Our small Iver AUV from Ocean Server is equipped with a full suite of oceanographic instruments and is designed for collecting high-resolution, georeferenced stereo imagery of the seafloor. It allows us to conduct research into novel methods for seafloor mapping, planning and control from a platform that can be launced from the shore or a small boat. It also serves as a testbed for new capabilities being developed for our larger vehicles. We use it in support of marine habitat assessment as well as in the surveying of archaeological sites in coastal environments.