Project Final Report Phase 2-09121-3300-05-The work performed under Phase II of RPSEA 09121-3300-05 contract successfully demonstrated an autonomous inspection capability of underwater oil and gas facilities utilizing Lockheed Martin-developed (patent pending) autonomy software installed on Lockheed Martin’s Marlin™ Autonomous Underwater Vehicle. These autonomous inspections were conducted in Gulf of Mexico waters during the summer of 2011 on various Chevron-owned offshore facilities. During these inspection runs, the capability to autonomously image (using onboard 3D sonar) and re-construct high resolution 3D models of underwater facilities was demonstrated when no prior information about the facility was available. Also demonstrated with the Marlin™ AUV, was the capability to autonomously detect anomalies within an underwater facility in real-time when prior knowledge of the condition of the platform was available.