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For the testing of control and communications algorithms in cooperative behavior, a fleet of autonomous underwater vehicles (AUVs) is under development by the University of Idaho. This paper discusses one piece of the puzzle in this fleet: the communications module to manage multiple agents. The communications system provides multiple modes of operation. Different communications mediums to and from the vehicle support these modes of operation. The tools supplied by the different modes of operation assist the researchers in developing communications, control algorithms, and valuable hardware systems.