KMALL -Decoded pulse length and beam width not same for mbe and bs DONE
When decoding it was noticed that two different pulse widths are used. Also bs beam width was not decoded.

NAV-784 - Add Kalman Filter DONE

A basic “constant velocity Kalman filter was added for use with USBL.

NavAQ – 27
 OVERALL – BeamworX 2022.2 Release Notes

NAV-785 - InertialLabs Driver - Support Heave DONE

Client requested heave support from Message 0x14 (Heave HR).
However this was not part of the original INS-D ICD document. From internet we downloaded an ICD from INS-P.
This DOES contain info on Heave HR 14.
Note that heave is available in the INS motion slot.

NavAQ – 28
 OVERALL – BeamworX 2022.2 Release Notes

NAV-786 - Chart View - Trail is still shown for hidden vehicles DONE
Bug Fix. NavAQ Chart view. In View properties it is possible to hide a vehicle. Although that worked fine, the trail of
this vehicle was still showing up.

NAV-787 - Vehicle linking - Combining motion sensor with relative heading fails to compute DONE
Bug Fix. Hopper Dredger. Dredge pipe consists of a upper, middle lower pipe section. Middle and lower pipe have
independent delta-heading. But lower pipe always had same heading as the middle pipe.

NavAQ – 29
 OVERALL – BeamworX 2022.2 Release Notes

NAV-788 - Importing DXF - Z value lost DONE

Bug Fix. When import a DXF the Z-value was lost. This applied to Geo Locators but also others, e.g. Selected Areas.

NAV-789 - Velodyne driver - Change default IP address to 0.0.0.0 DONE

Velodyne Laser scanner, when adding a new device the IP is now default set to Any Adaptor.

NAV-790 - Simulation Driver - Speed input not in m/sec DONE

Bug Fix. It was noticed that the speed is converted to knots on startup.
Should be all in meters per second!!

NAV-791 - Logger/Generic output Driver - output on split event is not working DONE
Bug Fix. During a file split on recording, outputting a record is failing. The split was not coming through. Worse even
was s that a split was recognized as a stop/start sequence.

NAV-792 - View layer CAD add setting for label font height DONE
Cad Layer label height (both for plotting as for display) is now user definable.

NavAQ – 30
 OVERALL – BeamworX 2022.2 Release Notes

NAV-793 - Output Drivers - Set Default IP to 255.255.255.255 DONE

Set for all output drivers the default IP to 255.255.255.255 (global broadcast).
1. Generic Output
2. Autopilot output
3. Time Output
4. Dredge Head Driver (DEME)

Also made port numbers unique for each driver:

respectively: 2020,2021,2022,2023.

NAV-794 - Chart View, Vehicle"Over size symbol", increase size DONE

When zoomed out a lot in the Chart View the vessel is still shown at a minimum size. This was a bit too small, it was
hard to notice by some skippers. The size of the symbol was increased by 50%.

NAV-796 - Chart View - Chart features: North Arrow choose corner DONE
Layer settings: Feature layer, set position of North Arrow.
-Bottom left is still the default.
-With combo in the settings it can be moved to other corners or hide completely.

NavAQ – 31
 OVERALL – BeamworX 2022.2 Release Notes

NAV-797 - Edgetech Bathy Driver - Can NOT Connect anymore DONE

Bug Fix. A Driver refactoring of code in 2022.1 caused a bug in the Edgetech driver. It could not connect to the
Edgetech at all anymore.

NAV-799 - Add option to show and change all device to arrival time or decoded time DONE
Device Overview Page, Survey Configuration dialog.

Added an option to change all devices to arrival time for replay.

Or all to decoded time. Also nice to see the actual state in the table in a column.

NAV-800 - Strip specified raw packets (e.g. Water Column) from BWXRAW file DONE

NavAQ – 32
 OVERALL – BeamworX 2022.2 Release Notes

Remove specific packets from bwxraw to reduce the size. Example remove 7K WCD or SSS.
This can be a handy tool when on an ASV data was recorded and bandwidth is an issue.
Note that it will make a copy of the bwxraw file but without the specified packet or devices.
Go to Export Raw/ Res. Select format “Stripped BwxRaw”. In advanced settings a record type selection can be done.
Also possible to skip data per device.
NAV-801 - Shape files - labels not imported DONE
Bug Fix. The various programs never extracted the labels properly from ESRI SHP file when importing data from it.
Feature name was “NAME” not “Name”.

NavAQ – 33
 OVERALL – BeamworX 2022.2 Release Notes

NAV-802 - Support Mercator Projection DONE

Mercator Projection was not properly supported.

NAV-804 - Create and View GTX files from Geodetic controls DONE
From the geodetic controls, Edit CRS dialog you can directly:
-Do geoid conversion, e.g. VORF text to GTX.
=Open GTX folder in Windows File Explorer.
-View GTX in AutoClean. this launches AutoClean with the GTX converted to Auto WGS-84 UTM

NavAQ – 34
 OVERALL – BeamworX 2022.2 Release Notes

When plus button is pressed the Geoid conversion dialog is shown:

NavAQ – 35
 OVERALL – BeamworX 2022.2 Release Notes

NAV-805 - New Driver - SyQwest Echosounder DONE

New driver for SyQwest Echosounders, single and dual head, was created.
This can decode both digitized depths as all the raw sample data.

NavAQ – 36
 OVERALL – BeamworX 2022.2 Release Notes

4 AutoPatch

PA-237 - KMALL Reports motion with Date 1-1-1970, correct this time with file start time from header DONE
A KMALL file was received with Motion time tags since 1-1-1970. These are now corrected with use of the first
encountered position time.

AutoPatch – 37
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5 Tools

TO-163 - Universal Data Viewer - support Extended XTF viewing DONE

Universal viewer now shows full details on XTF records.

TO-165 - When BwxRaw files are read only the Backscatter is not processed DONE
Bug Fix. Backscatter Processor. Processing a bwxraw file failed when it was read-only.

TO-166 - SBEdit - intensity traces are not loaded when BwxRaw file is read only DONE
Bug Fix. Single Beam Editor. Load a bwxraw file failed when it was read-only.

TO-168 - Improve reading QPS Geoid bin file DONE

Geoid Convertor. Removed some issues that were encountered with importing QPS Binary Geoid file.

Tools – 38
 OVERALL – BeamworX 2022.2 Release Notes

TO-169 - Geoid creation - Lon/Lat/Height checking file, position all zero. DONE
Bug Fix. Client reported he was importing an ASCI Grid GRI file. This works fine, GTX is created normally.
But the check file (ASCII File) with lat,lon,height the lat and lon is zero, height is filled.

TO-170 - S7k Snippets, support local sample rate DONE

Support local sample rate for 7028 snippet packets.

TO-171 - Import VRF VORF Files DONE

Geoid GTX import. An easy way to import VRF VORF files was added, the format can be select directly so setting up
user defined ASCII import is no longer required.
These files are provided by The British Admiralty, extension = vrf.
The format of a VRF file is:
LAT<space>LON<space>SEPERATION<space>UNCERTANTY.

Tools – 39
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TO-172 - Add Geoid Conversion Functionality to Edit CRS Dialog DONE

See NAV-804 above. Geoid GTX can now be created directly from CRS Setup.

--end of notes--

Tools – 40