This mission is part of an ongoing series of surveys conducted on the south shore of Oahu for water quality monitoring. The vehicle was deployed near the Kilo Nalu 10m site and headed east toward Waikiki making cross-shore transects and then returned back to the starting location via an along-shore transect. The mission was designed to allow the vehicle collect surface data on most legs and collect data from the surface to the seafloor on the boundary legs and two center legs. The vehicle used a combination of acoustic and GPS navigation and completed the mission in 2 hours 27 minutes covering a total distance of 16.35 km. Data collected includes bathymetry, currents, acoustic backscatter, salinity and temperature.