Abstract: Techniques and systems are disclosed for performing a gravity survey near the seafloor. In one aspect, a system includes an autonomous underwater vehicle that includes a sensor system holding area. The system includes a gravity sensor system to fit inside the sensor system holding area of the autonomous underwater vehicle. The gravity sensor system includes a motorized gimbal to provide a leveled sensor platform. Also, the gravity sensor system includes a gravimeter sensor mounted onto the motorized gimbal to measure gravity data. Further, the payload includes a motion sensor mounted onto the motorized gimbal to measure motion data associated with movements of the autonomous underwater vehicle.