1 Introduction  
1.1 Autonomous acoustic tracking of a marine animal  
1.2 Bathymetric survey  
1.3 Photogrammetric survey  

2 ASV Description  
2.1 Mechanical part  
2.1.1 Hull, cases and thruster  
2.1.2 Integration of acoustic part  
2.2 Electrical part  
2.2.1 Power part  
2.2.2 Autopilot  
2.2.3 Companion computer  
2.2.4 RTK GNSS  
2.2.5 Communication  
2.3 Additional Sensors  
2.3.1 Echo sounder  
2.3.2 SBL acoustic positioning  
2.3.3 Camera  

3 Prototype validation and survey results  
3.1 Autonomous acoustic tracking  
3.2 Bathymetry survey  
3.3 Photogrammetry survey  

4 Conclusion