  To explore oceans on ice-covered moons in the solar system, energy-efficient
Autonomous Underwater Vehicles (AUVs) with long ranges must cover enough
distance to record and collect enough data. These usually underactuated
vehicles are hard to control when performing tasks such as vertical docking or
the inspection of vertical walls. This paper introduces a control strategy for
DeepLeng to navigate in the ice-covered ocean of Jupiter's moon Europa and
presents simulation results preceding a discussion on what is further needed
for robust control during the mission.
