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In August 2007, the Autonomous Underwater Vehicle (AUV) Tri-Dog 1 succeeded in visually mapping the seafloor of Tagiri underwater vent field, Kagoshima Bay in Japan to create a large photomosaic with an area of around 3,000 square meters. This is one of the largest underwater photomosaic ever reported. The photomosaic revealed distribution of detailed features of the field such as tube-worm colonies, bacteria mats and bubble plumes. This paper describes the autonomous navigation method implemented on the vehicle and then reports the experimental results.