Thank you to Prof. Nisar Ahmed for your guidance, insight, and feedback and, most of all, providing me with a job I could grow with for 5 years.Thank you to Orbit Logic team: Ken Center, Robert Glissmann, James Smith and Evan Sneath for their collaboration on the MinAu project and all of the great experiences had at Cherry Creek and San Diego. Thank you to Luke Morrissey for being a team player through all of the ups and downs of hardware deployment. Thank you to Jeremy Muesing for being a supportive friend, offering guidance and connecting me with the job at COHRINT. Thank you to Luke Burks for being an understanding boss and offering helpful guidance. Thank you to Jeff Venicx for inspiring in me a passion for underwater robotics and helping to connect me with the job at COHRINT. Thank you to the Naval Information Warface Center folks for their support in hardware deployment.