A Hugin autonomous underwater vehicle (AUV) is deployed off the deck of the research vessel Nathaniel B. Palmer for the International Thwaite Glacier Collaboration TARSAN team. The Hugin can travel under ice shelves to gather information such as temperature, mineral content of the water, and speed and direction of the current. The AUV is following a preprogrammed route under the ice shelf. It will navigate using inertial navigation and up- and downward looking DVL (Doppler Velocity Log). It can detect and avoid any obstacles and backtrack to the starting point if necessary. Once outside the ice shelf it can communicate acoustically or via radio when it is back on surface.