The Robosub Senior Design project is a joint project between a team of Electrical/Mechanical engineering students and Computer Science students. The purpose of the project is to build a fully autonomous underwater submarine that will compete in an international competition in Fall 2019. The Computer Science portion of the project is tasked with designing and implement the software which will pilot the submarine. The CS team is working on providing navigation, stabilization, object detection and task handling capabilities to the RoboSub. The competition is comprised of a sequence of different tasks and obstacles, which will test the RoboSub's ability to detect objects, maneuver itself, and to make decisions based upon the task which it locates. The CS team is responsible for giving the submarine all of these capabilities as well as providing documentation for the use of future teams, and as well as providing the team with a command line interface to easily change parameters and task/obstacle prioritization.