Develop an Autonomous Underwater Vehicle (AUV) to complete missions simulating real-world challenges at the RoboSub 2024 competition sponsored by the Office of Naval Research.Responsible for integration of Doppler Velocity Log to enhance navigation of the AUV. Write programs to complete three missions: (1) have the AUV set a heading towards a gate, pass through the gate, and yaw to demonstrate control; (2) have the AUV detect, approach, and circle a buoy; and (3) have the AUV navigate to the other side of the course, detect and approach a PVC structure, and surface in a PVC octagon.Placed 5th overall against top universities including Carnegie Mellon, Stanford, Harvey Mudd, UCLA, etc.