The Catalog backup does not include the KMS database.
As per the security and encryption guide, to recover KMS you need to have exported the KMS DB and then backed up the files/ copied somewhere safe - this is a Technote on the subject.
https://www.veritas.com/support/en_US/article.100053622
Alternatively, if you have the nbkmsutil -listkeys output this displays all the kg names, the key tag and if applicable at 8.1 / 8.3 the salt value. The keys can then be rebuilt if the key pass phrase is known (-recoverkey option).
If there is no backup of the KMS DB or the key details are not known, it is impossible to recover - Veritas have no backdoor available (that would kinda defeat the point of encryption).
To recover everything else from the catalog you have to reinstall at the same version that the catalog was taken from, so if you were at 8.3.1, you can only recover the catalog back to 8.3.1.
I see you explain that you had documentation available, so it may be that you do have the required details re. KMS.
However, I have assumed you are using NetBackup for KMS, you might not be - is it the case that the tape library is handling the encryption keys - so library based encryption ? This should be much easier I think as it should just 'work', providing the tapes are in the same library.
Just to avoid confusion:
Tape drives have the ability to do hardware encryption, I'm guessing you have LTOx as these are by far the most common.
There are two choices for KMS:
NetBackup handles the keys
The tape library handles the keys
From the tape drive side of things, it is the same, it gets a key to encrypt /decrypt, the only difference is who is suppling the key.
Actually, there might be a 3rd option, eKMS (external KMS) where the keys are managed by some 3rd party application - certainly this is an option for MSDP to create an encrypted disk pool, but I've never seen it used with tape, hence why I'm not sure - StefanosM /davidmonline, do you know out of interest ?