This report contains source code implemented on the Phoenix AUV in support of recovery in a small stationary tube. Implementation involves the development of low-level behaviors for sonar and vehicle control, mid-level tactics for recovery planning, and a mission-planning system for translating high-level goals into an executable mission. Sonar behaviors consist of modes for locating and tracking objects, while vehicle control behaviors include the ability to drive to and maintain a position relative to a tracked object. Finally, a mission-planning system allowing graphical specification of mission objectives and recovery parameters is implemented.


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