  In this work, we present the SeaShark AUV: a modular, easily configurable,
one-man portable micro-AUV. The SeaShark AUV is conceived as modular parts that
fit around a central main tube, which holds battery and other vital parts. The
head unit comprises easy exhangeable, stackable, and 360 degree rotatable
payload sections to quickly obtain a suitable configuration for many
objectives. We employ navigation no better than dead reckoning or relative
navigation with respect to some well-known structure, and thus aim at
underwater activities that do not require highly accurate geo-referenced
data-points. Operating the SeaShark AUV requires only the vehicle itself and a
tablet for mission planning and post-mission review. We have built several
complete SeaShark systems and have begun exploring the many possibilities and
use-cases in both research and commercial use. Here we present a comprehensive
overview and introduction to our AUV and operation principles, and further show
data examples for experimental operations for shore-to-sea bio-habitat mapping
and in-harbor wall and pier inspection
