Test and evaluation experience with an untethered supervisory controlled undersea robot

A considerable amount of test plan and test report documentation was produced during the Advanced Unmanned Search System (AUSS) test and evaluation program The documentation contains information an many of the techniques developed, applied, and refined during 134 dives with one of the first untethered undersea robots ever successfully fielded in the open ocean. This paper is based upon this wealth of AUSS test and evaluation documentation. Some of the test techniques and lessons learned during the AUSS program are explained