Tuesday evening 27.12.2005 Hugin was recovered after a record-breaking mission. Mission 91 lasted for more than 66 hours, with Hugin covering a distance of 430 km. This was performed with water depths in the range of 400 to 1050 meters, partiallly in very challenging terrain and partially on flat seabed. The mission plan included nearly 500 waypoints, where approx. 50 waypoints were changed via acoustic link during the execution of the mission. Payload logged was Simrad EM2000 150° multi-beam echo-sounder, Edgetech FS AU SSS/SBP, digiquartz 2000m depth sensor and FSI 2MCTD sensor.