optimal docking path of the auv can be used to funnel the auv into the entrance of the receptacle on approach other configurations of station can be used to guide the approach of the auv 2 the auv 2 and the station 1 can have acoustic beacons 30 to communicate with the vessel 39 s usbl system in an embodiment the auv 2 or the station 1 can have a disengagement mechanism that is energized by the docking process as shown in fig3 the auv can be docked with the receptacle by a docking sleeve 12 and latching probe 11 which can mate with a latching mechanism 15 with a spring 13 when the sleeve 12 passes over the latching mechanism it may compress the spring 13 between a collar 17 and the floor of the receptacle 4 f as shown in fig3 when the auv is released from the latching mechanism the auv may insert the latching probe 11 into the bore of the latching mechanism on the receptacle 4 this may retract the locking levers 16 and may release the sleeve 12 of the auv from the latching mechanism the spring 13 may be free to expand and push the auv away from the floor of the receptacle 4 as shown in fig4 an alternative embodiment of a station 21 is shown in fig5 in which an optional power supply may be provided in the station 21 similar components are used to the station 1 and like reference.