Docking an autonomous underwater vehicle (AUV) is a critical part of many current and envisioned Navy, commercial, and scientific missions. Many missions require an AUV to dock with a subsea node that is not restrained through attachment to the seafloor or to a surface platform significantly larger than the system that is docking into it. Space and Naval Warfare Systems Center Pacific (SSC Pacific) recently performed a series of tests to characterize the docking process of an autonomous underwater vehicle (AUV) with a suspended dock. Two methods of docking were performed: a “soft” optical dock where the vehicle tracked and followed a suspended light emitting diode (LED) beacon and a “hard” physical dock where the vehicle entered a docking structure. This docking testing will provide design support information for future undersea systems.