Bluefin Robotics’ Bluefin-21 is a highly modular AUV able to carry multiple sensors and comprehensive payloads, while at the same time boasting a high-energy capacity that enables extended operations even at the greatest depths. The Bluefin-21 was designed to operate from various ships of opportunity worldwide and has a software package that is flexible, robust, customizable and user-friendly, while also having advanced autonomy and behaviors. Bluefin’s next generation behavior control system provides a highly flexible system for accomplishing the goals specified in a mission plan. This behavior control facilitates dynamic insertion, removal, and modification of mission elements during execution. This is a vital capability in the often uncertain and noisy environments that AUVs face.