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1. upgrade should not disable present system until new system is functioning -
-> yes, except in-hull interface upgrade
2 operator must have source code for all navigation software
-> yes, both code and development environment
3 upgrade should not increase work-load of operator
-> yes ...
4 volume and power should stay within present system envelop in-hull
-> only if requirement 1) relaxed
5 use off-the-shelf hardware (and software)
-> yes
large position jumps observed when switching between transponders
-> calibration issue ...
navigation software difficult to use
-> integrated, documented package to be supplied
in-hull displays not as versatile as desired
-> solved, but requires remove of existing system
array deployment responsibilities not well defined
-> documentation issue... needs to be addressed
post-processing requirements of scientists not well supported
-> solved... demo package
Common hardware/software across Alvin surface and in-hull navigation & Argo/jason/Medea/AUV navigation (modular hardware/software components)
-> Nautronix 916 surface hardware , Pentium based computers
Software upgrade -> commercial vendor/WHOI cooperative effort (acquisition, logging, display, computation, outlier rejection, etc.)
-> Pelagos software package
Improved array calibration
Provide post-processing tool set for scientists in well supported environment
-> free
DOCUMENTATION
Ensure navigation software supports integration of new systems (DVL, etc.)
-> modular software, support for multiple devices
Provide well documented data files with raw values
-> provided
Provide post-processing tool set for scientists in well supported environment
-> free demo package provides processing capability
Merging of surface and in-hull data files
-> not addressed